JP2010155495A - Vehicle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle control device capable of highly precisely stopping an engine at a prescribed target stop position even when a vehicle is accelerating or decelerating. <P>SOLUTION: The vehicle control device 1, which controls a vehicle driving device 2, includes: an input member I which is drive-coupled to an engine E; an output member O; a drive transmission mechanism 5 which drive-couples the input member I and the output member O together; a rotary electrical machinery MG1 which is drive-coupled to at least the input member I. This vehicle control device includes: a stop control means 34 which sets a target stop position in an engine rotation direction in order to stop the rotation of the engine E, which performs stop control to control the rotary electrical machinery MG1 so as to reduce the engine rotation speed according to the remaining rotation amounts to the target stop position, and which finishes the stop control when the engine rotation speed becomes less than a prescribed control end value; an acceleration acquisition means 35 for acquiring the vehicle acceleration; and a correction means 36 for correcting the remaining rotation amounts according to the vehicle acceleration. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention includes an input member drivingly connected to an engine, an output member drivingly connected to a wheel, a drive transmission mechanism drivingly connecting the input member and the output member, and at least drivingly connected to the input member. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device that controls a vehicle drive device that includes a rotating electrical machine.

  In general, a vehicle such as an automobile is equipped with an engine constituted by various internal combustion engines such as a spark ignition engine (gasoline engine) and a compression ignition engine (diesel engine) as a driving force source. In these engines, the magnitude of the force required for starting and the magnitude of the shock (starting shock) may vary depending on the position (phase) in the rotational direction in the stopped state. For example, in a four-cycle reciprocating engine (four-cycle engine) that sequentially performs four strokes of intake, compression, combustion, and exhaust, it is required to move a piston in a cylinder in the middle of the intake and exhaust strokes. The force required to move the piston in the cylinder in the middle of the compression stroke and the combustion stroke is larger than the force. Therefore, when a plurality of cylinders are provided, if the engine is started from a state in which the piston in the cylinder in the compression stroke or the combustion stroke is near the end point of each stroke, the force for starting the engine is reduced. And start shock is reduced. Therefore, it is desirable to stop the engine at the phase of the crankshaft (position in the rotational direction of the engine) such that the piston in the cylinder in the compression stroke or the combustion stroke is near the end point of each stroke.

  Therefore, when the vehicle includes a rotating electrical machine that is drivingly connected to the engine, in order to stop the rotation of the engine, a target stop position is set in the engine rotation direction, and the rotational speed of the engine is gradually increased toward the target stop position. A technique for controlling the rotational speed of a rotating electrical machine so as to reduce it is already known (see, for example, Patent Document 1 below). According to the technique described in Patent Document 1, even when there is a variation in the frictional force of each part in the engine or a variation in the viscosity of the lubricating oil or cooling oil in the engine, the engine is positioned near the target stop position. Can be stopped properly. Therefore, it is not necessary to change the position in the rotational direction of the engine by driving the rotating electrical machine before starting the engine, and the engine can be started quickly and appropriately.

JP 2005-016505 A

  By the way, in the technique described in Patent Document 1 described above, the control of the rotating electrical machine is finished when the rotational speed of the engine becomes equal to or lower than a predetermined stop rotational speed. Is gradually reduced and the engine stops. This is because it is difficult to control the rotation speed of the rotating electrical machine with high accuracy in a very low rotation speed range, and the time from when the engine rotation speed becomes lower than the stop rotation speed until it stops is very short. This is because it is difficult to appropriately control the rotational speed of the engine by the rotating electrical machine during that time. Therefore, depending on the traveling state of the vehicle, the engine may stop at a position that deviates from the target stop position, although it is slight.

  That is, in the configuration in which the rotating electric machine, the engine, and the wheels are driven and connected to the three rotating elements of the planetary gear mechanism as in the vehicle driving device described in Patent Document 1, the vehicle is accelerated or decelerated. In this state, torque (hereinafter referred to as “mutual inertia torque”) acts on each of the engine and the rotating electrical machine in accordance with the relationship between the acceleration of the vehicle and the respective inertia moments of the engine and the rotating electrical machine. Then, due to the influence of the mutual inertia torque acting on the engine, the degree to which the rotational speed of the engine decreases after the control of the rotating electrical machine is changed, and the engine stop position may deviate from the target stop position. there were. Specifically, when the vehicle is accelerating (acceleration is positive), the mutual inertia torque in the acceleration direction acts on the engine, and the actual stop position of the engine is ahead of the target stop position in the rotation direction (advance angle). Side). On the other hand, when the vehicle is decelerating (acceleration is negative), the mutual inertia torque in the deceleration direction acts on the engine, and the actual stop position of the engine is behind the target stop position in the rotational direction (retarded side). It will shift. After such engine stop processing is performed, there is a problem that a slightly large force is required when starting the engine, and a start shock may be slightly increased.

  The present invention has been made in view of the above problems, and an object of the present invention is to control a vehicle capable of stopping an engine at a predetermined target stop position with high accuracy even when the vehicle is accelerating or decelerating. To provide an apparatus.

  An input member drivingly connected to an engine, an output member drivingly connected to a wheel, a drive transmission mechanism drivingly connecting the input member and the output member, and A characteristic configuration of a vehicle control device that controls a vehicle drive device that includes a rotating electrical machine that is drivingly connected to the input member sets a target stop position in the engine rotation direction in order to stop the rotation of the engine Then, stop control means for performing stop control for controlling the rotating electrical machine so as to reduce the rotational speed of the engine in accordance with the amount of remaining rotation up to the target stop position, and vehicle acceleration representing vehicle acceleration are acquired. There is an acceleration acquisition means and a correction means for correcting the remaining rotation amount in accordance with the vehicle acceleration.

  In the present application, “driving connection” refers to a state where two rotating elements are connected so as to be able to transmit a driving force, and the two rotating elements are connected so as to rotate integrally, or the two This is used as a concept including a state in which two rotating elements are connected so as to be able to transmit a driving force via one or more transmission members. Examples of such a transmission member include various members that transmit rotation at the same speed or a variable speed, and include, for example, a shaft, a gear mechanism, a belt, a chain, and the like. In the present application, the “rotary electric machine” is used as a concept including any of a motor (electric motor), a generator (generator), and a motor / generator functioning as both a motor and a generator as necessary.

  According to this characteristic configuration, in the case of performing stop control for controlling the rotating electrical machine so as to reduce the rotational speed of the engine according to the remaining amount of rotation up to the target stop position, the remaining amount of rotation is corrected according to the vehicle acceleration. As a result, the degree to which the rotational speed of the engine during the stop control is reduced can be adjusted according to the vehicle acceleration. Therefore, even when the acceleration or deceleration torque according to the vehicle acceleration acts on the engine and the degree to which the engine rotational speed is reduced changes, the rotation amount corresponding to the change according to the vehicle acceleration. Can be corrected. Therefore, even when torque in the acceleration direction or deceleration direction acts on the engine according to the vehicle acceleration, the engine can be stopped at a predetermined target stop position with high accuracy.

  Here, based on the vehicle acceleration, the correction means performs correction to reduce the remaining rotation amount when the vehicle is accelerating, and increases the remaining rotation amount when the vehicle is decelerating. It is preferable that the correction is performed.

  According to this configuration, when the vehicle is accelerating, the rotational speed of the engine is reduced during stop control by performing a correction that reduces the remaining rotational speed compared to when the remaining rotational speed is not corrected. Speed to do. Similarly, when the vehicle is decelerating, the speed at which the rotational speed of the engine is reduced during stop control is reduced by performing a correction that increases the remaining rotational speed compared to when the remaining rotational speed is not corrected. Can be late. Therefore, even when torque in the acceleration direction or deceleration direction acts on the engine according to the vehicle acceleration, the engine can be stopped at a predetermined target stop position with high accuracy.

  Further, the stop control means ends the stop control when the rotational speed of the engine becomes less than a predetermined control end value, and the engine from when the stop control ends until the rotation of the engine stops. When the rotation amount of the engine is the rotation amount after the end of the control, the correction means performs the rotation amount after the end of the control when the vehicle acceleration is zero and the rotation after the end of the control at the actual vehicle acceleration. It is preferable that the difference from the amount is corrected by changing the rotation amount of the engine during the stop control by correcting the remaining rotation amount.

  According to this configuration, the acceleration in the acceleration direction or the deceleration direction according to the vehicle acceleration is applied to the engine, so that the amount of rotation after the end of the control after the end of the stop control is changed, the vehicle acceleration is zero. In this case, the amount of rotation after the end of the control can be used as a reference for correction by controlling the rotating electrical machine during stop control. Therefore, the engine can be stopped at a predetermined target stop position with high accuracy regardless of the acceleration of the vehicle.

  In addition, when the rotation amount of the engine from the start of the stop control until the rotation of the engine is stopped is set as a total rotation amount, the correction unit calculates the remaining rotation amount corrected according to the actual vehicle acceleration. The total rotation amount when the stop control is performed using and the total rotation amount when the stop control is performed using the remaining rotation amount that is not corrected when the vehicle acceleration is zero substantially match. As described above, it is preferable that the correction amount of the remaining rotation amount is determined.

  According to this configuration, when the acceleration in the acceleration direction or the deceleration direction according to the vehicle acceleration acts on the engine, the total rotation amount from the start of the stop control is changed to the total amount when the vehicle acceleration is zero. Correction can be made by controlling the rotating electrical machine during stop control with reference to the rotation amount. Therefore, the engine can be stopped at a predetermined target stop position with high accuracy regardless of the acceleration of the vehicle.

  The correction means sets the correction amount to zero when the vehicle acceleration is zero, and decreases the correction amount as the vehicle acceleration value increases when the vehicle acceleration takes a positive value. When the vehicle acceleration takes a negative value, it is preferable that the correction amount be a larger positive value as the vehicle acceleration value becomes smaller.

  According to this configuration, it is possible to appropriately correct the remaining rotation amount according to the vehicle acceleration in the acceleration direction and the deceleration direction with reference to the case where the vehicle acceleration is zero. Therefore, the engine can be stopped at a predetermined target stop position with high accuracy regardless of the acceleration of the vehicle.

  Further, the stop control means determines a rate of change of the engine speed at which the engine stops at the target stop position based on the remaining rotation amount and the engine speed, It is preferable that the rotational speed of the rotating electrical machine is controlled so as to reduce the rotational speed of the engine at a rate of change.

  According to this configuration, the rotating electrical machine can be appropriately controlled such that the rotational speed of the engine is gradually reduced as it approaches the target stop position, and the engine rotational speed becomes zero near the target stop position.

  In each of the above characteristic configurations according to the present invention, the drive transmission mechanism includes a differential gear device, and the differential gear device has at least three rotations of a first rotation element, a second rotation element, and a third rotation element. The rotating electrical machine is drive-coupled to the first rotary element, the input member is drive-coupled to the second rotary element, and the first member The present invention can also be suitably used in a vehicle control device that controls a vehicle drive device in which the output member is drivingly connected to a three-rotation element. Note that the present invention controls a vehicle drive device in which a rotating electrical machine is drivingly connected to an input member directly or via an engagement element such as a clutch, as used in a so-called parallel hybrid vehicle. It can be suitably used for a vehicle control device.

  In the present invention, the rotating electrical machine is a first rotating electrical machine, and a second rotating electrical machine is provided in addition to the first rotating electrical machine, and the second rotating electrical machine includes the first rotating element and the second rotating element. Without being interposed, the present invention can also be suitably used for a vehicle control device that controls a vehicle drive device that is drivingly connected to the third rotating element.

  Furthermore, the technical features of the vehicle control device according to the present invention having the above-described configurations can also be applied to a control method and a vehicle control program for a vehicle drive device. Therefore, the present invention is applied to such a method. And programs can also be subject to rights.

  In this case, an input member drivingly connected to the engine, an output member drivingly connected to the wheel, a drive transmission mechanism drivingly connecting the input member and the output member, and at least drivingly connected to the input member In order to stop the rotation of the engine, the characteristic configuration of the control method for the vehicle drive device including the rotating electrical machine is that a target stop position is set in the engine rotation direction and the remaining rotation amount up to the target stop position is set. Accordingly, when performing stop control for controlling the rotating electrical machine so as to reduce the rotational speed of the engine, a vehicle acceleration representing a vehicle acceleration is acquired, and the remaining rotation amount is corrected according to the vehicle acceleration, The stop control is performed using the remaining rotation amount after the correction, and the stop control is ended when the rotation speed of the engine becomes less than a predetermined control end value. Located in.

  In this case, an input member drivingly connected to the engine, an output member drivingly connected to the wheel, a drive transmission mechanism drivingly connecting the input member and the output member, and drivingly connecting to at least the input member In order to stop the rotation of the engine, a target stop position is set in the engine rotation direction and the target control position is set. Stop control is performed to control the rotating electrical machine so as to reduce the rotation speed of the engine according to the remaining rotation amount up to the stop position, and when the rotation speed of the engine becomes less than a predetermined control end value, A stop control function for terminating the stop control, an acceleration acquisition function for acquiring a vehicle acceleration representing the acceleration of the vehicle, and the remaining rotation amount according to the vehicle acceleration There are a correction function positively to, to point to realize the computer.

  Naturally, the control method and the vehicle control program for these vehicle drive devices can also obtain the effects of the vehicle control device described above, and some additional techniques mentioned as examples of suitable configurations thereof can be obtained. It is possible to incorporate.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the overall system configuration of the vehicle control apparatus 1 according to this embodiment. In FIG. 1, a broken line indicates a power transmission path, and a solid line arrow indicates a transmission path for various information. FIG. 2 is a skeleton diagram showing a mechanical configuration of the vehicle drive device 2 to be controlled by the vehicle control device 1 according to the present embodiment. As shown in FIG. 2, the vehicle drive device 2 includes an engine E and two rotating electrical machines MG1 and MG2 as driving force sources, and outputs the engine E to the first rotating electrical machine MG1 side and the wheels W. And a driving device for a so-called two-motor split type hybrid vehicle provided with a planetary gear device PG for power distribution that is distributed to the second rotating electrical machine MG2 side.

  Then, the vehicle control device 1 that controls the vehicle drive device 2 sets a target stop position PT in the engine rotation direction ER as shown in FIG. As shown in FIG. 9, stop control is performed to control the first rotating electrical machine MG1 so as to gradually reduce the engine rotational speed NE in accordance with the remaining rotational amount R up to the position PT. This stop control ends when the engine speed NE becomes less than a predetermined control end value NC. Here, as shown in FIG. 6, in a state where the vehicle on which the vehicle drive device 2 is mounted is accelerating or decelerating, the acceleration, the inertia moment JE of the engine E, and the inertia moment J1 of the first rotating electrical machine MG1. The engine mutual inertia torque TiE acts on the engine E, and the MG1 mutual inertia torque Ti1 acts on the first rotating electrical machine MG1. Then, due to the influence of the engine mutual inertia torque TiE acting on the engine E, as shown in FIG. 9, the degree to which the engine rotational speed NE is reduced after the stop control is finished changes, and the stop position of the engine E becomes the target stop. There is a case where it deviates from the position PT. Therefore, the vehicle control device 1 acquires the vehicle acceleration α representing the acceleration of the vehicle on which the vehicle drive device 2 is mounted, and corrects the remaining rotation amount R used for stop control according to the vehicle acceleration α. As a result, the engine E is stopped at a predetermined target stop position PT with high accuracy. In the present embodiment, the term “remaining rotation amount R” is used as a concept encompassing both the reference remaining rotation amount RA before correction corresponding to the vehicle acceleration α and the corrected remaining rotation amount RB after correction. I will do it. Hereinafter, the vehicle control device 1 and the vehicle drive device 2 according to the present embodiment will be described in detail.

1. Configuration of Vehicle Drive Device As shown in FIG. 1, a vehicle drive device 2 includes an input shaft 51 that is drivingly connected to an engine E, a first rotating electrical machine MG1, a second rotating electrical machine MG2, and a power distribution device. A planetary gear device PG, a counter gear mechanism C, and an output differential gear device D that distributes the rotation and driving force transmitted through the counter gear mechanism C to a plurality of wheels W are provided. In the present embodiment, the input shaft 51 corresponds to “input member I” in the present invention, and the differential input gear 56 that is the input gear of the output differential gear device D corresponds to “output member O” in the present invention. To do. The planetary gear device PG for power distribution corresponds to the “differential gear device” in the present invention. The planetary gear device PG distributes the rotation and driving force of the engine E to the first rotating electrical machine MG1 and the counter gear mechanism C. In this vehicle drive device 2, the planetary gear device PG and the counter gear mechanism C constitute the "drive transmission mechanism 5" in the present invention.

  In the vehicle drive device 2, the input shaft 51, the first rotating electrical machine MG 1, and the planetary gear device PG that are drivingly connected to the engine E are arranged coaxially. The second rotating electrical machine MG 2, the counter gear mechanism C, and the output differential gear device D are each arranged on an axis parallel to the input shaft 51. Here, as the engine E, various known internal combustion engines such as a spark ignition engine (gasoline engine) and a compression ignition engine (diesel engine) can be used. The input shaft 51 is drivingly connected to the engine E through a flywheel 61, a damper 62, and a clutch 63. The clutch 63 is an engagement element that selectively engages the input shaft 51 and the output shaft of the engine E. Therefore, when the clutch 63 is in the engaged state, the input shaft 51 and the engine E are drive-coupled in a state of rotating integrally except for the torsion absorbed by the damper 62, but the clutch 63 is in the released state. Sometimes, the input shaft 51 and the engine E are separated. In the following description, it is assumed that the clutch 63 is in an engaged state unless otherwise specified. The input shaft 51 is also preferably configured to be drive-coupled directly to the engine E through any one or two of the flywheel 61, the damper 62, and the clutch 63, or not through them. .

  The first rotating electrical machine MG1 includes a first stator St1 fixed to a case (not shown), and a first rotor Ro1 that is rotatably supported on the radially inner side of the first stator St1. The first rotor Ro1 of the first rotating electrical machine MG1 is drive-coupled so as to rotate integrally with the sun gear s of the planetary gear device PG via the rotor shaft. The second rotating electrical machine MG2 includes a second stator St2 fixed to a case (not shown) and a second rotor Ro2 that is rotatably supported on the radially inner side of the second stator St2. The second rotor Ro2 of the second rotating electrical machine MG2 is connected to rotate integrally with the second rotating electrical machine output gear 55 via the rotor shaft. The second rotating electrical machine output gear 55 meshes with the first counter gear 53 fixed to the counter gear mechanism C, and the rotation and driving force of the second rotating electrical machine MG2 is transmitted to the counter gear mechanism C. ing. In the vehicle drive device 2, the first rotating electrical machine MG1 and the second rotating electrical machine MG2 are AC motors, and are driven and controlled by a first inverter 41 or a second inverter 42, respectively, as shown in FIG.

  The first rotating electrical machine MG1 is drivingly connected to the input shaft 51 and the counter gear mechanism C via the planetary gear device PG. The first rotating electrical machine MG1 is a generator that mainly generates electric power by the driving force input via the sun gear s, charges the power storage device 43, or supplies electric power for driving the second rotating electrical machine MG2. Function. However, the first rotating electrical machine MG1 may function as a motor that outputs a driving force by powering when the vehicle is traveling at high speed or when the engine E is started. On the other hand, the second rotating electrical machine MG2 is drivably coupled to the planetary gear device PG and the output differential gear device D via the counter gear mechanism C. The second rotating electrical machine MG2 mainly functions as a motor that assists the driving force for traveling the vehicle. However, when the vehicle is decelerated, the second rotating electrical machine MG2 functions as a generator and may function as a generator that regenerates the inertial force of the vehicle as electric energy. The operations of the first rotating electrical machine MG1 and the second rotating electrical machine MG2 are controlled by a first inverter 41 or a second inverter 42 that operates according to a control command from the control unit 3.

  As shown in FIG. 1, the planetary gear device PG is configured by a single pinion type planetary gear mechanism arranged coaxially with the input shaft 51. That is, the planetary gear device PG includes a carrier ca that supports a plurality of pinion gears, and a sun gear s and a ring gear r that mesh with the pinion gears, as rotating elements. The input shaft 51 as the input member I, the differential input gear 56 as the output member O, and the first rotating electrical machine MG1 are drivingly connected to different rotating elements of the planetary gear device PG, respectively. At this time, the input shaft 51, the differential input gear 56, and the first rotating electrical machine MG1 are not connected to each other with respect to the three rotating elements of the sun gear s, the carrier ca, and the ring gear r of the planetary gear device PG. The driving elements are connected to the following rotating elements. In the present embodiment, the sun gear s is drivingly coupled so as to rotate integrally with the first rotor Ro1 of the first rotating electrical machine MG1. The carrier ca is drivingly connected so as to rotate integrally with the input shaft 51. The ring gear r is drivingly connected so as to rotate integrally with the counter drive gear 52. The counter drive gear 52 meshes with a first counter gear 53 fixed to the counter gear mechanism C, and the rotation of the ring gear r of the planetary gear device PG is transmitted to the counter gear mechanism C. . The three rotating elements of these planetary gear devices PG are a sun gear s, a carrier ca, and a ring gear r in the order of rotational speed. Therefore, in the present embodiment, the sun gear s, the carrier ca, and the ring gear r of the planetary gear device PG are respectively referred to as the “first rotating element”, “second rotating element”, and “ It corresponds to the “third rotation element”.

  On the counter shaft of the counter gear mechanism C, the first counter gear 53 is fixed to the first rotating electrical machine MG1 and the second rotating electrical machine MG2 side, and the second counter gear 54 is fixed to the engine E side. Here, the first counter gear 53 meshes with the counter drive gear 52 and the second rotating electrical machine output gear 55, and the second counter gear 54 meshes with the differential input gear 56 of the output differential gear device D. Yes. Thus, the counter gear mechanism C is drivingly connected to the planetary gear device PG (the ring gear r), the second rotating electrical machine MG2, and the output differential gear device D (the differential input gear 56). The output differential gear device D is generally used, and includes, for example, a differential gear mechanism using a plurality of bevel gears meshing with each other. Then, the output differential gear device D distributes the rotation and driving force transmitted to the differential input gear 56 to the wheels W serving as left and right driving wheels.

2. Next, a basic operation of the vehicle drive device 2 according to the present embodiment will be described. 3 to 6 are velocity diagrams showing the operating state of the planetary gear device PG for power distribution. In these velocity diagrams, each of a plurality of vertical lines arranged in parallel corresponds to each rotating element of the planetary gear device PG, and “s” and “ca” described above each vertical line. "And" r "correspond to the sun gear s, the carrier ca, and the ring gear r, respectively. These positions on the vertical axis correspond to the rotational speed of each rotating element. Here, the rotational speed is zero on the horizontal axis, the upper side is positive, and the lower side is negative. The interval between the vertical lines corresponding to each rotating element corresponds to the gear ratio λ of the planetary gear device PG (the gear ratio between the sun gear s and the ring gear r = [the number of teeth of the sun gear] / [the number of teeth of the ring gear]). is doing. Here, in the planetary gear device PG, the carrier ca is drivingly connected so as to rotate integrally with the engine E and the input shaft 51, and the sun gear s is driven connected so as to rotate integrally with the first rotor Ro1 of the first rotating electrical machine MG1. The ring gear r is drivingly connected so as to rotate integrally with the counter drive gear 52. Therefore, the rotational speed of the carrier ca coincides with the engine rotational speed NE that is the rotational speed of the engine E and the input shaft 51, and the rotational speed of the sun gear s coincides with the MG1 rotational speed N1 that is the rotational speed of the first rotating electrical machine MG1. . Therefore, when the gear ratio λ of the planetary gear device PG is used, the following rotational speed relational expression is established between the engine rotational speed NE, the MG1 rotational speed N1, and the ring gear rotational speed NR that is the rotational speed of the ring gear r. (Equation 1) is established.
NE = (NR + λ × N1) / (1 + λ) (Formula 1)

3 to 6, “Δ” indicates the engine rotational speed NE, “◯” indicates the MG1 rotational speed N1, and “☆” indicates the ring gear rotational speed NR. The arrows shown adjacent to each rotating element act on the engine torque TE which is the torque of the engine E acting on the carrier ca, the MG1 torque T1 which is the torque of the first rotating electrical machine MG1 acting on the sun gear s, and the ring gear r. The MG2 torque T2 that is the torque of the second rotating electrical machine MG2 and the running torque To that is the torque from the wheels W acting on the ring gear r (torque required for running the vehicle) are shown. An upward arrow indicates a torque in the positive direction, and a downward arrow indicates a torque in the negative direction. As shown in the drawing, the ring gear r (counter drive gear 52) indicated by “☆” not only has a running torque To acting from the wheel W via the output differential gear device D and the counter gear mechanism C, The output torque of the second rotating electrical machine MG2 also acts via the counter gear mechanism C. Here, when the gear ratio λ of the planetary gear device PG is used, the following torque relational expression (Expression 2) is established among the engine torque TE, the MG1 torque T1, the MG2 torque T2, and the traveling torque To. To do.
TE: T1: (T2 + To) = (1 + λ): (−λ): (−1) (Expression 2)

  FIG. 3 shows a velocity diagram in the hybrid travel mode in which the vehicle travels by the output torques of both the engine E and the two rotary electric machines MG1 and MG2. In this mode, the engine E outputs the engine torque TE in the forward direction while being controlled so as to be maintained in a state of high efficiency and low exhaust gas (generally along optimal fuel consumption characteristics), and the engine torque TE is input to the input shaft. It is transmitted to the carrier ca via 51. The first rotating electrical machine MG1 outputs a negative MG1 torque T1, and the MG1 torque T1 is transmitted to the sun gear s and functions as a reaction force receiver that supports the reaction force of the engine torque TE. Thereby, the planetary gear device PG distributes the engine torque TE to the first rotating electrical machine MG1 and the counter gear mechanism C on the wheel W side. The second rotating electrical machine MG2 appropriately outputs a positive or negative MG2 torque T2 to assist the driving force distributed to the counter gear mechanism C in accordance with the required driving force, the traveling state of the vehicle, and the like.

  FIG. 4 shows a velocity diagram in an EV (electric) traveling mode in which traveling is performed only by the output torque of the second rotating electrical machine MG2. In this mode, the second rotating electrical machine MG2 outputs MG2 torque T2 corresponding to the required driving force from the vehicle side. That is, when the driving force in the direction of accelerating or cruising the vehicle is required, the second rotating electrical machine MG2 corresponds to a running resistance that acts on the ring gear r in the negative direction as indicated by a solid line arrow in FIG. In order to advance the vehicle against the running torque To, the vehicle is powered while rotating in the forward direction and outputs the MG2 torque T2 in the forward direction. On the other hand, when the driving force in the direction of decelerating the vehicle is required, the second rotating electrical machine MG2 corresponds to the inertial force of the vehicle acting in the positive direction on the ring gear r as shown by the broken line arrow in FIG. In order to decelerate the vehicle against the running torque To, the vehicle is regenerated (power generation) while rotating in the positive direction, and the MG2 torque T2 in the negative direction is output. In this EV travel mode, the first rotating electrical machine MG1 is basically controlled so that the MG1 torque T1 becomes zero, and is in a state of being freely rotatable without preventing the rotation of the sun gear s by the MG2 torque T2. . Thereby, as for 1st rotary electric machine MG1, MG1 rotational speed N1 becomes negative (it rotates to a negative direction). Further, the engine E is in a stopped state in which the fuel supply is stopped, and the engine speed NE is also zero due to the frictional force inside the engine E. In other words, in the EV travel mode, the planetary gear device PG rotates in the forward direction (rotational speed is the rotational speed of the ring gear r connected to the differential input gear 56 (output member O) and the second rotating electrical machine MG2 with the carrier ca as a fulcrum). Positive), and the sun gear s drivingly connected to the first rotating electrical machine MG1 rotates in the negative direction (rotation speed is negative).

  FIG. 5 is a velocity diagram for explaining the operation when the engine E is stopped while the vehicle is traveling, and FIG. 6 is a graph showing the rotational elements caused by the acceleration of the vehicle when the engine E is stopped. It is a speed diagram for demonstrating the relationship of the torque which acts. In FIG. 5, the solid line indicates a state where the first rotating electrical machine MG <b> 1 is controlled to reduce the engine rotational speed NE, and the broken line indicates a state where the engine rotational speed NE becomes zero and the engine E is stopped. . Here, since the vehicle is running, as in the EV (electric) running mode described above, the second rotating electrical machine MG2 is shown as a solid line arrow in FIG. 5 according to the required driving force from the vehicle side. Then, in order to decelerate the vehicle against the traveling torque To corresponding to the inertial force of the vehicle acting on the ring gear r in the positive direction, regeneration (power generation) is performed while rotating in the positive direction, and a negative MG2 torque T2 is output. Alternatively, as indicated by a broken line arrow in FIG. 5, in order to move the vehicle forward against the running torque To corresponding to the running resistance acting on the ring gear r in the negative direction, the power is run while rotating in the positive direction. MG2 torque T2 is output. And 1st rotary electric machine MG1 outputs MG1 torque T1 of a negative direction, and reduces rotational speed so that engine rotational speed NE may be reduced gradually. As will be described later, in the stop control for controlling the first rotating electrical machine MG1 in order to stop the rotation of the engine E, the first rotating electrical machine is configured to change the engine rotational speed NE at a predetermined change rate CR. The rotational speed control of MG1 is performed. Then, when the engine rotational speed NE becomes less than the predetermined control end value NC, the stop control is terminated, and the rotational speed control of the first rotating electrical machine MG1 is not performed. In addition, after the engine E is stopped while the vehicle is traveling, the vehicle shifts to the above-described EV (electric) traveling mode.

  As described above, when the engine E is stopped while the vehicle is running, as shown in FIG. 6, the ring gear angular acceleration αr, which is the angular acceleration of the ring gear r proportional to the vehicle acceleration α, and the inertia moment JE of the engine E. The engine mutual inertia torque TiE acts on the engine E, and the MG1 mutual inertia torque Ti1 acts on the first rotary electric machine MG1 in accordance with the relationship with the inertia moment J1 of the first rotary electric machine MG1. In FIG. 6, the solid line arrows indicate the direction of angular acceleration and torque when the vehicle is decelerating, and the broken line indicates the direction of angular acceleration and torque when the vehicle is accelerating. Here, the engine mutual inertia torque TiE acts on the engine E (carrier ca) as a reaction force of the inertia torque generated by the inertia moment J1 of the first rotating electrical machine MG1, and the MG1 mutual inertia torque Ti1 is the inertia moment JE of the engine E. Acts on the first rotating electrical machine MG1 (sun gear s) as a reaction force of the inertia torque generated by. Therefore, as shown in FIG. 6, when the vehicle is decelerating and the ring gear angular acceleration αr is negative, negative engine mutual inertia torque TiE acts on the engine E, and the first rotation. A positive MG1 mutual inertia torque Ti1 acts on the electric machine MG1. On the other hand, in the state where the vehicle is accelerating and the ring gear angular acceleration αr is positive, the engine mutual inertia torque TiE in the positive direction acts on the engine E, and the negative direction is applied to the first rotating electrical machine MG1. MG1 mutual inertia torque Ti1 acts.

Here, engine mutual inertia torque TiE, MG1 mutual inertia torque Ti1, ring gear angular acceleration αr, engine angular acceleration αE which is the angular acceleration of the rotational axis (output shaft) of engine E (carrier ca), and first rotating electrical machine MG1 ( The following relational expressions (formula 3) to (formula 6) are established between the MG1 angular acceleration α1 that is the angular acceleration of the first rotor Ro1 of the sun gear s). As described above, λ is the gear ratio λ of the planetary gear device PG (the gear ratio of the sun gear s and the ring gear r = [the number of teeth of the sun gear] / [the number of teeth of the ring gear]).
TiE = JE × αE (Equation 3)
Ti1 = J1 × α1 (Formula 4)
λ × TiE = − (1 + λ) × Ti1 (Formula 5)
αE = (αr + λ × α1) / (1 + λ) (Formula 6)
Then, when the engine angular acceleration αE and MG1 angular acceleration α1 are eliminated from these (Formula 3) to (Formula 6) and solved for each of the engine mutual inertia torque TiE and MG1 mutual inertia torque Ti1, the following relational expressions (Formulas) 7) and (Formula 8) are established.
TiE = [αr × JE × J1 × (1 + λ)] / [JE × λ ² + J1 × (1 + λ) ² ]
... (Formula 7)
Ti1 = − [αr × JE × J1 × λ] / [JE × λ ² + J1 × (1 + λ) ² ]
... (Formula 8)

  Then, due to the influence of the engine mutual inertia torque TiE acting on the engine E, the degree to which the engine rotation speed NE after the stop control ends is changed, and the stop position of the engine E becomes the target stop position PT (FIG. 7)). That is, as shown in FIG. 9, when the vehicle acceleration α (ring gear angular acceleration αr) is negative and the engine mutual inertia torque TiE in the negative direction acts on the engine E, as shown in FIG. Compared to the case where the mutual inertia torque TiE does not act, the engine rotational speed NE is reduced faster, and the stop position of the engine E is shifted rearward (retarded side) in the engine rotational direction ER from the target stop position PT. On the other hand, as shown in FIG. 6, when the vehicle acceleration α (ring gear angular acceleration αr) is positive and the engine mutual inertia torque TiE in the positive direction acts on the engine E, as shown in FIG. Compared to the case where the mutual inertia torque TiE does not act, the engine rotational speed NE decreases and the stop position of the engine E shifts further forward (advanced side) in the engine rotation direction ER than the target stop position PT. Therefore, the vehicle control device 1 acquires a vehicle acceleration α representing the acceleration of the vehicle on which the vehicle drive device 2 is mounted, corrects the stop control according to the vehicle acceleration α, and sets the engine E to a predetermined target. It stops at the stop position PT with high accuracy. Such stop control and its correction processing will be described in detail later.

3. System Configuration Next, a system configuration of the vehicle control device 1 according to the present embodiment will be described. As shown in FIG. 1, in this vehicle drive device 2, a first inverter 41 for driving and controlling the first rotating electrical machine MG1 is electrically connected to a coil of the first stator St1 of the first rotating electrical machine MG1. ing. A second inverter 42 for driving and controlling the second rotating electrical machine MG2 is electrically connected to the coil of the second stator St2 of the second rotating electrical machine MG2. First inverter 41 and second inverter 42 are electrically connected to each other and electrically connected to power storage device 43. The first inverter 41 converts the DC power supplied from the power storage device 43 or the DC power generated by the second rotating electrical machine MG2 and converted into DC by the second inverter 42 to AC power. To the first rotating electrical machine MG1. The first inverter 41 converts the electric power generated by the first rotating electrical machine MG1 from alternating current to direct current, and supplies it to the power storage device 43 or the second inverter 42. Similarly, the second inverter 42 converts DC power supplied from the power storage device 43 or DC power generated by the first rotating electrical machine MG1 and converted into DC by the first inverter 41 to AC power. And supplied to the second rotating electrical machine MG2. In addition, the second inverter 42 converts the electric power generated by the second rotating electrical machine MG2 from alternating current to direct current and supplies it to the power storage device 43 or the first inverter 41.

  The first inverter 41 and the second inverter 42 control a current value, an AC waveform, a frequency, a phase, and the like supplied to each of the first rotating electrical machine MG1 and the second rotating electrical machine MG2 according to a control signal from the control unit 3. Thereby, the first inverter 41 and the second inverter 42 drive-control the first rotating electrical machine MG1 and the second rotating electrical machine MG2 so as to output the torque and the rotational speed corresponding to the control signal from the control unit 3.

  The power storage device 43 is electrically connected to the first inverter 41 and the second inverter 42. The power storage device 43 is composed of, for example, a nickel hydride secondary battery or a lithium ion secondary battery. The power storage device 43 supplies direct-current power to the first inverter 41 and the second inverter 42 and is also generated by the first rotating electrical machine MG1 or the second rotating electrical machine MG2, via the first inverter 41 or the second inverter 42. It is charged by the DC power supplied. The vehicle drive device 2 includes a power storage state detection unit 44 for detecting the state of the power storage device 43. Here, the power storage state detection unit 44 includes various sensors such as a current sensor and a temperature sensor in addition to a voltage sensor that detects the voltage between the positive and negative electrodes of the power storage device 43, and the voltage and charge amount (SOC: state) of the power storage device 43. of charge) and the like. Information on the detection result by the storage state detection unit 44 is output to the control unit 3.

  The vehicle drive device 2 includes a first rotating electrical machine rotational speed sensor Se1 (hereinafter referred to as “MG1 rotational speed sensor”), a second rotating electrical machine rotational speed sensor Se2 (hereinafter referred to as “MG2 rotational speed sensor”), and an input shaft. A rotation speed sensor Se3 is provided. The MG1 rotation speed sensor Se1 is a sensor that detects an MG1 rotation speed N1 that is the rotation speed of the first rotor Ro1 of the first rotating electrical machine MG1. The MG2 rotational speed sensor Se2 is a sensor that detects an MG2 rotational speed N2 that is the rotational speed of the second rotor Ro2 of the second rotating electrical machine MG2. Here, the MG2 rotational speed N2 is always proportional to the rotational speed of the differential input gear 56 serving as the output member O. Accordingly, the vehicle speed proportional to the rotational speed of the differential input gear 56 is also detected by the MG2 rotational speed sensor Se2. The input shaft rotation speed sensor Se3 is a sensor that detects the rotation speed of the input shaft 51. The input shaft rotation speed sensor Se3 detects the rotation speed of the engine E that rotates together with the input shaft 51 in the engaged state of the clutch 63, that is, the engine rotation speed NE. These rotational speed sensors Se1 to Se3 are constituted by, for example, a resolver, a Hall IC, or the like. The detection results by these sensors Se <b> 1 to Se <b> 3 are output to the control unit 3.

4). Configuration of Control Unit The control unit 3 constitutes a main part of the vehicle control device 1 and controls the operation of each part of the vehicle drive device 2. In the present embodiment, the control unit 3 includes an engine operating point determining unit 31, a first rotating electrical machine operating point determining unit 32 (hereinafter referred to as “MG1 operating point determining unit”), and a second rotating electrical machine operating point determining unit 33 (hereinafter referred to as “MG1 operating point determining unit”). A stop control unit 34, an acceleration acquisition unit 35, a remaining rotation amount correction unit 36, and a correction amount map 37. The control unit 3 includes one or more arithmetic processing devices and a storage medium such as a RAM and a ROM for storing software (programs) and data. And each said function part 31-36 of the control unit 3 is comprised by the hardware or software for performing various processes with respect to the input data by using the said arithmetic processing unit as a core member, or both. . The correction amount map 37 is stored in the storage medium in a state that can be referred to by the remaining rotation amount correction unit 36. Further, the control unit 3 is communicably connected to an engine control unit 46 that controls the operation of the engine E. Further, as described above, the control unit 3 is configured to receive information on detection results from the storage state detection unit 44 and information on detection results from the sensors Se1 to Se3.

  In this embodiment, the vehicle request torque TC is input to the control unit 3 from the vehicle side. Here, the vehicle required torque TC is a torque required to be transmitted to the wheels W in order to appropriately travel the vehicle in accordance with the driver's operation. Therefore, the vehicle required torque TC is determined according to a predetermined map or the like according to the operation amount of the accelerator pedal and the brake pedal of the vehicle and the vehicle speed detected by the MG2 rotational speed sensor Se2. In the present embodiment, these vehicle required torques TC are determined as torques to be transmitted to the differential input gear 56 as the output member O of the vehicle drive device 2.

  The engine operating point determination unit 31 performs a process of determining an engine operating point that is an operating point of the engine E. Here, the engine operating point is a control command value representing a control target point of the engine E, and is determined by the rotational speed and torque. The engine operating point determination unit 31 also determines whether the engine E is to be operated or stopped. The determination of the engine operation / stop is performed according to a predetermined engine operation / stop map or the like according to the vehicle required torque TC and the vehicle speed. When it is determined that the engine E is to be operated, the engine operating point determination unit 31 determines the engine operating point. The engine operating point determination unit 31 outputs information on the determined engine operating point to the engine control unit 46. The engine control unit 46 controls the engine E to operate at the torque and rotational speed indicated by the engine operating point. The engine operating point is a command value representing a control target point of the engine E determined in consideration of an output (work rate) required to generate the engine E and optimum fuel consumption, and the engine rotational speed command value. And is determined by the engine torque command value. The engine operating point is determined based on a predetermined engine operating point map.

  On the other hand, when it is determined that the engine E is to be stopped, the engine operating point determination unit 31 outputs an engine stop command to the engine control unit 46 and the stop control unit 34. The engine control unit 46 stops fuel injection and ignition of the engine E based on the engine stop command. The stop control unit 34 executes stop control for controlling the first rotating electrical machine MG1 based on the engine stop command. The stop control by the stop control unit 34 will be described in detail later.

  The MG1 operating point determination unit 32 performs a process of determining an MG1 operating point that is an operating point of the first rotating electrical machine MG1. Here, the MG1 operating point is a control command value representing a control target point of the first rotating electrical machine MG1, and is determined by the rotational speed and torque. The control unit 3 controls the first inverter 41 so that the first rotating electrical machine MG1 is operated at the torque and the rotational speed indicated by the MG1 operating point determined by the MG1 operating point determining unit 32. The MG1 operating point includes the engine rotational speed command value of the engine operating point determined as described above, and the rotational speed of a rotating member (for example, a ring gear r) driven and connected to the wheel W side from the planetary gear unit PG for power distribution. Is a command value that represents the control target point of the first rotating electrical machine MG1 determined based on MG1, and is determined by the MG1 rotation speed command value and the MG1 torque command value. In this example, the MG1 operating point determination unit 32 rotates the ring gear based on the MG2 rotational speed N2 detected by the MG2 rotational speed sensor Se2 and the gear ratio from the second rotor Ro2 to the ring gear r of the second rotating electrical machine MG2. The speed NR is calculated. The MG1 operating point determination unit 32 sets the engine rotational speed command value at the engine operating point as the engine rotational speed NE and substitutes it for the ring gear rotational speed NR, and is calculated by the rotational speed relational expression (formula 1). MG1 rotational speed N1 is determined as an MG1 rotational speed command value. Further, the MG1 operation point determination unit 32 is proportional based on the difference in rotational speed between the determined MG1 rotational speed command value and the MG1 rotational speed N1 of the first rotating electrical machine MG1 detected by the MG1 rotational speed sensor Se1. The MG1 torque command value is determined by feedback control such as integral control (PI control). The MG1 rotational speed command value and the MG1 torque command value determined in this way become the MG1 operating point.

The MG2 operating point determination unit 33 performs a process of determining an MG2 operating point that is an operating point of the second rotating electrical machine MG2. Here, the MG2 operating point is a control command value representing a control target point of the second rotating electrical machine MG2, and is determined by the rotational speed and torque. The control unit 3 controls the second inverter 42 to operate the second rotating electrical machine MG2 at the torque and the rotational speed indicated by the MG2 operating point determined by the MG2 operating point determining unit 33. The MG2 operating point is a control command value representing a control target point of the second rotating electrical machine MG2 determined based on the vehicle required torque TC, the engine operating point, and the MG1 operating point, and the MG2 rotational speed command value and the MG2 torque. It depends on the command value. By the way, when the above torque relational expression (formula 2) is modified, the following torque relational expression (formula 9) is derived.
T2 = −To−TE / (1 + λ) (Equation 9)
Therefore, the MG2 operating point determination unit 33 substitutes the vehicle request torque TC as the torque “−To” in the direction opposite to the traveling torque To in this (Equation 9), and sets the engine torque command value at the engine operating point as the engine torque TE. MG2 torque T2 calculated by substituting as MG2 is determined as an MG2 torque command value. As a result, it is possible to cause the second rotating electrical machine MG2 to generate torque that compensates for excess or deficiency of the torque transmitted from the engine E to the differential input gear 56 with respect to the vehicle required torque TC. Further, since the MG2 rotational speed N2 that is the rotational speed of the second rotating electrical machine MG2 is always proportional to the vehicle speed, the MG2 rotational speed command value is automatically determined according to the vehicle speed. The MG2 operating point is determined by the MG2 rotational speed command value and the MG2 torque command value determined in this way. As described above, since the MG2 rotation speed command value is automatically determined according to the vehicle speed, the second rotating electrical machine MG2 is basically torque-controlled according to the MG2 torque command value at the MG2 operating point.

  Further, the stop control unit 34 performs stop control for controlling the rotating electrical machine in order to stop the rotation of the engine E when an engine stop command is received from the engine operating point determination unit 31. Therefore, the stop control unit 34 functions as “stop control means” in the present invention. Therefore, the stop control unit 34 first sets the target stop position PT as the target engine rotation direction ER position for stopping the rotation of the engine E. FIG. 7 is an explanatory diagram for explaining a method of setting the target stop position PT. In this figure, the clockwise angle with respect to the vertical upper side as a reference (0 °) is an angle of 0 ° to 360 ° (hereinafter referred to as “phase”) within one rotation of the output shaft (crankshaft or the like) of the engine E. ), And one rotation along the circumference corresponds to one rotation of the output shaft of the engine E. The target stop position PT is set to a phase (hereinafter referred to as “stop optimal phase”) that can reduce the force required to start the engine E and reduce the start shock. For example, when the engine E is a four-cycle reciprocating engine (four-cycle engine) that sequentially performs four strokes of intake, compression, combustion, and exhaust, the piston in the cylinder in the compression stroke or the combustion stroke is in each stroke. It is preferable to set the phase in the vicinity of the end point of.

  In the present embodiment, when the position of the output shaft of the engine E when the engine stop command is received is set as the control start position PP, the stop control unit 34 requires the necessary rotation amount in the engine rotation direction ER from the control start position PP. The target stop position PT is set to the first stop optimal phase ahead of Rn. Here, the required rotation amount Rn is a rotation amount required to stop the engine E by gradually reducing the engine rotation speed NE without causing large vibrations, shocks, etc. For example, 2700 ° (7. 5 rotations). The required rotation amount Rn of 2700 ° is set on the assumption that the idling speed of the engine E is 900 [rpm] and the engine E is stopped for one second from the idling state. Therefore, if the position at the rear of the engine rotation direction ER from the target stop position PT by the required rotation amount Rn is the reference position PS, and the rotation amount from the control start position PP to the reference position PS is the surplus rotation amount Rm, the target stop position PT is The rotation amount obtained by adding the excessive rotation amount Rm to the necessary rotation amount Rn from the control start position PP is set to a position ahead of the engine rotation direction ER.

  After setting the target stop position PT, the stop control unit 34 derives the reference remaining rotation amount RA up to the target stop position PT. The reference remaining rotation amount RA is a remaining rotation amount R before correction by a later-described remaining rotation amount correction unit 36 and is a target stop from the position of the output shaft of the engine E at each time point (hereinafter referred to as “current position”). This is the actual amount of rotation up to the position PT. Here, the initial reference remaining rotation amount RA (hereinafter referred to as “initial remaining rotation amount RS”) at which the target stop position PT is set is the rotation amount obtained by adding the excess rotation amount Rm to the necessary rotation amount Rn as described above. The reference remaining rotation amount RA at each time point is a remaining rotation amount obtained by subtracting the rotation amount rotated up to the current position at each time point from the control start position PP from the initial remaining rotation amount RS. The reference remaining rotation amount RA derived here is corrected by the remaining rotation amount correction unit 36 as described later. Such a remaining rotation amount R after correction is referred to as a correction remaining rotation amount RB in the present embodiment. In the stop control described below, basically, the remaining correction rotation amount RB is used as the remaining rotation amount R. When the vehicle acceleration α is zero, the correction amount RC derived by the remaining rotation amount correction unit 36 is zero, so that the remaining correction rotation amount RB has the same value as the reference remaining rotation amount RA.

After the remaining rotation amount R is derived as described above, the stop control unit 34 performs stop control for controlling the first rotating electrical machine MG1 so as to reduce the engine rotation speed NE in accordance with the remaining rotation amount R. . Then, the stop control unit 34, based on the remaining rotation amount R and the engine rotation speed NE, changes the rate of change of the engine rotation speed NE so that the rotation of the engine E stops at the target stop position PT. CR is determined, and stop control is performed to control the MG1 rotational speed N1, which is the rotational speed of the first rotating electrical machine MG1, so as to reduce the engine rotational speed NE at the change rate CR. The stop control unit 34 derives the change rate CR according to the following (Equation 10).
CR [rpm / s] = NE × NE × 3 / R (Formula 10)
Here, the unit of the rate of change CR is “rpm / s”, the unit of the engine speed NE is “rpm”, the unit of the remaining rotation amount R is “° (degree)”, and “3” of the numerator is the unit. Is a coefficient for matching.

  FIG. 8 is a graph showing the rate of change CR determined on the basis of the remaining rotation amount R and the engine rotation speed NE. In this figure, since the vertical axis is the engine speed NE and the horizontal axis is time t, the remaining rotation amount R is expressed as an area. Further, the rate of change CR is expressed as an angle “CR” corresponding to a gradient at which the engine speed NE changes with time t. Incidentally, as will be described later, the correction remaining rotation amount RB is derived by adding the correction amount RC corresponding to the vehicle acceleration α to the reference remaining rotation amount RA (RB = RA + RC). Therefore, an area obtained by adding the area of the reference remaining rotation amount RA and the area of the correction amount RC corresponds to the correction remaining rotation amount RB. FIG. 8 shows a correction remaining rotation amount RB obtained by adding a correction amount RC having a positive value to the reference remaining rotation amount RA. In FIG. 8, the angle “CRa” represents the reference change rate CRa determined based on the reference remaining rotation amount RA, and the angle “CRb” represents the correction change rate CRb determined based on the remaining correction rotation amount RB. ing. As described above, when the correction amount RC is a positive value and the remaining correction rotation amount RB is larger than the reference remaining rotation amount RA, the correction change rate CRb is smaller than the reference change rate CRa. On the other hand, although illustration is omitted, when the correction amount RC takes a negative value and the remaining correction rotation amount RB is smaller than the reference remaining rotation amount RA, the correction change rate CRb is larger than the reference change rate CRa. . As will be described later, the correction amount RC takes a positive value when the vehicle is decelerating and the vehicle acceleration α takes a negative value. The correction amount RC takes a negative value. Is during acceleration and the vehicle acceleration α takes a positive value.

  Further, in the present embodiment, the stop control unit 34 updates the change rate CR every predetermined control cycle tc. FIG. 9 shows a locus of changes in the engine rotational speed NE (hereinafter referred to as “engine rotational speed change line”) when control is performed to reduce the engine rotational speed NE at the rate of change CR updated every predetermined control cycle tc. .) Is a diagram illustrating an example. In this figure, as in FIG. 8, the vertical axis represents the engine speed NE and the horizontal axis represents time t. Further, the starting point of the horizontal axis in FIG. 9 is when stop control is started, that is, when the position of the output shaft of the engine E is at the control start position PP (see FIG. 7). FIG. 9 shows an engine speed change line when stop control is performed using the reference remaining rotation amount RA regardless of the vehicle acceleration α. Specifically, the line Lb0 is an engine rotational speed change line when the vehicle acceleration α is zero (α = 0), and the line Lb1 is an engine rotational speed change line when the vehicle acceleration α is negative (α <0). , Line Lb2 indicates an engine rotation speed change line when the vehicle acceleration α is positive (α> 0). As shown in FIG. 9, the stop control unit 34 updates the rate of change CR every control cycle tc, and controls the first rotating electrical machine MG1 so as to reduce the engine speed NE at the rate of change CR. Therefore, the engine rotation speed change lines Lb0, Lb1, and Lb2 are in the form of polygonal lines whose inclination changes every control cycle tc. The control cycle tc is set to about 10 to 100 [ms], for example.

  After the rate of change CR is derived as described above, the stop control unit 34 determines an engine speed command indicating the target engine speed NE based on the current engine speed NE and the rate of change CR. Deriving a value. Here, the current engine rotation speed NE is acquired based on the detection value of the input shaft rotation speed sensor Se3. The engine rotation speed command value is based on a predetermined control cycle of the first rotating electrical machine MG1 for controlling the rotation speed of the engine E, and is the next when the current engine rotation speed NE changes (reduces) according to the change rate CR. The rotation speed of the engine in the control cycle. The engine rotation speed command value determined in this way is output to MG1 operating point determination unit 32. As a result, the MG1 operation point determination unit 32 determines the MG1 rotation speed command value and the MG1 torque command value constituting the MG1 operation point according to the engine rotation speed command value, and the control unit 3 performs the first operation according to the MG1 operation point. Controls the single-rotary electric machine MG1. Specifically, the MG1 operating point determination unit 32 first derives the MG1 rotation speed command value. In the present embodiment, the MG1 rotational speed command value is derived based on the gear ratio λ of the planetary gear device PG, the engine rotational speed command value, and the ring gear rotational speed NR as described above. Here, the ring gear rotational speed NR is derived based on the MG2 rotational speed N2 detected by the MG2 rotational speed sensor Se2. The MG1 operating point determination unit 32 then performs proportional-integral control (PI control) or the like based on the difference between the determined MG1 rotational speed command value and the current MG1 rotational speed N1 detected by the MG1 rotational speed sensor Se1. The MG1 torque command value is determined by the feedback control. Then, the control unit 3 controls the first rotating electrical machine MG1 so as to output the determined MG1 torque command value. As a result, stop control is executed in which the engine speed NE is gradually reduced toward the target stop position PT at the rate of change CR derived as described above.

  Further, the stop control unit 34 controls the rotational speed of the first rotating electrical machine MG1 so that the engine rotational speed NE is reduced at the rate of change CR when the engine rotational speed NE becomes less than a predetermined control end value NC. That is, the stop control is terminated. After the stop control is finished, the engine rotation speed NE is gradually decelerated by the frictional force of each part of the engine E and stopped. However, the rate of change CR of the engine rotation speed NE after the end of such stop control changes under the influence of the vehicle acceleration α. Therefore, the stop control unit 34 reduces the engine rotational speed NE at the rate of change CR when the reference remaining rotation amount RA when the stop control ends is the vehicle acceleration α being zero (α = 0). The rate of change CR during stop control is set so that the amount of rotation stops almost at the target stop position PT. Therefore, in FIG. 9, the area of the region surrounded by the engine rotation speed change line Lb0 when the vehicle acceleration α is zero (α = 0) is the initial reference remaining rotation amount RA at which the target stop position PT is set. Initially, the remaining rotation amount RS is obtained.

  On the other hand, when the vehicle acceleration α is other than zero, as already described with reference to FIG. 6, the vehicle acceleration α, the inertia moment JE of the engine E, and the inertia moment J1 of the first rotating electrical machine MG1 The engine mutual inertia torque TiE corresponding to the above relationship acts on the engine E. Specifically, when the vehicle is decelerating, negative engine mutual inertia torque TiE acts on engine E, and when the vehicle is accelerating, positive engine mutual inertia torque is applied to engine E. TiE acts. Accordingly, as shown by the line Lb1 in FIG. 9, when the vehicle acceleration α is negative (α <0), the engine is not compared with the case where the vehicle acceleration α is zero (α = 0) after the stop control is completed. The rotational speed NE decreases rapidly, and the total rotation amount of the engine E from the start of the stop control until the rotation of the engine E stops becomes smaller than the initial remaining rotation amount RS. Therefore, the stop position of the engine E is shifted rearward (retarded side) in the engine rotation direction ER from the target stop position PT. On the other hand, as shown by the line Lb2 in FIG. 9, when the vehicle acceleration α is positive (α> 0), the engine rotational speed NE is decreased more slowly than when the vehicle acceleration α is zero (α = 0). The total rotation amount of the engine E from the start of the stop control until the rotation of the engine E stops becomes larger than the initial remaining rotation amount RS. Therefore, the stop position of the engine E is shifted forward (advanced side) in the engine rotation direction ER from the target stop position PT.

  Therefore, the control unit 3 acquires the vehicle acceleration α on which the vehicle drive device 2 is mounted, derives a correction remaining rotation amount RB obtained by correcting the reference remaining rotation amount RA according to the vehicle acceleration α, and the correction remaining amount. Stop control of the first rotating electrical machine MG1 is performed using the rotation amount RB. Therefore, the rate of change CR of the engine speed NE during the stop control is adjusted according to the vehicle acceleration α. Thereby, after the stop control is finished, the engine mutual inertia torque TiE in the acceleration direction or the deceleration direction according to the vehicle acceleration α acts on the engine E, and the rate of change CR of the engine rotation speed NE is zero (see FIG. The change in the rotation amount due to the change compared to (α = 0) can be corrected in advance before the stop control ends. The engine E can be stopped at a predetermined target stop position PT with high accuracy. As a configuration for that purpose, the control unit 3 includes an acceleration acquisition unit 35 and a remaining rotation amount correction unit 36 described below.

  The acceleration acquisition unit 35 acquires a vehicle acceleration α that represents the acceleration of the vehicle. Therefore, the acceleration acquisition unit 35 functions as “acceleration acquisition means” in the present invention. In the present embodiment, the acceleration acquisition unit 35 acquires the detection value of the MG2 rotation speed sensor Se2, derives the rate of change (differential value) of the MG2 rotation speed N2 based on the detection value, and the MG2 rotation speed N2 The vehicle acceleration α is derived from the change rate of the vehicle. Here, since the MG2 rotational speed N2 is proportional to the vehicle speed, the vehicle acceleration α is obtained by multiplying the rate of change of the MG2 rotational speed N2 by a coefficient considering the gear ratio from the second rotor Ro2 to the wheel, the wheel diameter, and the like. Can be derived. Note that the vehicle speed and the vehicle acceleration α are preferably acquired as the angular velocity and angular acceleration of any rotating member that rotates at the same speed as or proportional to the wheel W. Moreover, it is suitable also as a structure which the acceleration acquisition part 35 acquires vehicle acceleration (alpha) by the detected value from the acceleration sensor (not shown) with which a vehicle is equipped. Or it is suitable also as a structure which derives vehicle acceleration alpha based on vehicle demand torque TC and vehicle speed. In this case, the acceleration acquisition unit 35 may be configured to include a map that estimates the vehicle acceleration α based on the vehicle required torque TC and the vehicle speed, and to acquire the vehicle acceleration α using the map.

The remaining rotation amount correction unit 36 performs a process of correcting the remaining rotation amount R according to the vehicle acceleration α. Therefore, the remaining rotation amount correction unit 36 functions as “correction means” in the present invention. In the present embodiment, the remaining rotation amount correction unit 36 derives a correction amount RC according to the vehicle acceleration α, and corrects the correction amount to a reference remaining rotation amount RA that is an actual rotation amount from the current position to the target stop position PT. By adding RC, the corrected remaining rotation amount RB, which is the remaining rotation amount R after correction, is derived. That is, the remaining rotation amount correction unit 36 derives a correction remaining rotation amount RB according to the following (Equation 11).
RB [°] = RA + RC (Formula 11)
As described above, the stop control unit 34 performs stop control of the first rotating electrical machine MG1 using the correction remaining rotation amount RB derived by the remaining rotation amount correction unit 36. In the present embodiment, the control unit 3 includes a correction amount map 37 that can be referred to from the remaining rotation amount correction unit 36. The remaining rotation amount correction unit 36 derives a correction amount RC corresponding to the vehicle acceleration α based on the correction amount map 37.

  FIG. 10 is a diagram showing an example of the correction amount map 37. As shown in this figure, the correction amount map 37 is defined such that when the vehicle acceleration α is zero, the correction amount RC becomes zero, and the value of the correction amount RC decreases as the value of the vehicle acceleration α increases. Has been. More specifically, in the correction amount map 37, when the vehicle acceleration α takes a positive value, the value of the correction amount RC decreases in the negative direction (the absolute value increases) as the value of the vehicle acceleration α increases. When the vehicle acceleration α takes a negative value, it is defined that the value of the correction amount RC increases in the positive direction as the value of the vehicle acceleration α decreases (the absolute value increases). Further, in the example shown in the figure, it is defined that the rate of increase of the absolute value of the correction amount RC gradually decreases as the absolute value of the vehicle acceleration α increases. By using such a correction amount map 37, the remaining rotation amount correction unit 36 performs correction to reduce the remaining rotation amount R when the vehicle is accelerating based on the vehicle acceleration α, and the vehicle decelerates. If it is in the middle, correction for increasing the remaining rotation amount R is performed.

  The correction amount RC is the total rotation amount when the stop control of the first rotating electrical machine MG1 is performed using the correction remaining rotation amount RB after correction corresponding to the actual vehicle acceleration α and the vehicle acceleration α is zero. It is determined so that the total rotation amount (initial remaining rotation amount RS) when the stop control of the first rotating electrical machine MG1 is performed using the reference remaining rotation amount RA that is not corrected to be substantially equal. Here, the total rotation amount is the rotation amount of the engine E from the position where the stop control is started (the control start position PP shown in FIG. 7 in this example) until the engine rotation speed NE becomes zero and the engine E stops. is there. Therefore, the correction amount map 37 defines a correction amount RC obtained in advance so as to satisfy the above-described conditions for both acceleration-side and deceleration-side vehicle accelerations α within an assumed range. By determining the correction amount RC in this way, the engine mutual inertia torque TiE (see FIG. 6) in the acceleration direction or the deceleration direction corresponding to the vehicle acceleration α acts on the engine E, so that the stop from the start of the stop control. The amount of change until the total rotation amount can be corrected by the control of the first rotating electrical machine MG1 during stop control with reference to the total rotation amount when the vehicle acceleration α is zero (initial residual rotation amount RS). it can. Therefore, the engine E can be stopped at the predetermined target stop position PT with high accuracy regardless of the vehicle acceleration α.

  11 and 12 are diagrams showing an example of an engine rotation speed change line when stopping the rotation of the engine E as in FIG. However, in FIG. 11 and FIG. 12, the stop control using the remaining correction amount RB after correction by the remaining rotation amount correction unit 36 and the stop control using the reference remaining rotation amount RA before correction are performed. The case is shown to be comparable. FIG. 11 shows the engine rotation speed when the stop control using the corrected remaining rotation amount RB is performed when the vehicle is decelerating and the vehicle acceleration α is a negative value αa (α = αa <0). A change line La and an engine speed change line Lb1 when stop control is performed using the reference remaining rotation amount RA are shown. FIG. 12 shows the engine when stop control is performed using the remaining correction rotation amount RB when the vehicle is accelerating and the vehicle acceleration α is a positive value αb (α = αb> 0). A rotation speed change line La and an engine rotation speed change line Lb2 when stop control is performed using the reference remaining rotation amount RA are shown. 11 and 12 also show an engine speed change line Lb0 when the vehicle acceleration α is zero (α = 0) for comparison. In FIG. 11, the area surrounded by the engine rotation speed change line Lb0 is the initial remaining rotation amount RS that is the initial reference remaining rotation amount RA at which the target stop position PT is set.

  As shown in FIG. 11, when the vehicle is decelerating, if the stop control is performed using the reference remaining rotation amount RA without correcting the remaining rotation amount R, the engine rotation speed change line becomes a line Lb1. As shown. Therefore, after the end of the stop control in which the engine speed NE is less than the predetermined control end value NC, the engine speed NE decreases faster than when the vehicle acceleration α is zero (α = 0). Further, the total rotation amount of the engine E represented by the area of the region surrounded by the engine rotation speed change line Lb1 becomes smaller than the initial remaining rotation amount RS. Therefore, the remaining rotation amount correction unit 36 determines a correction amount RC according to the vehicle acceleration α, and derives a corrected remaining rotation amount RB obtained by correcting the reference remaining rotation amount RA. Then, the stop control unit 34 performs stop control using such a remaining correction rotation amount RB. As a result, as indicated by the engine rotational speed change line La in FIG. 11, the rate of change CR during the stop control is smaller than when the reference remaining rotational amount RA is used, and the speed at which the engine rotational speed NE is reduced is reduced. Become slow. Further, as described above, the correction amount RC is determined so that the total rotation amount when the stop control is performed using the correction remaining rotation amount RB corresponding to the actual vehicle acceleration α substantially matches the initial remaining rotation amount RS. is doing. Therefore, the total rotation amount of the engine E represented by the area of the region surrounded by the engine rotation speed change line La when the stop control is performed using the corrected remaining rotation amount RB substantially matches the initial remaining rotation amount RS. It will be. As a result, the engine mutual inertia torque TiE in the deceleration direction acts on the engine E due to the vehicle acceleration (deceleration) α, and after the stop control is finished, the amount of rotation that decreases as the rate of change CR of the engine rotational speed NE increases. It can be increased in advance during stop control. Therefore, even when the vehicle is decelerating, the engine E can be stopped at a predetermined target stop position PT with high accuracy.

  As shown in FIG. 12, when the vehicle is accelerating, if the stop control is performed using the reference remaining rotation amount RA without correcting the remaining rotation amount R, the engine rotation speed change line becomes a line Lb2. As shown. Therefore, after the end of the stop control in which the engine speed NE is less than the predetermined control end value NC, the engine speed NE is decreased more slowly than when the vehicle acceleration α is zero (α = 0). The total rotation amount of the engine E represented by the area of the region surrounded by the engine rotation speed change line Lb2 is larger than the initial remaining rotation amount RS. Therefore, the remaining rotation amount correction unit 36 determines a correction amount RC according to the vehicle acceleration α, and derives a corrected remaining rotation amount RB obtained by correcting the reference remaining rotation amount RA. Then, the stop control unit 34 performs stop control using such a remaining correction rotation amount RB. As a result, as indicated by the engine rotational speed change line La in FIG. 12, the rate of change CR during the stop control is increased and the speed at which the engine rotational speed NE is reduced compared to the case where the reference remaining rotational amount RA is used. Get faster. Further, as described above, the correction amount RC is determined so that the total rotation amount when the stop control is performed using the correction remaining rotation amount RB corresponding to the actual vehicle acceleration α substantially matches the initial remaining rotation amount RS. is doing. Therefore, the total rotation amount of the engine E represented by the area of the region surrounded by the engine rotation speed change line La when the stop control is performed using the corrected remaining rotation amount RB substantially matches the initial remaining rotation amount RS. It will be. As a result, the engine mutual inertia torque TiE in the acceleration direction acts on the engine E due to the vehicle acceleration α, and after the stop control is finished, the amount of rotation that increases when the rate of change CR of the engine rotation speed NE becomes small is stopped control. It can be reduced in advance. Therefore, even when the vehicle is accelerating, the engine E can be stopped at a predetermined target stop position PT with high accuracy.

  As shown in FIGS. 11 and 12, when the stop control using the reference remaining rotation amount RA is performed, the engine rotation speed change line Lb0 when the vehicle acceleration α is zero and the vehicle acceleration α are not zero. The engine rotational speed change lines Lb1 and Lb2 coincide with each other during the stop control of the first rotating electrical machine MG1, but after the engine rotational speed NE becomes less than the predetermined control end value NC and the stop control ends. Is different. Therefore, when the rotation amount of the engine E from the end of the stop control to the stop of the rotation of the engine E is set as the rotation amount after the control end, the total rotation amount of the vehicle acceleration α when it is zero and when it is not zero The difference is equal to the difference in the rotation amount after the end of control. According to the configuration of the present embodiment, the remaining rotation amount correction unit 36 determines the correction amount RC as described above and corrects the remaining rotation amount R, whereby the control ends when the vehicle acceleration α is zero. The difference between the post-rotation amount and the post-control rotation amount at the actual vehicle acceleration α is corrected by changing the rotation amount of the engine E during the stop control. Therefore, after the stop control is finished, the amount of rotation that increases or decreases when the rate of change CR of the engine speed NE varies with the vehicle acceleration α is adjusted during the stop control by the first rotating electrical machine MG1, and the engine E is The target stop position PT can be stopped with high accuracy.

5). Control Method for Hybrid Drive Device Next, a control method for the vehicle drive device 2 by the vehicle control device 1 according to the present embodiment will be described based on a flowchart. FIG. 13 is a flowchart showing an overall procedure of stop control for stopping the rotation of the engine E by the vehicle control apparatus 1 according to the present embodiment. This control method of the vehicle drive device 2 is executed mainly by hardware and / or software (program) or both of which constitutes the stop control unit 34, the acceleration acquisition unit 35, and the remaining rotation amount correction unit 36 in the control unit 3. Is done. When each of the above function units is configured by a program, the arithmetic processing unit included in the control unit 3 operates as a computer that executes the program that configures each of the above function units.

  When stopping the engine E, the stop control unit 34 first determines whether or not an engine stop command has been issued (step # 01). The engine stop command is output from the engine operating point determination unit 31. If there is an engine stop command (step # 01: Yes), the stop control unit 34 sets a target stop position PT (step # 02). Next, the stop control unit 34 derives a reference remaining rotation amount RA that is the remaining rotation amount R up to the target stop position PT (step # 03). As described above, the reference remaining rotation amount RA derived in step # 03 is the total rotation amount from the control start position PP where the stop control is started until the engine E stops when the target stop position PT is set. It is a certain initial remaining rotation amount RS, and thereafter the rotation amount from the current position to the target stop position PT at each time point.

  Next, the acceleration acquisition unit 35 acquires the vehicle acceleration α (step # 04). Thereafter, the remaining rotation amount correction unit 36 corrects the remaining rotation amount R in accordance with the vehicle acceleration α acquired in step # 04 (step # 05). As described above, the remaining rotation amount correction unit 36 determines the correction amount RC corresponding to the vehicle acceleration α based on the correction amount map 37, and adds the correction amount RC to the reference remaining rotation amount RA derived in step # 03. Thus, the remaining correction rotation amount RB is derived. This corrected remaining rotation amount RB becomes the remaining rotation amount R after correction. Next, the stop controller 34 derives the rate of change CR of the engine speed NE based on the corrected remaining rotation amount R (corrected remaining rotation amount RB) (step # 06).

  Thereafter, the stop control unit 34 acquires the engine rotation speed NE (step # 07). The engine rotational speed NE is acquired based on the detected value of the input shaft rotational speed sensor Se3. Next, the stop control unit 34 derives an engine rotational speed command value based on the engine rotational speed NE acquired in step # 07 and the rate of change CR of the engine rotational speed NE derived in step # 06. (Step # 08). Then, the first rotating electrical machine MG1 is controlled by the control unit 3 in accordance with the engine rotational speed command value (step # 09). Specifically, as described above, the MG1 operation point determination unit 32 determines the MG1 rotation speed command value and the MG1 torque command value constituting the MG1 operation point according to the engine rotation speed command value, and the control unit 3 The first rotating electrical machine MG1 is controlled according to the MG1 operating point. Thereby, stop control of the first rotating electrical machine MG1 is executed to reduce the engine rotational speed NE at the change rate CR derived as described above.

  Next, the stop control unit 34 determines whether or not the engine rotation speed NE is less than a predetermined control end value NC (step # 10). When the engine speed NE is equal to or higher than the predetermined control end value NC (step # 10: No), the stop control unit 34 determines whether or not a predetermined control cycle tc for updating the change rate CR has elapsed. (Step # 11). This determination is made based on the elapsed time from the previous determination (update) of the change rate CR. If the control cycle tc has not elapsed (step # 11: No), the process returns to step # 07, and the stop control of the first rotating electrical machine MG1 by steps # 07 to # 09 is performed based on the same change rate CR. Will continue. If the control cycle tc has elapsed (step # 11: Yes), the process returns to step # 03. As a result, a remaining rotation amount R (reference remaining rotation amount RA) from the current position to the target stop position PT at that time is newly derived, and the remaining rotation amount R is corrected according to the vehicle acceleration α. Based on the quantity RB, a new rate of change CR is derived. Based on the new rate of change CR, control (stop control) of the first rotating electrical machine MG1 is performed in steps # 07 to # 09.

  Thereafter, when the engine speed NE becomes less than the predetermined control end value NC (step # 10: Yes), the MG1 torque command value is set to zero, and the control (stop control) of the first rotating electrical machine MG1 is ended. (Step # 12). This completes the stop control for stopping the rotation of the engine E. After the stop control of the first rotating electrical machine MG1 is finished, the engine rotational speed NE is gradually decelerated and stopped by the frictional force of each part of the engine E as described above. At this time, since the remaining amount of rotation R is corrected in accordance with the vehicle acceleration α in step # 05, the amount of rotation that increases or decreases when the rate of change CR of the engine rotation speed NE varies with the vehicle acceleration α is the first rotation. It is adjusted during the stop control by the electric machine MG1, and the engine E can be stopped at a predetermined target stop position PT with high accuracy.

6). Other Embodiments (1) In the above embodiment, the remaining rotation amount correction unit 36 adds the correction amount RC corresponding to the vehicle acceleration α to the reference remaining rotation amount RA to derive the correction remaining rotation amount RB. As explained. However, the embodiment of the present invention is not limited to this. Therefore, for example, the remaining rotation amount correction unit 36 may be configured to derive the correction remaining rotation amount RB by multiplying the reference remaining rotation amount RA by the correction amount RC corresponding to the vehicle acceleration α. One of the forms. In such a configuration, the value of the correction amount RC is “1” when the vehicle acceleration α is zero (α = 0), and from “1” when the vehicle acceleration α is negative (α <0). It is preferable to take a large value and take a value less than “1” when the vehicle acceleration α is positive (α> 0).

(2) In the above embodiment, the configuration in which the first rotating electrical machine MG1 is controlled by the rotational speed feedback control based on the difference between the MG1 rotational speed command value and the current MG1 rotational speed N1 has been described as an example. However, the embodiment of the present invention is not limited to this. Accordingly, for example, the first rotating electrical machine MG1 may be configured to be controlled by torque feedback control based on the difference between the MG1 torque command value and the current MG1 torque T1. It is. The feedback control method is not limited to proportional-integral control (PI control), and proportional-integral-derivative control (PID control), proportional control (P control), or the like can be used.

(3) In the above embodiment, the stop control unit 34 determines the change rate CR of the engine rotation speed NE based on the remaining rotation amount up to the target stop position PT and the engine rotation speed NE, and uses the change rate CR. The configuration for controlling the first rotating electrical machine MG1 so as to reduce the engine rotation speed NE has been described as an example. However, the embodiment of the present invention is not limited to this, and various control methods capable of gradually reducing the engine rotational speed NE are used as the stop control method for reducing the engine rotational speed NE. Can be used.

(4) In the above embodiment, the case where the stop control unit 34 is configured to end the stop control when the engine speed NE becomes less than the predetermined control end value NC has been described as an example. However, the embodiment of the present invention is not limited to this. Accordingly, in the configuration in which the stop control unit 34 continues the stop control until the engine rotation speed NE becomes zero and the engine E stops, the remaining rotation amount correction unit 36 performs the remaining rotation according to the vehicle acceleration α as described above. A configuration for correcting the amount R is also a preferred embodiment of the present invention. In such a configuration, since a large torque acts on the engine in the acceleration direction or the deceleration direction according to the vehicle acceleration, the rotation speed control by the first rotating electrical machine MG1 during the stop control cannot follow, and the engine rotation speed Even when the degree of reduction changes, the amount of rotation corresponding to the change corresponding to the vehicle acceleration can be corrected. Therefore, even in such a case, the engine can be stopped at a predetermined target stop position with high accuracy.

(5) In the above embodiment, the vehicle drive device 2 has a single pinion type planetary gear mechanism PG having three rotating elements of the sun gear s, the carrier ca, and the ring gear r as the differential gear device. Described as an example. However, the configuration of the differential gear device according to the present invention is not limited to this. Therefore, for example, the differential gear device has another differential gear mechanism such as a double pinion type planetary gear mechanism or a differential gear mechanism using a plurality of bevel gears meshing with each other. Is also suitable. In addition, the differential gear device is not limited to one having three rotating elements, and may be suitable as a configuration having four or more rotating elements. Also in this case, regarding the three rotating elements selected from the four or more rotating elements, the first rotating electrical machine MG1 is drivingly connected to the first rotating element without passing through the other rotating elements, and the second rotating element is selected. It is preferable that the input member I is drivingly connected to the rotating element and the output member O is drivingly connected to the third rotating element. As the differential gear device having four or more rotating elements, for example, a configuration in which some rotating elements of two or more sets of planetary gear mechanisms are connected to each other can be used.

(6) In the above embodiment, the case where the second rotating electrical machine MG2 is provided in addition to the first rotating electrical machine MG1 has been described as an example. However, the configuration of the differential gear device according to the present invention is not limited thereto. . Therefore, it is also a preferred embodiment of the present invention that the second rotary electric machine MG2 is not provided, and only one rotary electric machine is provided.

(7) In the above embodiment, the vehicle drive device 2 includes the differential gear device, and the driving force from the input member I (engine E) is transmitted to the rotating electrical machine (first rotating electrical machine MG1) by the differential gear device. The case of a so-called split-type hybrid vehicle drive device distributed to the output member O has been described as an example. However, the embodiment of the present invention is not limited to this. Therefore, for example, the vehicle drive device 2 is a drive that drives and connects the input member and the output member so that the rotational speed of the rotating electrical machine and the output member is determined in proportion to the rotational speed of the input member I (engine E). One preferred embodiment of the present invention is a so-called parallel-type hybrid vehicle drive device having a transmission mechanism. In this case, at least one rotating electrical machine may be provided.

  The present invention includes an input member drivingly connected to an engine, an output member drivingly connected to a wheel, a drive transmission mechanism drivingly connecting the input member and the output member, and at least drivingly connected to the input member. The present invention can be suitably used in a vehicle control device that performs control on a vehicle drive device including a rotating electrical machine.

1 is a block diagram showing an overall system configuration of a vehicle control device according to an embodiment of the present invention. Skeleton diagram showing the mechanical configuration of the vehicle drive device according to the embodiment of the present invention Speed diagram in hybrid mode Speed diagram in EV (electric) mode Speed diagram for explaining the operation when the engine is stopped while the vehicle is running Speed diagram for explaining the relationship of torque acting on each rotating element due to the acceleration of the vehicle Explanatory diagram for explaining how to set the target stop position A graph showing the rate of change determined based on the remaining amount of rotation and engine speed The figure which showed an example of the engine speed change line when not correcting the remaining amount of rotation A figure showing an example of a correction amount map A diagram showing an example of a comparison of engine speed change lines before and after correction of the remaining rotation amount A diagram showing an example of a comparison of engine speed change lines before and after correction of the remaining rotation amount Flow chart showing the overall procedure of stop control

Explanation of symbols

1: Vehicle control device 2: Vehicle drive device 3: Control unit 5: Drive transmission mechanism 34: Stop control unit (stop control means)
35: Acceleration acquisition unit (acceleration acquisition means)
36: Remaining rotation amount correction unit (correction means)
E: Engine I: Input member W: Wheel O: Output member MG1: First rotating electrical machine (rotating electrical machine)
MG2: Second rotating electrical machine PG: Planetary gear device (differential gear device)
s: Sun gear (first rotating element)
ca: carrier (second rotating element)
r: Ring gear (third rotating element)
NE: engine rotation speed α: vehicle acceleration ER: engine rotation direction PT: target stop position R: remaining rotation amount RA: reference remaining rotation amount RB: remaining correction rotation amount (remaining rotation amount after correction)
RC: correction amount NC: control end value CR: rate of change tc: control cycle

Claims (8)

An input member that is drivingly connected to the engine, an output member that is drivingly connected to the wheels, a drive transmission mechanism that drives and connects the input member and the output member, and a rotating electrical machine that is drivingly connected to at least the input member; A vehicle control device that performs control on a vehicle drive device comprising:
In order to stop the rotation of the engine, a target stop position is set in the engine rotation direction, and the rotating electrical machine is controlled so as to reduce the rotation speed of the engine according to the remaining rotation amount up to the target stop position. Stop control means for performing stop control;
Acceleration acquisition means for acquiring vehicle acceleration representing vehicle acceleration;
Correction means for correcting the remaining rotation amount in accordance with the vehicle acceleration;
A vehicle control device comprising:   The correction means performs correction to reduce the remaining rotation amount when the vehicle is accelerating based on the vehicle acceleration, and correction to increase the remaining rotation amount when the vehicle is decelerating. The vehicle control device according to claim 1 to be performed. The stop control means ends the stop control when the rotational speed of the engine becomes less than a predetermined control end value,
In the case where the rotation amount of the engine from the end of the stop control until the rotation of the engine stops is set as the rotation amount after the control ends,
The correction means calculates the difference between the rotation amount after the end of control when the vehicle acceleration is zero and the rotation amount after the end of control at the actual vehicle acceleration by correcting the remaining rotation amount. The vehicle control device according to claim 1, wherein the amount of rotation of the engine during stop control is changed and corrected. When the rotation amount of the engine from the start of the stop control until the rotation of the engine stops is the total rotation amount,
The correction means calculates the total rotation amount when the stop control is performed using the remaining rotation amount corrected according to the actual vehicle acceleration, and the remaining rotation amount that is not corrected when the vehicle acceleration is zero. The vehicle control device according to any one of claims 1 to 3, wherein a correction amount of the remaining rotation amount is determined so that the total rotation amount when the stop control is performed and substantially matches.   The correction means sets the correction amount to zero when the vehicle acceleration is zero, and decreases the correction amount as the vehicle acceleration value increases as the vehicle acceleration takes a positive value. 5. The vehicle control device according to claim 4, wherein when the vehicle acceleration takes a negative value, the correction amount is set to a larger positive value as the vehicle acceleration value becomes smaller.   The stop control means determines a change rate of the engine rotation speed such that the rotation of the engine stops at the target stop position based on the remaining rotation amount and the engine rotation speed, and the change rate The vehicle control device according to any one of claims 1 to 5, wherein the rotational speed of the rotating electrical machine is controlled so as to reduce the rotational speed of the engine. The drive transmission mechanism includes a differential gear device;
The differential gear device includes at least three rotation elements, that is, a first rotation element, a second rotation element, and a third rotation element, and the first rotation element and the first rotation element do not pass through other rotation elements with respect to the first rotation element. The rotary electric machine is drivingly connected to the rotating element, the input member is drivingly connected to the second rotating element, and the output member is drivingly connected to the third rotating element. The vehicle control device described in 1. The rotary electric machine is a first rotary electric machine, and a second rotary electric machine is provided in addition to the first rotary electric machine,
The vehicle control device according to claim 7, wherein the second rotating electrical machine is drivingly connected to the third rotating element without passing through the first rotating element and the second rotating element.

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