JP3353859B2 - Hybrid vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hybrid vehicle, and more particularly, to a hybrid vehicle that controls output on a predetermined route by fuzzy control.

[0002]

2. Description of the Related Art Conventionally, Japanese Patent Laid-Open Publication No.
As disclosed in Japanese Patent Application Publication No. 02-002, a hybrid vehicle that is driven by a conventional engine that can easily supply fuel and a clean motor as energy has been proposed. In this hybrid vehicle, a vehicle driving state such as an accelerator opening and a vehicle speed is detected to control the use of the engine and the motor. However, the shared use of the engine and the motor in this hybrid vehicle is uniquely controlled based only on the driving state of the vehicle, and the environment surrounding the vehicle has not been considered. To cope with this, Japanese Unexamined Patent Publication No. 63-232027 discloses a hybrid vehicle that detects the current position of a vehicle and controls the driving of an engine and a motor based on a driving characteristic conversion table corresponding to a region. It is shown. In this hybrid vehicle, it is determined whether or not the detected current position is within the designated area, a conversion table is selected according to the area, and the engine and the motor are driven and controlled based on the selected conversion table, so as to correspond to the area. To change the usage ratio of the engine and the motor. In other words, outside the designated area, the vehicle travels in the same way as a general engine car, and within the designated area, the vehicle is driven in a state in which the motor usage ratio is increased and the exhaust gas from the engine is reduced, so that traveling in accordance with the environment is achieved. It is supposed to do.

[0003]

However, a conventional hybrid vehicle that drives and controls an engine and a motor in accordance with such an area only runs in accordance with the environment. The problem of cruising distance due to insufficient battery capacity, which is a point, was not particularly considered. Further, since the determination is made only within the designated area and outside the area, and the vehicle condition and the road condition are not determined, the problem of fuel efficiency is not particularly considered.

[0004] Therefore, the present invention reduces unnecessary running,
It is an object of the present invention to provide a hybrid vehicle that can efficiently use a battery and improve fuel efficiency of an engine.

[0005]

According to the first aspect of the present invention, in a hybrid vehicle having a motor and an engine for generating a driving force of a vehicle, a current position detecting means for detecting a current position of the vehicle, and road information. storage means for storing, and route acquisition means for obtaining a route to a destination, this
When traveling on the route obtained by the route obtaining means,
Fuzzy inference from at least one of road width, slope, and distance from corner read from road information
And estimated means you estimate performed a plurality of travel patterns, driver
From the actual torque demanded by
Measuring means for measuring the actual travel measured by the measuring means
The running pattern closest to the pattern is estimated by the estimation means.
A selection means for selecting from a plurality of traveling patterns were boss, on the basis of the output torque by the driving pattern selected at the current location and previous <br/> Symbol selection means of said detected by the current position detection unit vehicle, the engine The above object is achieved by providing a hybrid vehicle with: and a torque control means for controlling the output torque of the motor. According to the second aspect of the present invention,
In the hybrid vehicle, wherein the traveling pattern
Is determined based on road width and distance from corners
Running pattern and running pattern determined based on the slope
Estimated from the

[0006]

In the hybrid vehicle according to the first aspect, the route to the destination is obtained by route search, input from an external device, or the like. Then, a plurality of traveling patterns are estimated by performing fuzzy inference from at least one of the road width, the slope, and the distance from the corner. Then, the driving pattern closest to the actual driving pattern is selected, and the current position of the vehicle is selected.
And on the basis of the output torque by the selected estimated traveling pattern, the output torque of the engine and the motor is controlled.
In the hybrid vehicle according to claim 2, wherein, the running pattern
Is determined based on road width and distance from corners
Running pattern and running pattern determined based on the slope
Estimated from the

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a hybrid vehicle according to the present invention will be described below in detail with reference to FIGS. FIG. 1 is a block diagram illustrating a configuration of a circuit portion of the hybrid vehicle according to the present embodiment. The hybrid vehicle according to the present embodiment includes an engine 1 that generates a driving force and a motor 10. At least one of the driving forces of the engine 1 and the motor 10 is output to the output shaft 22 by engaging and disengaging a clutch (not shown), and transmitted to the left and right front wheels 33a, 33b via the differential device 11. It has become. In this embodiment, the engine 1
Various engines such as gasoline or diesel are selectively used, and various motors such as a brushless DC motor, an induction motor, and a DC shunt motor are selectively used as the motor 10.

The hybrid vehicle has a battery 41 for supplying electric power for driving the motor 10, a battery current / voltage detection sensor 42 for detecting the current and voltage of the battery 41, and a current supplied from the battery 41. Is converted into a current value at which a predetermined torque is generated.
0, and a driver 43 for controlling the regeneration from the motor 10 to the battery 41. Battery 4
1 is a lead acid storage battery, a nickel cadmium battery, a sodium sulfur battery, a lithium secondary battery, a hydrogen secondary battery,
Various secondary batteries such as redox batteries, large-capacity capacitors, and the like are used. The battery 41 is, for example, 240
[V] DC power supply.

The hybrid vehicle further includes an engine control mechanism 44 for controlling the output of the engine 1 by adjusting the opening of the throttle valve in accordance with the output torque value requested by the driver;
A clutch (not shown) for selectively outputting the driving force to the output shaft 22 and a clutch control unit 45 for controlling engagement and disengagement of the clutch.

The hybrid vehicle further includes a controller 48 for controlling the overall operation of the vehicle,
8 and the controller 4
8, a navigation processing unit 50, an absolute position detecting device 51 for detecting an absolute position of the vehicle, an input / output unit 52 for inputting and outputting data, and various data files 53. The absolute position detecting device 51, the input / output unit 52, and the various data files 53 are connected to the navigation processing unit 50, and a navigation system is configured by these.

The sensor unit 49 has an accelerator sensor 491 for detecting the amount of depression of the accelerator. The amount of depression of the accelerator determines the required torque requested by the driver, and the actual traveling pattern is measured from the required torque. It should be noted that a throttle sensor may be provided instead of the accelerator sensor 491, and the torque required by the driver may be obtained by detecting the throttle opening. The sensor unit 49 further includes a brake sensor 492 for detecting a depression amount of a brake pedal, a shift lever sensor 493 for detecting a position of a shift lever, and a vehicle speed sensor 494 for detecting a vehicle speed from a rotation speed of the output shaft 22. I have. The signals detected by these sensors are supplied to the controller 48.

The controller 48 includes a CPU 481. The CPU 481 is connected to a ROM (Read Only Memory) 482 via a bus line such as a data bus.
And a RAM (random access memory) 483. The CPU 481 determines an optimal estimated traveling pattern for traveling on the guide route searched for the destination by the navigation processing unit 50, and automatically selects a traveling mode of the hybrid vehicle according to the output torque U5 of the traveling position. It has become. When the estimated traveling by the fuzzy inference of the present embodiment is not performed, the normal traveling is performed by a predetermined key operation process. In normal traveling, the traveling state is determined according to various detection signals supplied from each sensor, and the traveling mode of the hybrid vehicle is determined.

The ROM 482 stores various data such as a program for fuzzy estimating the estimated traveling pattern for the searched guide route and fuzzy data, and various programs and data for controlling the entire vehicle. The RAM 483 is used as a working memory for storing various data, and is used for the navigation device 5.
A guide route storage area for storing a guide route to the destination searched at 0, road data such as a road width and a gradient, an estimated travel pattern storage area for storing three types of estimated travel patterns, and an actual travel pattern storage area. , Etc. are provided.

FIGS. 2, 3 and 4 show fuzzy rules and membership functions stored in ROM 482. FIG. FIG. 2 is a table summarizing a fuzzy rule composed of a condition part (phenomenon item) of two elements and a conclusion part, and FIG. 3 shows a function of an output corresponding to each conclusion of the conclusion part. As shown in FIG. 2, the fuzzy rule is based on the output torque U5 that is the final estimated traveling pattern.
(E) of FIG. 2 and intermediate output torques U1 to U4 (FIG. 2) for deriving the output torque U5.
Patterns 1 to 4 corresponding to (a) to (d)) are determined.

As a condition part for determining each output, the width of the road and a change in the road width are used for determining the output torque U1. The slope and its increase / decrease (change) are used to determine the output torque U2. The distance to the corner and the position with respect to the corner are used to determine the output torque U3. The output torque U4 is determined by determining the output torque U1 and the output torque U3.
Is used. Further, the output torque U5 uses the output torque U2 and the output torque U4. FIG.
In each fuzzy rule shown in (e), the output change symbol indicating the content of each output change indicated in the conclusion part is (-).
-) Indicates a decrease in output, (-) indicates a slight decrease in output,
(0) is the output unchanged, (+) is the output slightly increased,
(++) means that the output increases the output.

[0016] Figure 3 is a representation the output membership function for pairs <br/> response to each output change Symbol of the conclusion section. The torque command value is determined by the output membership function. As shown in FIG. 3, the output membership function of the conclusion part according to the present embodiment is not symmetrical about 0 (0), but is set larger (−−) and (−) (to the left). ) To prevent over-output.

FIG. 4 shows a membership function of the condition part. The membership function of the conditional part is shown in FIG.
As shown in (a) to (c), three types of first to third membership functions are stored in the ROM 482. The dotted line, solid line,
The dashed lines have the respective meanings shown in (d).
In the second membership function shown in FIG. 4 (b), the solid line is set to 1 at the center and the dotted line and the dashed line are cut off. be able to.

In FIG. 1, an absolute position detecting device 51 includes a GPS for measuring the position of a vehicle using an artificial satellite.
(Global Positioning System) A receiving device 511, a beacon receiving device 512 for receiving position information of a beacon placed on the road, an azimuth sensor 513, a distance sensor 514, a steering angle sensor 515, and the like are used. Note that the GPS receiver 5
11 and the beacon receiver 512 can measure the position independently, but in other cases, the distance sensor 514 and the direction sensor 513 or the distance sensor 514 and the steering angle sensor 515
The absolute position is detected by the combination of. Here, the azimuth sensor 513 includes, for example, a geomagnetic sensor that detects terrestrial magnetism to obtain the azimuth of the vehicle, a gas rate gyro, an optical fiber gyro that detects the rotational angular velocity of the vehicle and integrates the angular velocity to obtain the azimuth of the vehicle. A gyro, a wheel sensor, and the like are used, in which left and right wheel sensors are arranged, and a displacement of the azimuth is calculated by detecting turning of the vehicle based on an output pulse difference (difference in moving distance). Distance sensor 514
For example, a device that detects and counts the number of revolutions of a wheel, a device that detects acceleration and integrates twice, and other measuring means are used. As the steering angle sensor 515, for example, an optical rotation sensor or a rotation resistance volume attached to a rotating portion of a steering wheel is used, but an angle sensor attached to a wheel portion may be used.

The input / output unit 52 includes a display device 521, an input device 522, and an audio output device 523. The present location (starting point) and destination (arrival point) at the start of traveling are input from the input device 522. The input device 522 includes a joystick, a key,
Touch panel, mouse, light pen, or display device 5
Various input devices are used, such as those that display keys and menus on the screen in combination with the screen of FIG. 21 and input from the screen. The display device 521 displays a route set in response to a request from the user in the navigation system, or displays a guide map along a traveling route. In addition, a characteristic photograph at an intersection or along a route is displayed, the remaining distance to the intersection, the traveling direction at the next intersection, and various kinds of guidance information are displayed.

As the display device 521, a CRT, a liquid crystal display, a plasma display, a hologram device for projecting a hologram on a windshield, and the like are used. The voice output device 523 appropriately outputs voice guidance information in the navigation system. For example, guidance information such as "Please turn right / left / go straight on 300 m ahead / next intersection" is output 300 m before or just before the intersection which is the guide point. As the voice guidance information, a voice recorded in advance on a CD-ROM or the like or a synthesized voice by a voice synthesizer is used.

The navigation processing unit 50 includes a CPU (not shown), a ROM in which various programs such as a navigation program are stored, and a RAM as a working memory. Navigation processing unit 50
When a destination is input and specified from the input device 522, R
According to a navigation program stored in the OM, a guide route to a destination is searched for from various data stored in the data file 53. Then, the navigation processing unit 50 supplies the searched guidance route and necessary information to the input / output unit 52.
The controller 48 also supplies the controller 48 with the searched guide route, the road data such as the width and gradient of the road stored in the road data file 534, and the information such as the current position detected by the absolute position detecting device 51. It has become.
Note that a communication device (not shown) is connected to the navigation device 50 as route acquisition means so as to acquire a pre-searched guide route from various external devices such as a portable electronic device such as a personal computer and an electronic notebook. Good morning In addition, only the destination is obtained from these external devices, and the guidance route to this destination is displayed on the navigation device 5.
You may make it search by 0.

The data file 53 includes a drawing map data file 531, an intersection data file 532, a node data file 533, a road data file 534, a search data file 535, and a photograph data file 536. For each of these files, various storage devices such as a floppy disk, hard disk, CD-ROM, optical disk, magnetic tape, IC card, and optical card are used.

Here, the drawn map data file 531 stores drawn map data to be drawn on the display device 521. In the drawing map data, the drawing map data is stored for each layer such as Japan, the Kanto region, Tokyo, and Kanda from the highest layer, for example, the highest layer. Each of the drawn map data includes, for example, various data such as a coastline node column, a prefectural border node column, a national road node column, a highway node column, a national road number, and a city name.
A map is drawn on the display device 521. The photograph data file 536 stores a photograph of each intersection or a characteristic scenery or the like seen while traveling straight, corresponding to the photograph number. The photographic data is stored as digital or analog data depending on the format of the display device 521, or stored in a format such as a negative film.

On the other hand, an intersection data file 532, a node data file 533,
The road network data includes intersection data, node data, and road data stored in each of the road data files 534. The intersection data file 532 includes, for each of the intersection numbers, the intersection name, the latitude and longitude of the intersection, the road number with the smallest number among the roads where the intersection is the starting point, and the intersection as the end point. Among the roads, the road number with the smallest number and the presence or absence of a signal are stored as intersection data. The road data file 534 includes, for each of the road numbers, the intersection number of the starting point, the intersection number of the ending point, the next number among the roads having the same starting point, and the next number among the roads having the same ending point. Stuff, road size, banned information, unnecessary information,
Stored are a photograph number of photograph data described later, the number of nodes, a head address of node string data, a road length, and the like. The road data file 534 also stores data relating to the starting point, center, and end point of the road slope and corner. The node data file 533 stores node data including information on pedestrian crossings, tunnels, and the like that can be detected by sensors or the like at characteristic points on the course. Node data is data about one point on the road,
When a connection between nodes is called an arc, a road is represented by connecting an arc between each of a plurality of node rows. Also, the node data includes east longitude, north latitude,
It contains data such as altitude and attributes.

The search data file 535 stores intersection sequence data and node sequence data generated by the route search. The intersection column data is composed of information such as an intersection name, an intersection number, a photograph number photographing a characteristic scenery of the intersection, a turning angle, a distance, and the like.
It consists of east longitude, north latitude and altitude indicating the node position, and information such as intersection number, attribute, angle, and distance. Moreover,
These data are data of only intersections requiring guidance, excluding intersections requiring no guidance. The navigation processing unit 50 performs a route search using intersection data, road data, node data, and the like based on the current position and the destination input from the input device 522, and determines the current position at any time by the absolute position detection device 51. While accurately recognizing the vehicle, it accurately grasps the travel of the vehicle and instructs the driver on an appropriate guide route to the destination.

Next, the operation of the embodiment configured as described above will be described. Outline of operation This hybrid vehicle estimates a plurality of traveling patterns based on a plurality of membership functions, selects an estimated traveling pattern close to an actual traveling pattern for each predetermined distance, and determines an output according to the estimated traveling pattern. It is. The hybrid vehicle estimates the optimal running pattern immediately after the vehicle is running by fuzzy inference based on the guide route to the destination searched by the navigation processing unit 50 and various information on the road, and reduces unnecessary running. More specifically, the output torque is determined by judging a change in road width, increase / decrease of a gradient, a distance and a position of a corner, and the like, and the engine and the motor are controlled based on the output torque. And
Compare this estimated optimal driving pattern with the actual driving pattern based on the actual required torque of the driver, and if the calculated fractal order deviates significantly, change the membership function to change the other optimal driving pattern. Guess.

Operation Details FIG. 5 shows an operation in which a hybrid vehicle travels while selecting an estimated traveling pattern.
As shown in this figure, a route search is performed before the hybrid vehicle starts running. That is, the navigation processing unit 50 of the hybrid vehicle monitors whether or not a destination has been input from the input device 522 (step 11). When the destination is entered (step 11;
Y), the navigation processing unit 50 recognizes the current position from the output of the absolute position detection device 51, and searches for a guide route from the recognized current position to the destination from the intersection data, road data, and the like in the data file 53. (Step 1
2).

The navigation processing unit 50 supplies the searched guide route to the controller 48 and, from the road data file 534 of the data file 53, as fuzzy data relating to the road on the guide route, the road width, the road gradient, and the corner. Data such as distance is stored in the controller 48
To supply. The controller 48 stores the supplied guide route and the fuzzy data in a predetermined area of the RAM 483 (step 13).

Next, the controller 48 estimates an optimal running pattern for each of the three types of membership functions stored in the ROM 482 from the guide route and the fuzzy data (step 14). FIG. 6 shows the flow of the optimum traveling pattern estimation routine. In this routine, the controller 48 first sets the distance L to 0, which is the starting point (step 141). And RAM4
The output torque U1 at the point L is obtained from the road width at the point of the distance L stored in the guidance route storage area 83 and the change in the road width after the point L obtained from the road width data.
Is determined and stored in a predetermined area of the RAM 483 (step 142). Next, the controller 48 similarly calculates the output torque U2 from the road gradient at the point of the distance L stored in the guide route storage area and the increase / decrease of the road gradient after the point L calculated from the gradient data. Decide, RAM 48
3 (step 143).

Next, the controller 48 determines the output torque U3 from the distance to the corner at the point of the distance L stored in the guide route storage area and the distance (position) from the corner, and stores it in the RAM 483. (Step 144). Further, the controller 48 determines in step 14
Output torque U1 determined from the road width in step 2 and step 1
The output torque U3 determined from the corner relationship at 44 is calculated by R
The output torque is read from the AM 483, and the output torque U4 is determined from both output torques U1 and U3 (step 145).

Then, the controller 48 determines an output torque U5 from the output torque U4 and the output torque U2 determined from the gradient in step 143 (step 146). This output torque U5 is used as the output torque at the point of the distance L together with the coordinate data of the point of the distance L and RA
It is sequentially stored in the estimated travel pattern storage area of M483 (step 147). As described above, it is considered that the output torque U2 determined from the road gradient has the greatest effect on the fuel consumption and the battery capacity than the output torque U1 and U3 determined from the road width and the curve. , Output torque U2 is directly used as a condition for determining the final output torque U5.

Thereafter, the controller 48 adds a predetermined distance Z to the distance L (step 148). In the present embodiment, the distance Z is a distance along the guide route, and is set to 10 m, but is not limited to this value. For example, 1 m, 2 m, 5 m, 15 m, 20 m, 50 m, 10 m
The output torque U5 may be calculated for each arbitrarily set distance such as 0 m. Next, the controller 48
Determines whether the destination is the destination, that is, whether the output torque U5 has been determined for all the guide routes to the destination (step 149), and if it is not the destination (N), step 1
Returning to 42, the estimated output torque U5 at the next distance Z point is determined. On the other hand, if the total estimated output torque U5 to the destination has been determined (step 149; Y), FIG.
It is determined whether or not the traveling pattern (estimated output torque U5) for all of the first fuzzy function, the second fuzzy function, and the third fuzzy function shown in (a) to (c) has been estimated (step 150). If (N), the process returns to step 141 to estimate an estimated running pattern for another fuzzy function. When three types of estimated traveling patterns are estimated (step 150; Y), the process returns to the main routine.

Here, from step 142 to step 14
6, the fuzzy control for determining the output torques U1 to U5 will be described with reference to FIGS. FIG.
Shows a specific example in a case where the output torque U1 is determined from the first membership function shown in FIG. Now, it is assumed that the entire set of road widths is 2 m to 10 m, the road width at a certain position P on the guide route searched for is A, and the road width is B in a direction in which the change in the road width is widened.

In this case, as shown in FIG. 7, the conditions satisfying the road width A correspond to “wide” and “medium”, and the conditions satisfying the change B of the road width include “wide” and “invariant”. Applicable. Figure 2 shows all combinations of this road width and road width change.
When applied to the fuzzy rule of pattern 1 shown in (a), the conclusion part becomes (+) with respect to the condition part that the road width is “wide” and the change of the road width is “wide”. In addition, the conclusion part is (+) for the condition part of the road width “medium” and the change “wider”, and the conclusion part is (0) for the condition part of the road width “middle” and the change “invariant”. ), Road width "wide" and change "immutable"
The conclusion is (+) for the conditional part of.

In the fuzzy inference, the minimum value is obtained from the membership values of the condition part (phenomenon item), the membership function of the conclusion part is cut by the minimum value, and the lower part thereof is obtained. For example, in the case of FIG.
Comparing the membership value for the condition "wide" with the membership value for the condition "wide" of the road width change B, the former is smaller, so the membership value of the former is adopted. The membership function (indicated by the two-dot chain line) of the conclusion part (+) is cut by the value, and the lower part (indicated by the diagonally leftward diagonal line) is obtained. in this way,
By adopting the smaller membership value of the condition part,
Excessive output is prevented.

Then, as shown in FIG. 7E, the lower part of the membership function of the conclusion part for the combination of all the condition parts is superimposed to obtain a composite function, and the center of gravity of the composite function is inferred from the output torque U1. Value.

Further, the output torque U2 is obtained from the first membership function as shown in FIG. FIG. 8 illustrates a case where the gradient is C and the increase or decrease is D in the direction of increase. Similarly, the output torques U3 to U5 are determined and the second
The output torques U1 to U5 for the membership function and the third membership function are determined.

As described above, after estimating the travel pattern for each of the first to third membership functions, the controller 48 stores each travel pattern in the estimated travel pattern storage area of the RAM 483 (FIG. 5, step 15). ).
When the hybrid vehicle starts running, the current position of the vehicle detected by the absolute position detection device 51 is supplied from the navigation processing unit 50 to the controller 48. The controller 48 reads the output torque corresponding to the supplied current position from the selected estimated traveling pattern in the RAM 483 and controls the driver 48 and the engine control mechanism 44 to thereby control the motor 10 and the engine 1.
To drive the hybrid vehicle (step 1
6). Here, in the selection of the estimated traveling pattern, when the hybrid vehicle is initially started, the estimated traveling pattern based on the first membership function is selected.

Next, the navigation processing unit 50
It is determined whether or not the vehicle is traveling on the guide route searched in step 12, and if the vehicle is traveling on a road deviating from the guide route (step 17; N), the process is terminated and normal traveling is performed. Will be In normal running, for example, the motor mode, engine mode,
The combination mode is selected. Even when the vehicle deviates from the guidance route, data such as the guidance route and the estimated traveling mode are retained until a predetermined instruction such as clearing is given, and when the vehicle returns to the road traveling on the guidance route again, The travel in the estimated travel mode of the present embodiment is restarted from the current position detected by the absolute position detection device 51. Thus, even if the vehicle deviates from the guidance route to stop at a gas station or a restaurant during traveling, economical traveling in the estimated traveling mode can be immediately restarted from the time when the vehicle returns to the road on the route.

On the other hand, when the hybrid vehicle is traveling on the guide route (step 17; Y), the controller 4
8 measures the actual running pattern by detecting the driver's required torque from the output of the accelerator sensor 491, and sequentially stores the measured actual running patterns in the actual running pattern storage area of the RAM 483 (step 18).

Subsequently, the controller 48 is, for example, 1 km
It is determined whether or not the vehicle has traveled a predetermined distance Y, and if it has not traveled (step 19; N), the process returns to step 16 and travels according to the estimated travel pattern as it is.
On the other hand, when the vehicle has traveled a predetermined distance Y (step 19;
Y), the controller 48 measures RA
An error curve between the actual traveling pattern and the three types of estimated traveling patterns during the predetermined distance Y stored in M483 is obtained, and the fractal order with each estimated traveling pattern is calculated (step 20). Then, as the estimated traveling pattern for traveling the next predetermined distance Y, the estimated traveling pattern with the smallest fractal order is selected (step 2).
1). Then, the controller 48 determines whether or not the destination has been reached from the current position supplied from the navigation processing unit 50, and if the destination has not been reached (step 22;
N), returning to step 16 to continue running according to the selected estimated running pattern. On the other hand, if the hybrid vehicle has reached the destination (Step 22; Y), the process ends.

In the embodiment described above, the estimated traveling pattern to the destination is preliminarily estimated with the predetermined distance product X as the total distance from the starting point to the destination. However, the present invention is not limited to this. Instead, the estimated traveling pattern may be estimated for each distance Y to be compared with the actual traveling pattern. That is, for the distance Y that has already traveled, the actual traveling pattern and the three types of estimated traveling patterns are compared, and the estimated traveling pattern with the smallest fractal order is determined.
Based on the membership function corresponding to the determined estimated traveling pattern, an estimated traveling pattern between the next distances Y 'is first estimated, stored in the RAM 483, and according to the estimated traveling pattern, between the next distance Y'. Control the output. Meanwhile, a distance Y ′ based on another membership function
The estimated traveling pattern is estimated and stored in the RAM 483.

[0043]

According to the hybrid vehicle of the present invention, the route to the destination acquired by the route acquisition means is controlled by the output torque of the engine and the motor based on the output torque estimated by fuzzy inference. Running can be prevented, leading to a reduction in battery capacity and an improvement in engine fuel efficiency.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a hybrid vehicle according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a fuzzy rule according to the first embodiment;

FIG. 3 is an explanatory diagram showing a membership function of a conclusion part of the fuzzy rule in FIG. 2;

FIG. 4 is an explanatory diagram showing a membership function of a conditional part in the fuzzy rule.

FIG. 5 is a flowchart of an operation of the hybrid vehicle for traveling while selecting an estimated traveling pattern.

FIG. 6 shows a flow of an optimum traveling pattern estimation routine.

FIG. 7 is an explanatory diagram showing a specific example when the output torque U1 is determined on the basis of a road width and a change thereof.

FIG. 8 is an explanatory diagram showing a specific example in the case where the output torque U2 is determined on the basis of the road gradient and the increase and decrease thereof.

[Explanation of symbols]

 Reference Signs List 1 engine 10 motor 41 battery 43 driver 44 engine control mechanism 48 controller 481 CPU 482 ROM 483 RAM 49 sensor unit 491 accelerator sensor 492 vehicle speed sensor 50 navigation processing unit 51 absolute position detecting device 52 input / output unit 53 data file

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B60L 11/14 B60K 6/02 B60K 6/04 B60L 11/12 F02D 29/02 G01C 21/00

Claims (2)

(57) [Claims] 1. A hybrid vehicle comprising a motor and an engine for generating a driving force of a vehicle, a current position detecting means for detecting a current position of the vehicle, a storage means for storing road information, and a route to a destination. Route acquisition means for acquiring the route, and when traveling on the route acquired by the route acquisition means,
Serial storage means of the read road width from the road information, gradient, and estimated means you estimate a plurality of traveling patterns performs fuzzy inference from at least one of the distance from the corner, the driver is actually requested From the required torque,
Measuring means for measuring turns and traveling closest to the actual traveling pattern measured by this measuring means
A plurality of traveling putters whose patterns are estimated by the estimation means
A selection means for selecting from the down, on the basis of the output torque by the driving pattern selected at the current position and <br/> said selecting means of said detected by the current position detection unit vehicle, the output torque of the engine and the motor A hybrid vehicle comprising: torque control means for controlling. 2. The running pattern includes a road width and a corner.
Driving pattern determined based on the distance from
From the driving pattern determined based on the distribution
The hybrid vehicle according to claim 1, wherein: