JP6070281B2 - Vehicle parking lock control device - Google Patents

Description

  The present invention relates to a parking lock control device for a vehicle for keeping a parking state safe by locking a wheel by an individual electronically controlled parking lock mechanism during parking.

As a type of parking lock device that locks a wheel by an individual electronically controlled parking lock mechanism, a device as described in Patent Document 1, for example, has been proposed.
This parking lock device is an electric vehicle in which wheels are driven by individual electric motors and locked by a rotation lock mechanism on the side of the electric motor, and provided with a clutch capable of connecting and disconnecting between the wheels and the parking lock mechanism. It is.

  When the vehicle is parked, the wheels are separated from the electric motor and the park lock mechanism by releasing the clutch, and then the park lock mechanism is operated to move to the park lock state. The rotation is locked by the parking lock mechanism on the electric motor side.

  Then, the operation state of each park lock mechanism is monitored, and if there is a park lock incomplete wheel, the corresponding clutch is released with the wheel braked, and then the parking lock of the park lock mechanism is activated by the operation of the corresponding electric motor. The gear is rotated to bring the park lock mechanism into the park lock completed state, and then the corresponding clutch is engaged.

  According to the park lock device of Patent Document 1, it is possible to park the wheel regardless of the rotational position thereof, and to prevent an unexpected vehicle behavior by suppressing inadvertent rotation of the wheel during park lock operation. .

JP 2006-224819 A

  However, in the park lock device of Patent Document 1, since additional installation of the clutch is inevitable, there arises a problem that the disadvantage of cost cannot be avoided and the wheel drive system must be enlarged.

  In view of the above-described problems, the present invention is not expected to add parts, and as a result of the control device, for example, one of the left and right wheels remains parked in an unfinished state during parking. It is an object of the present invention to provide a parking lock control device for a vehicle that can avoid such a problem as to cause unexpected behavior.

For this purpose, the parking lock control device for a vehicle according to the present invention is constituted as follows.
First, a parking lock control device for a vehicle which is a premise of the present invention will be described.
In response to the parking range command and the non-parking range command, a plurality of wheels including at least a pair of left and right wheels can be brought into a non-rotatable park lock state and park lock release state by individual electronically controlled park lock mechanisms.

The present invention takes measures against such a park lock control device of a vehicle.
In other words, a shift indeterminate region in which neither the park lock state nor the park lock release state is guaranteed is set between the park lock state guarantee region and the park lock release state guarantee region. It is characterized by a configuration in which a lock operation position sensor and a park lock operation position determination means are provided.

The former park lock operating position sensor detects the operating position of the park lock mechanism.
The latter parking lock operating position determining means determines whether or not the parking lock operating position detected by the sensor is the position of the shift indefinite region.

  The park lock control device according to the present invention provides the park lock control unit of the plurality of wheels while the park lock operation position determination means determines that the park lock operation position is one of the plurality of wheels. The lock mechanism is configured to control the operation based on the range command before the range switching among the parking range command and the non-parking range command.

  According to the park lock control device of the present invention described above, among the plurality of wheels brought into the park lock state or park lock release state by the individual electronically controlled park lock mechanism that responds to the parking range command or the non-parking range command, 1 Even in the wheel, while the park lock operating position is determined to be the position of the shift indeterminate region, the park lock mechanism of the plurality of wheels is set to the range command before the range switching among the parking range command and the non-parking range command. Since the operation is controlled based on the above, the following effects can be obtained.

  In other words, when the park lock mechanism generated by switching the range command from the parking range command to the non-parking range command is in operation, if the park lock mechanism of a certain wheel is not yet in the complete park lock release state, the plurality of wheels All the park lock mechanisms are operated and controlled based on a range command (parking range command) before range switching, and all these park lock mechanisms maintain the corresponding wheels in the park lock state.

  In addition, when the parking lock mechanism of a certain wheel is not yet in a complete parking lock state during the operation of the parking lock mechanism caused by the switching of the range command from the non-parking range command to the parking range command, All the park lock mechanisms are controlled to operate based on the range command (non-parking range command) before the range change, and all the park lock mechanisms maintain the corresponding wheels in the park lock release state.

  Therefore, even in a vehicle in which multiple wheels are rotationally locked by an individual electronically controlled parking lock mechanism, for example, only one of the left and right wheels remains in the park lock state when the range is switched between the parking range command and the non-parking range command. As a result, the problem that the vehicle behaves unexpectedly on a slope can be avoided.

  In addition, the above-described operation and effect can be achieved without adding any parts, only by the above-described device for control, and without accompanying the cost disadvantage and the enlargement of the wheel drive system.

1 is a plan view of a braking / driving control system of a vehicle including a park lock control device according to a first embodiment of the present invention as viewed from above. FIG. 2 is a system diagram showing a park lock mechanism operated by a park lock control device for a vehicle in FIG. FIG. 3 is an explanatory diagram showing a correlation between a detent mechanism of the park lock mechanism in FIG. 2 and a parking pole engagement operation. 2 is a flowchart showing a park lock control program executed by a park lock controller in FIG. FIG. 5 is an explanatory view similar to FIG. 3, showing the correlation between the detent mechanism of the parking lock mechanism and the engagement operation of the parking pole in the parking lock control device according to the second embodiment of the present invention. FIG. 10 is an explanatory view similar to FIG. 3, showing the correlation between the detent mechanism of the park lock mechanism and the engagement operation of the parking pole in the park lock control device according to the third embodiment of the present invention. FIG. 10 is an explanatory view similar to FIG. 3, showing the correlation between the detent mechanism of the park lock mechanism and the engagement operation of the parking pole in the park lock control device according to the fourth embodiment of the present invention. FIG. 10 is an explanatory view similar to FIG. 3, showing the correlation between the detent mechanism of the park lock mechanism and the engagement operation of the parking pole in the park lock control device according to the fifth embodiment of the present invention. FIG. 10 is an explanatory view similar to FIG. 3, showing the correlation between the detent mechanism of the parking lock mechanism and the engagement operation of the parking pole in the parking lock control device according to the sixth embodiment of the present invention. FIG. 10 is an explanatory view similar to FIG. 3, showing the correlation between the detent mechanism of the park lock mechanism and the engagement operation of the parking pole in the park lock control device according to the seventh embodiment of the present invention. FIG. 10 is an explanatory view similar to FIG. 3, showing the correlation between the detent mechanism of the parking lock mechanism and the engagement operation of the parking pole in the parking lock control device according to the eighth embodiment of the present invention. FIG. 10 is an explanatory view similar to FIG. 3, showing the correlation between the detent mechanism of the parking lock mechanism and the engagement operation of the parking pole in the parking lock control device according to the ninth embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail based on examples shown in the drawings.
<Configuration of the first embodiment>
FIG. 1 shows an example of a vehicle equipped with a park lock mechanism to which the park lock control device of the present invention can be applied. In this embodiment, the vehicle is integrally configured with left and right rear wheels 1L and 1R. The electric vehicle is driven by being driven by the individual in-wheel motor drive units 2L and 2R.
The electric vehicle is steered by steering the left and right front wheels 3L and 3R through the steering gear 5 by the steering wheel 4.

  The in-wheel motor drive units 2L and 2R have electronically controlled parking lock mechanisms that are operated by park lock actuators (electric motors) 10L and 10R, respectively, and these parking lock mechanisms individually lock the left and right rear wheels 1L and 1R. (Parking) and the vehicle can be parked.

However, if the left and right rear wheels 1L, 1R are individually electronically controlled to park lock, the park lock mechanism of the wheel stops at a halfway position that is neither the park lock position nor the park lock release position. There is a possibility.
In this case, for example, when parking on a hill, only one of the left and right wheels is in the park lock state, and the other wheels are in the park lock release state, which causes a problem that the vehicle behaves unexpectedly.
This embodiment is intended to solve such a problem by devising the park lock control without adding parts.

First, the electronically controlled parking lock mechanism of this embodiment will be described. This electronically controlled parking lock mechanism is as described in detail below with reference to FIG.
A parking gear 7 that rotates together with the wheel drive shaft 6 (left and right rear wheels 1L and 1R) in the in-wheel motor drive units 2L and 2R is provided. The wheel drive shaft 6 (left and right rear wheels) is engaged with and disengaged from the outer peripheral teeth of the parking gear 7. A parking pole 8 that locks (parks lock) 1L, 1R) is pivotally supported by a pin 9 on a unit case of the in-wheel motor drive units 2L, 2R.

The parking pole 8 has a claw 8a at the free end far from the pin 9, and when it swings in the direction of the arrow around the pin 9 to the solid line position, the claw 8a is engaged with the outer peripheral teeth of the parking gear 7. The wheel drive shaft 6 (left and right rear wheels 1L, 1R) is rotationally locked (park lock).
When the parking pole 8 swings around the pin 9 in the direction of the arrow and reaches the two-dot chain line position, the pawl 8a comes off the outer peripheral teeth of the parking gear 7, and the wheel drive shaft 6 (left and right rear wheels 1L, 1R) Release the rotation lock (park lock).

A parking rod 11 for swinging the parking pole 8 around the pin 9 between a solid line position and a two-dot chain line position, a back surface of the parking pole 8 where the claw 8a is not provided, and an in-wheel motor drive unit 2L , It is interposed between the fixed support 12 fixed to the 2R unit case.
The parking pole 8 is urged to rotate toward the fixed support 12 by elastic means (not shown), and the parking rod 11 has a conical shape converging from the large diameter end 11a to the small diameter end 11b.

Thus, when the parking rod 11 reaches the axial stroke position (park lock release position) for receiving the back surface of the parking pole 8 at the small diameter end 11b, the parking pole 8 is rotated to the park lock release position indicated by the two-dot chain line.
When the parking rod 11 reaches the axial stroke position (park lock position) for receiving the back surface of the parking pole 8 at the large diameter end 11a, the parking rod 8 is rotated to the park lock position indicated by the solid line.

The stroke position of the parking rod 11 is controlled via the detent plate 14 of the detent mechanism 13 by the park lock actuator 10L (10R).
The detent plate 14 is drivingly coupled to the output shaft 16 of the parking lock actuator 10L (10R) at the shaft 15 between both ends, and can swing around the shaft 15 in the arrow direction by the parking lock actuator 10L (10R).

  One end (the lower end in FIG. 2) of the detent plate 14 is connected to the parking rod 11 so that the stroke of the one end generated as the detent plate 14 swings is transmitted as the axial stroke of the parking rod 11. .

On the other end surface of the detent plate 14 (the upper end surface in FIG. 2), when the detent plate 14 is in the illustrated rotational position in which the parking rod 11 is at the park lock position, the detent ball 17 is indented and has a detent function. The notch 14p for indexing the parking (P) position is provided to exert the effect, and when the detent plate 14 is in the rotational position where the parking rod 11 is set to the park lock release position, the detent ball 17 is indented. A notch 14not_p for indexing a non-parking (not_P) position to provide a detent function is provided.
The detent ball 17 is biased downward in FIG. 2 by a leaf spring (detent spring) 18 so that the above-mentioned detent function is exerted by the intrusion into the notches 14p and 14not_p, and the in-wheel motor drive units 2L and 2R. Attach to the unit case.

Thus, when the parking lock actuator 10L (10R) rotates the detent plate 14 counterclockwise in FIG. 2 to the illustrated position, the parking rod 11 is stroked to the parking lock position and the parking pole 8 is moved to the solid line position. The claw 8a of the pole 8 can be engaged with the outer peripheral teeth of the parking gear 7 as indicated by 8a-1 in FIG. 3, and the wheel drive shaft 6 (left and right rear wheels 1L, 1R) can be rotationally locked (park lock). .
At this time, as shown in FIGS. 2 and 3, the detent mechanism 13 detents the detent plate 14 (park lock mechanism) at the park lock position by being inserted into the notch 14p of the detent plate 14 as shown in FIGS. Fulfill.

Further, when the detent plate 14 is rotated clockwise as shown in FIG. 2 by the reverse drive of the park lock actuator 10L (10R), the parking rod 11 is stroked to the park lock release position, and the parking pole 8 is moved to two points. As shown by 8a-4 in FIG. 3, the claw 8a of the parking pole 8 is detached from the outer peripheral teeth of the parking gear 7, and the wheel drive shaft 6 (left and right rear wheels 1L, 1R) is locked in rotation (parked). Lock) can be released.
At this time, the detent mechanism 13 performs a detent function for indexing the detent plate 14 (park lock mechanism) to the park lock release position when the detent ball 17 is inserted into the notch 14not_p of the detent plate 14.

FIG. 3 shows the amount of engagement with the outer teeth of the parking gear 7 when the pawl 8a of the parking pole 8 is displaced between the position 8a-1 and the position 8a-4 (parking pole engagement amount). ) Was written together with α.
Further, a position 8a-2 of the parking pole claw 8a in FIG. 3 indicates a position when it is just removed from the outer peripheral teeth of the parking gear 7.

Further, the position 8a-3 of the parking pawl claw 8a in FIG. 3 can be inserted into the notch 14not_p of the detent plate 14 only by the spring force of the leaf spring 18 even when the detent ball 17 is stopped in the park lock actuators 10L and 10R. Do is the position of the parking pole claws 8a corresponding to the limit position of the CNT (C onfirmed position N ot P ) range is the parking lock released state guarantee area on the detent mechanism 13.
Note CP (C onfirmed position P) range in FIG. 3, be located between the position of the position and 8a-2 of the parking pawl 8 8a-1 nail 8a, the parking lock actuator 10L, 10R under the stopped state However, it corresponds to the park lock state guarantee area on the parking pole 8 that guarantees park lock by engagement with the outer peripheral teeth of the parking gear 7.

  In this embodiment, the parking lock release state and the parking lock state are between the parking lock release guarantee region (CNT range) on the detent mechanism 13 and the park lock release guarantee region (CP range) on the parking pole 8. It is assumed that there is a shift uncertainty range E that is a shift uncertainty region that is not guaranteed.

  By the way, if the park lock control is performed without considering the relationship between the park lock release guarantee region (CNT range) on the detent mechanism 13 and the park lock state guarantee region (CP range) on the parking pole 8, The range position on the detent mechanism 13 and the range position on the parking pole 8 may be different due to assembly errors and backlash, etc., and the parking lock operating state may be different for each wheel, which is not intended when parking on a slope. This causes a problem that vehicle behavior occurs.

<Parlock control>
Therefore, in this embodiment, the park lock control is performed as follows.
Park lock actuators 10L and 10R responsible for the park lock control are driven and controlled by the park lock controller 21 in FIG. 1, and in addition to the signal from the shift lever position sensor 22, the park lock controller 21 includes left and right rear wheels 1L, Inputs signals from 1R parking lock operating position sensors 23L and 23R.

The shift lever position sensor 22 is a parking range command or a non-parking range command (stop range command or forward travel range command) from a shift lever (not shown) that is operated by the driver according to the travel mode of the vehicle desired. Or reverse travel range command).
The park lock operation position sensors 23L and 23R detect the operation positions of the park lock mechanisms related to the left and right rear wheels 1L and 1R, respectively. The rotation positions of the park lock actuators 10L and 10R are detected by a rotation resolver. An arbitrary one such as a lock operating position, a park rock operating position by detecting a swing position of the parking pole 8, or the like can be used.

The park lock controller 21 executes the control program shown in FIG. 4 based on the input information, and performs the park lock control targeted by the present invention as follows.
In step S11, it is checked whether the current shift lever position detected by the sensor 22 in FIG. 1 is the parking (P) range or the non-parking (not_P) range.
When determining the non-parking (not_P) range, in step S12, whether or not it is immediately after the shift operation to the non-parking (not_P) range, that is, whether or not it is immediately after switching from the parking (P) range to non-parking (not_P). To check.
In other words, in the routine of the previous control program, it is checked whether or not the shift lever position is in the parking (P) range.

If it is determined in step S12 that it is not immediately after switching from the parking (P) range to the non-parking (not_P) range (not_P range continuation state), the park lock control targeted by the present invention is unnecessary, so the control is terminated as it is. And keep the non-parking (not_P) range.
If it is determined in step S12 that the parking (P) range has just been switched to the non-parking (not_P) range, the control proceeds to step S13, and the left and right rear positions from the park lock operating positions detected by the sensors 23L and 23R in FIG. It is checked whether one of the park lock mechanisms (detent balls 17) related to the wheels 1L and 1R is in the operating position in the shift uncertain range E in FIG.

  If it is determined in step S13 that one of the parking lock mechanisms (detent balls 17) related to the left and right rear wheels 1L, 1R is in the operating position of the shift indeterminate range E, the parking lock mechanism of the left and right rear wheels 1L, 1R is still Since all of the (detent balls 17) have not yet reached the CNP range shown in FIG. 3 (non-parking state guarantee area of the detent mechanism 13), control proceeds to step S14 and the vehicle is still considered to be in the parking (P) range selection state. In step S15, vehicle control for the P range is performed.

  The vehicle control for the P range is not limited to keeping the parking lock mechanism of the left and right rear wheels 1L, 1R in the wheel park lock state, but also in-wheel motor drive units 2L, 2R in a state where no driving force is generated, It also includes controlling the driving force of the in-wheel motor drive units 2L and 2R so as not to rotate so that the vehicle does not change behavior at times.

  When it is determined in step S13 that none of the parking lock mechanisms (detent balls 17) related to the left and right rear wheels 1L, 1R is in the operating position of the shift indefinite range E, the parking lock mechanisms (detent balls 17) of the left and right rear wheels 1L, 1R are determined. ) And the CNP range (non-parking state guarantee area of the detent mechanism 13) in FIG. 3 is reached, the control proceeds to step S16, and the vehicle is considered to be in the non-parking (not_P) range selection state. The vehicle control for other than the P range (not_P range) is performed.

  For vehicle control other than the P range (not_P range), in addition to setting the parking lock mechanism of the left and right rear wheels 1L, 1R to the wheel parking lock release state, the in-wheel motor drive units 2L, 2R are set to other than the P range ( This also includes controlling the driving force as required by the not_P range.

If it is determined in step S11 that the shift lever position is the parking (P) range, whether or not it is immediately after the shifting operation to the parking (P) range in step S22, that is, from the non-parking (not_P) to the parking (P) range. Check if it is immediately after switching.
In other words, in the routine of the previous control program, it is checked whether or not the shift lever position is in the non-parking (not_P) range.

If it is determined in step S22 that it is not immediately after switching from the non-parking (not_P) range to the parking (P) range (P range continuation state), the park lock control targeted by the present invention is unnecessary, and the control is terminated as it is. To keep the P range.
If it is determined in step S22 that the non-parking (not_P) range has just been switched to the parking (P) range, control proceeds to step S23, and the left and right rear positions are detected from the park lock operating positions detected by the sensors 23L and 23R in FIG. It is checked whether one of the park lock mechanisms (detent balls 17) related to the wheels 1L and 1R is in the operating position in the shift uncertain range E in FIG.

  If it is determined in step S23 that one of the parking lock mechanisms (detent ball 17) related to the left and right rear wheels 1L, 1R is in the operating position of the shift indeterminate range E, the parking lock mechanism of the left and right rear wheels 1L, 1R is still Since all of the (detent balls 17) have not yet reached the CP range shown in FIG. 3 (parking state guarantee region of the parking pole 8), the control proceeds to step S24, and the vehicle is still considered to be in the non-parking (not_P) range selection state. In step S25, vehicle control for the not_P range other than the P range is performed.

  The vehicle control for the range other than the P range (not_P range) here also sets the parking lock mechanisms of the left and right rear wheels 1L, 1R to the wheel parking lock release state, as described above with respect to step S17. This is to control the driving force of the driving units 2L and 2R as required outside the P range (not_P range).

  If it is determined in step S23 that none of the parking lock mechanisms (detent balls 17) related to the left and right rear wheels 1L, 1R are in the operating position of the shift indefinite range E, the parking lock mechanisms (detent balls 17) of the left and right rear wheels 1L, 1R are determined. ) Are all in the CP range of FIG. 3 (parking state guarantee region of the parking pole 8), the control is advanced to step S26, and the vehicle is considered to be in the parking (P) range selection state. Carry out vehicle control for the range.

  The vehicle control for the P range here also drives the in-wheel motor drive units 2L and 2R in addition to setting the park lock mechanism of the left and right rear wheels 1L and 1R to the wheel park lock state as described above for step S15. The in-wheel motor drive units 2L and 2R are controlled so as not to rotate so that the vehicle does not change its behavior when a force is not generated or when the vehicle is parked on a slope.

<Effects of the first embodiment>
According to the park lock control of the first embodiment described above, the park lock control is performed by the electronically controlled park lock mechanism including the individual park lock actuators 10L and 10R that respond to the parking (P) range command or the non-parking (not_P) range command. When one of the parking lock mechanisms (detent balls 17) related to the left and right rear wheels 1L and 1R to be brought into the released state or park lock released state is the operating position in the shift uncertain range E in FIG. 3 (steps S13 and S23) ) In order to control the parking lock mechanism of the left and right rear wheels 1L and 1R based on the range command before the range switching among the parking (P) range command and the non-parking (not_P) range command (steps S14, S15 and Steps S24 and S25) can provide the following effects.

  In other words, during the operation of the park lock mechanism that occurs when the range command is switched from the parking (P) range command to the non-parking (not_P) range command, the park lock mechanism of one of the left and right rear wheels 1L, 1R is still If the parking lock is not completely released, all the parking lock mechanisms for the left and right rear wheels 1L and 1R will be controlled based on the parking (P) range command before range switching (step S15). Keeps both left and right rear wheels 1L, 1R parked.

  In addition, during the operation of the park lock mechanism that occurs when the range command is switched from the non-parking (not_P) range command to the parking (P) range command, the park lock mechanism of one of the left and right rear wheels 1L, 1R is still If it is not a complete park lock state, the left and right rear wheel 1L, 1R park lock mechanisms are all controlled based on the non-parking (not_P) range command before range switching (step S25). Keeps the left and right rear wheels 1L, 1R in the park lock release state.

  Therefore, even in a vehicle in which the left and right rear wheels 1L, 1R are rotationally locked by the individual electronically controlled parking lock mechanism, when the range is switched between the parking (P) range command and the non-parking (not_P) range command, for example, One of the rear wheels 1L and 1R never remains in the park lock state, and as a result, the problem that the vehicle behaves unexpectedly on a slope can be avoided.

  In addition, the above-described operation and effect can be achieved without adding any parts, only by the above-described device for control, and without accompanying the cost disadvantage and the enlargement of the wheel drive system.

<Second embodiment>
FIG. 5 is an explanatory view similar to FIG. 3, showing the engaging operation of the detent mechanism 13 and the parking pole 8 (claw 8a) of the park lock control device according to the second embodiment of the present invention.
In this embodiment, the park lock control device is basically configured in the same manner as in the first embodiment described above with reference to FIGS. 2 to 4, but the detent mechanism 13 has an area where the park lock release position is indexed by the detent function. In addition to the CNP range (the park lock release state guarantee area on the detent mechanism 13), the CNP range (the park lock release state guarantee area on the detent mechanism) and the CP range (the park lock state guarantee area on the parking pole 8) ) To the middle range A between.

<Effect of the second embodiment>
According to the configuration of the second embodiment, the detent mechanism 13 uses the detent function to determine the park lock release position over a wide range of the CNP range (the park lock release status guarantee area on the detent mechanism 13) and the intermediate range A. It can be performed.

  Therefore, even if the park lock actuators 10L and 10R become inoperable in the shift uncertain range E (see FIG. 3) in the first embodiment, both the left and right rear wheels 1L and 1R are surely set in the park lock release state. Can be greatly beneficial in terms of safety.

<Third embodiment>
FIG. 6 is an explanatory view similar to FIG. 3, showing the engaging operation of the detent mechanism 13 and the parking pole 8 (claw 8a) of the park lock control device according to the third embodiment of the present invention.
In this embodiment, the park lock control device is basically configured in the same manner as in the first embodiment described above with reference to FIGS. 2 to 4, but the CNP range (park lock release state guarantee area on the detent mechanism 13) is detented. The mechanism 13 sets the parking lock release position indexing area B in which the parking lock release position is determined by the detent function, and the parking pole 8 not_P range (the parking lock on the parking pole 8 is outside the parking lock release position indexing area B). Set the release status guarantee area).

<Effect of the third embodiment>
According to the configuration of the third embodiment, the parking lock release function of the parking lock mechanism is performed in the parking lock release position indexing area B that is wider than the CNP range (the park lock release status guarantee area on the detent mechanism 13). It can be produced, and is very advantageous in terms of safety, and it is advantageous in terms of cost because tolerance of dimensional variation and assembly error is increased.

<Fourth embodiment>
FIG. 7 is an explanatory view similar to FIG. 3, showing the engaging operation of the detent mechanism 13 and the parking pole 8 (claw 8a) of the park lock control device according to the fourth embodiment of the present invention.
In this embodiment, the park lock control device is basically configured in the same manner as in the first embodiment described above with reference to FIGS. 2 to 4, but the parking pole 8 (claw 8a) with respect to the parking gear 7 is indicated by 8a-2. The position of the debounding position is determined as follows.
That is, the engagement / disengagement boundary position 8a-2 of the parking pole 8 (claw 8a) exists in the parking lock position indexing area D where the detent mechanism 13 performs indexing to the parking lock position by the detent function.

<Effect of the fourth embodiment>
According to the configuration of the fourth embodiment, the CP range (the park lock state guarantee area on the parking pole 8) is set wider than the engagement / disengagement boundary position 8a-2 of the parking pole 8 (claw 8a) on the not_P side. be able to.

<Fifth embodiment>
FIG. 8 is an explanatory view similar to FIG. 3, showing the engaging operation of the detent mechanism 13 and the parking pole 8 (claw 8a) of the park lock control device according to the fifth embodiment of the present invention.
In this embodiment, the park lock control device is basically configured in the same manner as in the first embodiment described above with reference to FIGS. 2 to 4, but the CNP range (park lock release state guarantee area on the detent mechanism 13) is detented. The mechanism 13 is positioned in the parking lock release position indexing area B where the detent function performs indexing to the parking lock release position. The engagement / disengagement boundary position 8a-2 of the parking pole 8 (claw 8a) is located, and the detent mechanism 13 is the detent function. Thus, it is configured to be located in the park lock position indexing area D for indexing to the park lock position.

<Effect of the fifth embodiment>
According to the configuration of the fifth embodiment, since the engagement / disengagement boundary position 8a-2 of the parking pole 8 (claw 8a) is located outside the parking lock release position indexing area B, the CNP range (the park on the detent mechanism 13) It is possible to determine not_P in the park lock release position indexing area B wider than the unlocked state guarantee area).

In addition, since the engagement / disengagement boundary position 8a-2 of the parking pole 8 (claw 8a) is located in the park lock position indexing area D where the detent mechanism 13 indexes to the park lock position by the detent function, the CP range (parking The park lock state guarantee area on the pole 8 can be set wider than the engagement / disengagement boundary position 8a-2 of the parking pole 8 (claw 8a) on the not_P side, and the stop at the intermediate position can be reduced.
Furthermore, the shift uncertain range E can be set clearly.

<Sixth embodiment>
FIG. 9 is an explanatory view similar to FIG. 3, showing the engaging operation of the detent mechanism 13 and the parking pole 8 (claw 8a) of the park lock control device according to the sixth embodiment of the present invention.
In this embodiment, the parking lock control device is basically configured in the same manner as in the first embodiment described above with reference to FIGS. 2 to 4, but the parking lock position is determined by the detent mechanism 13 to the parking lock position by the detent function. When the engagement / disengagement boundary position 8a-2 of the parking pole 8 (claw 8a) exists outside the indexing area D, the shift between the parking lock position determination area D and the parking pole engagement / disengagement boundary position 8a-2 is not shifted. This is a definite area E.

<Effects of the sixth embodiment>
According to the configuration of the sixth embodiment, if the operating position of the park lock mechanism (detent ball 17) is within the park lock position indexing area D, it is possible to reliably determine that the park lock state has been reached, and the control accuracy described above. Can be increased.

  In addition, even if the parking lock actuator 10L, 10R can be stopped within the CP range (parking lock status guarantee area on the parking pole 8), the parking lock mechanism is not in the parking lock position determination area D. Therefore, it is possible to determine the shift indefinite region E, and to keep the vehicle behavior safe.

<Seventh embodiment>
FIG. 10 is an explanatory view similar to FIG. 3, showing the engaging operation of the detent mechanism 13 and the parking pole 8 (claw 8a) of the park lock control device according to the seventh embodiment of the present invention.
In this embodiment, the park lock control device is basically configured in the same manner as in the first embodiment described above with reference to FIGS. 2 to 4, but the detent mechanism 13 uses the detent function to determine the park lock release (not_P) position. If there is a CNP range (detent mechanism 13 park lock release status guarantee area) outside the park lock release position indexing area B to be performed, the detected park lock operation position is the CNP range (detent mechanism 13 park lock release status guarantee area) Even within, if it is outside the parking lock release position indexing area B, it is regarded as the parking lock operating position in the shift uncertain area E.

<Effect of the seventh embodiment>
According to the configuration of the seventh embodiment, if the operating position of the parking lock mechanism (detent ball 17) is within the parking lock release position indexing area B, it can be reliably determined that the parking lock is released, Control accuracy can be increased.

  Even if the operation position of the park lock mechanism is within the CNP range (the park lock release state guarantee area on the detent mechanism 13), if it is not within the park lock release position indexing area B, it is determined as the shift indeterminate area E. Vehicle behavior can be kept safe.

<Eighth embodiment>
FIG. 11 is an explanatory view similar to FIG. 3, showing the engaging operation of the detent mechanism 13 and the parking pole 8 (claw 8a) of the park lock control device according to the eighth embodiment of the present invention.
In this embodiment, the park lock control device is basically configured in the same manner as in the first embodiment described above with reference to FIGS. 2 to 4, but the CNP range (park lock release state guarantee area on the detent mechanism 13) and CP The range (the park lock state guarantee area on the detent mechanism 13) is made close to each other.

<Effect of the eighth embodiment>
According to the configuration of the eighth embodiment, the shift indeterminate region E can be made a very small range.

<Ninth embodiment>
FIG. 12 is an explanatory view similar to FIG. 3, showing the engaging operation of the detent mechanism 13 and the parking pole 8 (claw 8a) of the park lock control device according to the ninth embodiment of the present invention.
In this embodiment, the park lock control device is basically configured in the same manner as in the first embodiment described above with reference to FIGS. 2 to 4, but the park lock release position indexing area (CNP range in the illustrated example) of the detent mechanism 13 and An area between the park lock position indexing areas (CP range in the illustrated example) and where the detent mechanism 13 cannot perform the detent function is defined as a shift indeterminate area E.

<Effect of the ninth embodiment>
According to the configuration of the ninth embodiment, even when the detent mechanism 13 has a park lock release position indexing area and an area where the detent function cannot be provided between the park lock position indexing area, dimensional error, variation, park lock The above actions and effects can be achieved regardless of the operating position diagnosis time.

1L, 1R Left and right rear wheels
2L, 2R in-wheel motor drive unit
3L, 3R left and right front wheels
4 Steering wheel
5 Steering gear
6 Wheel drive shaft
7 Parking gear
8 Parking pole
9 pivot pin
10L, 10R Park lock actuator
11 Parking rod
12 Support
13 Detent mechanism
14 Detent plate
14P Park lock position index cutout
14not_P Park lock release position index cutout
17 Detent ball
18 Detent spring
CNP park lock release guarantee area (park lock release guarantee area)
CP park lock position guarantee range (park lock state guarantee area)
E Shift uncertainty range (shift uncertainty range)
21 park lock controller
22 Shift lever position sensor
23L, 23R Park lock operation position sensor

Claims (9)

In response to a parking range command or a non-parking range command, a parking lock of a vehicle capable of bringing a plurality of wheels including at least a pair of left and right wheels into a non-rotatable parking lock state and park lock release state by individual electronically controlled parking lock mechanisms In the control device,
Between the guaranteed region of the park lock state and the guaranteed region of the park lock release state, a shift uncertain region in which neither the park lock state nor the park lock release state is guaranteed is set,
A parking lock operating position sensor for detecting an operating position of the parking lock mechanism;
Park lock operating position determining means for determining whether or not the park lock operating position detected by the sensor is a position in the shift uncertain region,
While the determination means determines that the parking lock operating position of one of the plurality of wheels is the position of the shift uncertain region, the parking lock command of the plurality of wheels is set to the parking range command and the non-parking range. A parking lock control device for a vehicle, wherein operation control is performed based on a range command before range switching among the commands. In the parking lock mechanism, the parking lock position and the parking lock release position are determined by the detent mechanism, and the parking pawl is engaged with and disengaged from the parking gear at these index positions, whereby the plurality of wheels are individually parked or parked. In the park lock control device of the vehicle according to claim 1, which is to be in an unlocked state,
The detent mechanism has a detent function not only in the park lock release state guarantee area on the detent mechanism but also in the area between the park lock release guarantee area on the detent mechanism and the park lock state guarantee area on the parking pole. A parking lock control device for a vehicle, characterized in that the parking lock release position is determined using In the parking lock mechanism, the parking lock position and the parking lock release position are determined by the detent mechanism, and the parking pawl is engaged with and disengaged from the parking gear at these index positions, whereby the plurality of wheels are individually parked or parked. In the park lock control device of the vehicle according to claim 1, which is to be in an unlocked state,
The park lock release state guarantee area on the detent mechanism is set in a park lock release position index area in which the detent mechanism calculates the park lock release position by a detent function, and the park lock release position guarantee area is outside the park lock release position index area. A parking lock control device for a vehicle, characterized in that a parking lock release guarantee region on a parking pole is set. In the parking lock mechanism, the parking lock position and the parking lock release position are determined by the detent mechanism, and the parking pawl is engaged with and disengaged from the parking gear at these index positions, whereby the plurality of wheels are individually parked or parked. In the park lock control device of the vehicle according to claim 1, which is to be in an unlocked state,
The parking lock control device for a vehicle according to claim 1, wherein the parking pole engagement / disengagement boundary position is located in a parking lock position indexing area in which the detent mechanism performs indexing to the parking lock position by a detent function. In the parking lock mechanism, the parking lock position and the parking lock release position are determined by the detent mechanism, and the parking pawl is engaged with and disengaged from the parking gear at these index positions, whereby the plurality of wheels are individually parked or parked. In the park lock control device of the vehicle according to claim 1, which is to be in an unlocked state,
The parking lock release state guarantee area on the detent mechanism is positioned in a parking lock release position indexing area where the detent mechanism performs indexing to the parking lock release position by a detent function, and the engagement / disengagement boundary position of the parking pole is A parking lock control device for a vehicle, wherein the detent mechanism is configured to be positioned in a parking lock position indexing area in which a parking lock position is indexed by a detent function. In the parking lock mechanism, the parking lock position and the parking lock release position are determined by the detent mechanism, and the parking pawl is engaged with and disengaged from the parking gear at these index positions, whereby the plurality of wheels are individually parked or parked. In the park lock control device of the vehicle according to claim 1, which is to be in an unlocked state,
When the parking pole engagement / disengagement boundary position exists outside the parking lock position indexing area in which the detent mechanism performs indexing to the park lock position by the detent function, the parking lock engagement / disengagement boundary position of the parking lock position and the parking pole A parking lock control device for a vehicle, characterized in that the shift uncertain region is defined between the two. In the parking lock mechanism, the parking lock position and the parking lock release position are determined by the detent mechanism, and the parking pawl is engaged with and disengaged from the parking gear at these index positions, whereby the plurality of wheels are individually parked or parked. In the park lock control device of the vehicle according to claim 1, which is to be in an unlocked state,
When the park lock release state guarantee area of the detent mechanism exists outside the park lock release position index area in which the detent mechanism performs indexing to the park lock release position by the detent function, the detected park lock operation position is the detent mechanism Even if it is within the park lock release state guarantee area on the mechanism, if it is outside the park lock release position indexing area, it is regarded as a park lock operation position within the shift uncertain area. Park lock control device. In the parking lock mechanism, the parking lock position and the parking lock release position are determined by the detent mechanism, and the parking pawl is engaged with and disengaged from the parking gear at these index positions, whereby the plurality of wheels are individually parked or parked. In the park lock control device of the vehicle according to claim 1, which is to be in an unlocked state,
A parking lock control device for a vehicle, wherein the parking lock released state guarantee area and the park lock state guaranteed area on the detent mechanism are arranged close to each other. In the parking lock control device for a vehicle according to any one of claims 2 to 7,
A parking lock control apparatus for a vehicle, characterized in that an area between the parking lock release position indexing area and the parking lock position indexing area of the detent mechanism and where the detent mechanism cannot perform a detent function is defined as the shift indefinite area.

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