KR20140077352A - Shifting control method for hybrid vehicle with amt - Google Patents
Shifting control method for hybrid vehicle with amt Download PDFInfo
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- KR20140077352A KR20140077352A KR1020120146051A KR20120146051A KR20140077352A KR 20140077352 A KR20140077352 A KR 20140077352A KR 1020120146051 A KR1020120146051 A KR 1020120146051A KR 20120146051 A KR20120146051 A KR 20120146051A KR 20140077352 A KR20140077352 A KR 20140077352A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/38—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
- Control Of Transmission Device (AREA)
Abstract
Description
본 발명은 ＡＭＴ 하이브리드 차량의 변속 제어방법에 관한 것으로서, 보다 상세하게는 변속시 변속단 기어를 해제하는 방법에 관한 기술이다.BACKGROUND OF THE
병렬형 하이브리드 차량으로서 TMED(Transmission Mounted Electric Device)타입은 엔진과 엔진클러치, 모터 및 변속기가 차례로 연결되어, 상기 엔진클러치의 제어에 의해 모터만에 의한 EV모드 주행 및 엔진과 모터에 의한 HEV 주행이 모두 가능하도록 되어 있다.
[0003] In a TMED (Transmission Mounted Electric Device) type hybrid vehicle, an engine, an engine clutch, a motor, and a transmission are sequentially connected to each other. Under the control of the engine clutch, EV mode travel by the motor alone and HEV travel by the engine and the motor All of which are possible.
특히, 상기 변속기를 AMT(AUTOMATED MANUAL TRANSMISSION)에서는 상기 AMT의 변속시 모터의 제어를 활용하여 보다 신속하고 부드러운 변속이 가능하도록 하는 시도가 이루어지고 있다.
Particularly, in the AMT (AUTOMATED MANUAL TRANSMISSION), attempts have been made to enable quicker and smoother shifting by utilizing the control of the motor during shifting of the AMT.
도 1은 상기한 바와 같이 AMT를 사용한 TMED타입 하이브리드 파워트레인을 도시하고 있는 바, 엔진(500)과 AMT(502) 사이에 모터(504)가 배치되며, 또한, 상기 엔진(500)과 모터(504) 사이에 엔진클러치(506)가 배치된 구성이다.
FIG. 1 shows a TMED type hybrid power train using AMT as described above. A
한편, 상기 AMT는 종래 MANUAL TRANSMISSION의 상시 치합 동기변속 타입 메커니즘을 사용하되, 클러치의 제어와 싱크로기구의 제어를 별도의 액츄에이터에 의해 구현하도록 한 것으로서, 상기 도 1과 같은 구성에서는 상기 엔진클러치(506)를 제어하면서 싱크로기구를 제어하여 변속이 이루어지도록 한다.
The AMT uses a conventional synchronous synchronous speed change mechanism of MANUAL TRANSMISSION and controls the clutch and the synchromesh mechanism by a separate actuator. In the structure of FIG. 1, the
즉, 도 2에 예시한 바와 같이, 변속단 기어의 기어를 이탈시키기 전에 상기 엔진클러치(506)를 해제하여 엔진(500)으로부터의 동력을 단절시킨 상태에서 다른 변속단 기어를 선택하여 동기후 기어치합을 시킨 뒤, 상기 엔진클러치를 다시 결합하는 변속과정을 가진다.
2, before disengaging the gear of the speed change gear, the
그러나, 상기한 바와 같은 변속과정은, 현재의 변속단 기어를 이탈시키고 새로운 목표 변속단 기어를 체결하기 위해 그 전후에 반드시 엔진클러치를 해제했다가 결합해야 하므로, 엔진클러치의 해제 및 결합에 따른 시간이 소요되어 변속시간이 길어지고, 엔진클러치의 재 결합시 변속 충격이 발생할 소지가 크며, 엔진클러치의 내구성이 떨어지게 되고, 상기 엔진클러치를 구동하기 위한 액츄에이터에 의한 전기에너지의 소모로 차량의 연비에 악영향을 주는 문제점이 있다.
However, the shifting process as described above requires releasing and engaging the engine clutch before and after the present speed change gear is released and the new target speed change gear is engaged, so that the time for releasing and engaging the engine clutch And the durability of the engine clutch is deteriorated. When the electric power consumed by the actuator for driving the engine clutch is consumed due to the fuel consumption of the vehicle, There is a problem that it adversely affects.
상기의 발명의 배경이 되는 기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진 자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.It will be appreciated that those skilled in the art will appreciate that the described embodiments are provided merely for the purpose of promoting an understanding of the background of the present invention, It will not.
본 발명은 상기한 바와 같은 문제점을 해결하기 위하여 안출된 것으로서, 현재의 변속단 기어를 이탈시키고 새로운 목표 변속단 기어를 체결하기 위해 엔진클러치를 해제하였다가 결합하는 동작 없이, 엔진클러치를 그대로 체결 상태로 유지한 상태에서, 변속이 이루어지도록 하기 위해 변속시에 엔진클러치를 결합한 채로 현재의 변속단 기어를 해제하여 이탈시킬 수 있도록 함으로써, 엔진클러치의 해제 및 결합에 따른 시간이 생략되어 변속시간이 짧아지고, 엔진클러치의 재 결합에 의한 변속 충격을 방지하며, 엔진클러치의 내구성이 떨어지는 것을 방지할 수 있게 되고, 상기 엔진클러치를 구동하기 위한 액츄에이터에 의한 전기에너지의 소모를 줄여서 차량의 연비 향상에 기여할 수 있도록 한 ＡＭＴ 하이브리드 차량의 변속 제어방법을 제공함에 그 목적이 있다.SUMMARY OF THE INVENTION The present invention has been conceived in order to solve the above-mentioned problems, and it is an object of the present invention to provide an engine speed reducing apparatus, The present transmission gear can be released and released while the engine clutch is engaged in the shifting state so as to allow the shifting to be performed in a state in which the engine clutch is released and engaged so that the shifting time is short And the durability of the engine clutch can be prevented from being lowered. Further, consumption of electric energy by the actuator for driving the engine clutch is reduced, thereby contributing to improvement in fuel efficiency of the vehicle. AMT Hybrid Vehicle to Provide Transmission Control Method It is an object.
상기한 바와 같은 목적을 달성하기 위한 본 발명 ＡＭＴ 하이브리드 차량의 변속 제어방법은In order to accomplish the above object, the present invention provides a shift control method for an AMT hybrid vehicle,
변속이 개시되는지를 판단하는 변속개시판단단계와;A shift start determining step of determining whether a shift is started;
변속이 개시된 경우, 엔진클러치의 접속상태를 유지한 상태에서, 모터의 토크를 감소시키는 모터제어단계와;A motor control step of, when the shifting is started, reducing torque of the motor while maintaining the connection state of the engine clutch;
엔진의 토크를 감소시키면서 쉬프팅액츄에이터로 현재 변속단의 슬리브에 중립방향을 향한 힘을 인가하는 기어이탈유도단계;A gear shift inducing step of applying a force toward a neutral direction to a sleeve of a current speed change stage with a shifting actuator while reducing a torque of the engine;
를 포함하여 구성된 것을 특징으로 한다.
And a control unit.
또한, 본 발명에 따른 ＡＭＴ 하이브리드 차량의 변속 제어방법은Further, the shift control method of an AMT hybrid vehicle according to the present invention
변속이 개시되면, 엔진클러치를 접속상태로 유지하고;When shifting is started, the engine clutch is held in the engaged state;
현재 변속단의 슬리브를 중립으로 해제시키는 방향으로 가압하면서, 모터와 엔진에 의해 AMT의 입력축으로 제공되는 합 토크가 점차 감소하도록 제어하는 것을 특징으로 한다.And controls the motor and the engine to gradually decrease the sum torque provided to the input shaft of the AMT while pressing the sleeve of the present speed change stage to neutral.
본 발명은 현재의 변속단 기어를 이탈시키고 새로운 목표 변속단 기어를 체결하기 위해 엔진클러치를 해제하였다가 결합하는 동작 없이, 엔진클러치를 그대로 체결 상태로 유지한 상태에서, 변속이 이루어지도록 하기 위해 변속시에 엔진클러치를 결합한 채로 현재의 변속단 기어를 해제하여 이탈시킬 수 있도록 함으로써, 엔진클러치의 해제 및 결합에 따른 시간이 생략되어 변속시간이 짧아지고, 엔진클러치의 재 결합에 의한 변속 충격을 방지하며, 엔진클러치의 내구성이 떨어지는 것을 방지할 수 있게 되고, 상기 엔진클러치를 구동하기 위한 액츄에이터에 의한 전기에너지의 소모를 줄여서 차량의 연비 향상에 기여할 수 있도록 한다.The present invention is a shift control apparatus for a shift control apparatus for shifting a shift target in a state in which an engine clutch is left in a locked state without releasing an engine clutch and releasing an engine clutch for releasing a current shift gear and engaging a new target shift gear, So that the time for releasing and engaging the engine clutch can be omitted to shorten the shifting time and prevent the shifting shock caused by the re-engagement of the engine clutch The durability of the engine clutch can be prevented from being lowered, and consumption of electric energy by the actuator for driving the engine clutch can be reduced, thereby contributing to improvement in fuel efficiency of the vehicle.
도 1은 종래의 AMT를 사용한 TMED타입 하이브리드 파워트레인을 설명한 개략도,
도 2는 종래 도 1의 파워트레인에서 변속이 이루어지는 과정을 설명한 그래프,
도 3은 본 발명에 따른 ＡＭＴ 하이브리드 차량의 변속 제어방법의 실시예를 도시한 순서도,
도 4는 본 발명에 따른 ＡＭＴ 하이브리드 차량의 변속 제어방법에 의해 변속단 기어를 이탈시키는 것을 포함하는 변속과정을 설명한 그래프이다.1 is a schematic view illustrating a TMED type hybrid power train using a conventional AMT,
FIG. 2 is a graph illustrating a shift process in the power train of FIG. 1,
3 is a flowchart showing an embodiment of a shift control method for an AMT hybrid vehicle according to the present invention,
FIG. 4 is a graph illustrating a shifting process including shifting the speed change gear by the shift control method of the AMT hybrid vehicle according to the present invention.
도 3과 도 4를 참조하면, 본 발명 ＡＭＴ 하이브리드 차량의 변속 제어방법의 실시예는, 변속이 개시되는지를 판단하는 변속개시판단단계(S10)와; 변속이 개시된 경우, 엔진클러치의 접속상태를 유지한 상태에서, 모터의 토크를 감소시키는 모터제어단계(S20)와; 엔진의 토크를 감소시키면서 쉬프팅액츄에이터로 현재 변속단의 슬리브에 중립방향을 향한 힘을 인가하는 기어이탈유도단계(S30)를 포함하여 구성된다.
3 and 4, an embodiment of a shift control method for an AMT hybrid vehicle according to the present invention includes a shift start determination step (S10) for determining whether a shift is started; A motor control step (S20) of reducing the torque of the motor in a state in which the engagement state of the engine clutch is maintained when shifting is started; And a gear release inducing step (S30) of applying a force toward the neutral direction to the sleeve of the current speed change stage by the shifting actuator while reducing the torque of the engine.
즉, 본 발명은 변속이 개시되면, 엔진클러치를 접속상태로 유지한 상태로, 현재 변속단의 슬리브를 중립으로 해제시키는 방향으로 가압하면서, 모터와 엔진에 의해 AMT의 입력축으로 제공되는 합 토크가 점차 감소하도록 제어하여, 변속시 엔진클러치의 해제 및 재결합에 따른 변속시간 지연 방지와, 엔진클러치 재결합시의 충격 발생 방지, 엔진클러치 내구성 저하 방지 및 클러치 액츄에이터의 전기소모에 의한 연비 저하 방지를 달성할 수 있도록 하는 것이다.
That is, according to the present invention, when the shift is started, while the engine clutch is held in the connected state, the sum torque provided by the motor and the engine to the input shaft of the AMT is increased So as to prevent the shift time delay due to the disengagement and rejoining of the engine clutch at the time of shifting, to prevent the occurrence of shock at the time of rejoining the engine clutch, to prevent the durability of the engine clutch from being lowered and to prevent the fuel economy from lowering due to the consumption of electric power of the clutch actuator .
상기 모터제어단계(S20)에서는 상기 모터의 토크를 0으로 제어하고, 상기 기어이탈유도단계(S30)에서는, 상기 엔진의 토크를 일정한 기울기로 서서히 감소시키고, 상기 쉬프팅액츄에이터로 상기 슬리브에 중립방향을 향해 일정한 힘(=쉬프트 스트로크 포스: shift stroke force)를 가한다.
In the motor control step (S20), the torque of the motor is controlled to be zero. In the gear release inducing step (S30), the torque of the engine is gradually decreased at a constant slope and the neutral direction is applied to the sleeve by the shifting actuator Apply a constant force (= shift stroke force) against the force.
상기한 상태가 진행됨에 따라 상기 쉬프팅액츄에이터에서 상기 슬리브에 가하는 쉬프트 스트로크 포스가 상기 엔진으로부터 상기 슬리브에 가해지는 부하보다 커지게 되면, 상기 슬리브가 이동하면서 기어가 빠지기 시작하여, 결국 기어가 완전히 빠지게 된다.
When the shift stroke force applied to the sleeve by the shifting actuator becomes larger than the load applied to the sleeve from the engine as the above-described state progresses, the sleeve begins to move and the gear starts to be released, .
즉, 슬리브가 해당 변속단의 클러치기어로부터 빠지지 않는 이유는 상기 슬리브와 클러치기어 사이의 마찰력에 의한 것이고, 이 마찰력은 상기 엔진으로부터 입력되는 회전력과 출력축으로부터 제공되는 회전력 사이의 차이에 의해 증감되므로, 상기 슬리브를 중립방향으로 밀면서, 상기 엔진 및 모터로부터 제공되는 동력을 점차 줄여서 마치 엔진클러치를 해제한 것과 유사한 상태를 만들면, 상기 슬리브가 상기 클러치기어로부터 이탈되어 기어해제가 이루어지는 것이다.
That is, the reason why the sleeve is not released from the clutch gear of the corresponding speed change stage is due to the frictional force between the sleeve and the clutch gear, and this frictional force is increased or decreased by the difference between the rotational force input from the engine and the rotational force provided from the output shaft, When pushing the sleeve in the neutral direction, gradually reducing the power provided by the engine and the motor to make a state similar to that of releasing the engine clutch, the sleeve is disengaged from the clutch gear to release the gear.
이와 같은 기어 해제 방법은, 상술한 바와 같이 엔진클러치가 결합된 상태에서 이루어지게 되므로, 종래 변속을 위해 엔진클러치를 해제하였다가 재결합하는 과정에 의해 비롯되는 많은 문제점들이 모두 해소될 수 있다.
Such a gear releasing method is performed in a state where the engine clutch is engaged as described above, so that many problems caused by the process of releasing and recombining the engine clutch for the conventional shift can be solved.
본 발명은 특정한 실시예에 관련하여 도시하고 설명하였지만, 이하의 특허청구범위에 의해 제공되는 본 발명의 기술적 사상을 벗어나지 않는 한도 내에서, 본 발명이 다양하게 개량 및 변화될 수 있다는 것은 당업계에서 통상의 지식을 가진 자에게 있어서 자명할 것이다.While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.
S10; 변속개시판단단계
S20; 모터제어단계
S30; 기어이탈유도단계S10; In the shift start determination step
S20; Motor control step
S30; Gear release induction phase
Claims (4)
변속이 개시된 경우, 엔진클러치의 접속상태를 유지한 상태에서, 모터의 토크를 감소시키는 모터제어단계(S20)와;
엔진의 토크를 감소시키면서 쉬프팅액츄에이터로 현재 변속단의 슬리브에 중립방향을 향한 힘을 인가하는 기어이탈유도단계(S30);
를 포함하여 구성된 것을 특징으로 하는 ＡＭＴ 하이브리드 차량의 변속 제어방법.A shift start determining step (S10) for determining whether a shift is started;
A motor control step (S20) of reducing the torque of the motor in a state in which the engagement state of the engine clutch is maintained when shifting is started;
A gear shift inducing step (S30) of applying a force toward a neutral direction to a sleeve of a current speed change stage with a shifting actuator while reducing the torque of the engine;
And a control unit for controlling the shift of the AMT hybrid vehicle.
상기 모터제어단계(S20)에서는 상기 모터의 토크를 0으로 제어하는 것
을 특징으로 하는 ＡＭＴ 하이브리드 차량의 변속 제어방법.The method according to claim 1,
In the motor control step (S20), the torque of the motor is controlled to be 0
Wherein the shift control method comprises the steps of:
상기 기어이탈유도단계(S30)에서는, 상기 엔진의 토크를 일정한 기울기로 서서히 감소시키고;
상기 쉬프팅액츄에이터로 상기 슬리브에 중립방향을 향해 일정한 힘을 가하는 것
을 특징으로 하는 ＡＭＴ 하이브리드 차량의 변속 제어방법.The method according to claim 1,
In the gear shift inducing step S30, the torque of the engine is gradually reduced at a constant slope;
Applying a constant force to the sleeve in the neutral direction by the shifting actuator
Wherein the shift control method comprises the steps of:
현재 변속단의 슬리브를 중립으로 해제시키는 방향으로 가압하면서, 모터와 엔진에 의해 AMT의 입력축으로 제공되는 합 토크가 점차 감소하도록 제어하는 것
을 특징으로 하는 ＡＭＴ 하이브리드 차량의 변속 제어방법.When shifting is started, the engine clutch is held in the engaged state;
The control is performed such that the sum torque provided to the input shaft of the AMT by the motor and the engine gradually decreases while pressing the sleeve of the present speed change stage to the neutral state
Wherein the shift control method comprises the steps of:
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101631773B1 (en) | 2014-12-26 | 2016-06-17 | 현대다이모스(주) | Shifting Control Method for Vehicle |
| KR20160142038A (en) * | 2015-06-02 | 2016-12-12 | 주식회사 만도 | Vehicle control apparatus and method thereof |
| US9731700B2 (en) | 2014-12-01 | 2017-08-15 | Hyundai Motor Company | Shift control method for preventing starting stage engagement failure of hybrid electric vehicle |
| US10071726B2 (en) | 2016-07-14 | 2018-09-11 | Hyundai Motor Company | Shifting control method for hybrid vehicles |
| US10166967B2 (en) | 2016-06-16 | 2019-01-01 | Hyundai Motor Company | Shifting control method for hybrid vehicle |
| KR101988134B1 (en) * | 2017-12-05 | 2019-06-11 | 현대자동차주식회사 | Shift control method for vehicle with amt |
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| KR20160065617A (en) | 2014-12-01 | 2016-06-09 | 현대자동차주식회사 | The shift control method for preventing a failed start-stage implementation of the hybrid vehicle |
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| KR101048143B1 (en) * | 2009-10-23 | 2011-07-08 | 현대자동차주식회사 | Shift control device and method of hybrid vehicle |
| KR20120062340A (en) * | 2010-12-06 | 2012-06-14 | 현대자동차주식회사 | System for shift control hybrid vehicle and method thereof |
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| US9731700B2 (en) | 2014-12-01 | 2017-08-15 | Hyundai Motor Company | Shift control method for preventing starting stage engagement failure of hybrid electric vehicle |
| KR101631773B1 (en) | 2014-12-26 | 2016-06-17 | 현대다이모스(주) | Shifting Control Method for Vehicle |
| KR20160142038A (en) * | 2015-06-02 | 2016-12-12 | 주식회사 만도 | Vehicle control apparatus and method thereof |
| US10166967B2 (en) | 2016-06-16 | 2019-01-01 | Hyundai Motor Company | Shifting control method for hybrid vehicle |
| US10071726B2 (en) | 2016-07-14 | 2018-09-11 | Hyundai Motor Company | Shifting control method for hybrid vehicles |
| KR101988134B1 (en) * | 2017-12-05 | 2019-06-11 | 현대자동차주식회사 | Shift control method for vehicle with amt |
| KR102125193B1 (en) * | 2018-12-14 | 2020-06-23 | 현대 파워텍 주식회사 | Apparatus and method for controlling shift of automated manual transmission hybrid vehicle |
| CN111845696A (en) * | 2020-07-23 | 2020-10-30 | 一汽解放青岛汽车有限公司 | Gear shifting control method of P2 hybrid power type vehicle |
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