WO2000046062A1 - Vehicule freine par couple moteur et procede de commande du vehicule - Google Patents
Vehicule freine par couple moteur et procede de commande du vehicule Download PDFInfo
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- WO2000046062A1 WO2000046062A1 PCT/JP2000/000526 JP0000526W WO0046062A1 WO 2000046062 A1 WO2000046062 A1 WO 2000046062A1 JP 0000526 W JP0000526 W JP 0000526W WO 0046062 A1 WO0046062 A1 WO 0046062A1
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- Prior art keywords
- deceleration
- vehicle
- amount
- braking
- torque
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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
- B60W20/30—Control strategies involving selection of transmission gear ratio
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
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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
- B60K6/42—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 the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
- B60K6/485—Motor-assist type
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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
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
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- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
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- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- 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
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
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- B60L2220/14—Synchronous machines
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- B60L2240/00—Control parameters of input or output; Target parameters
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- B60L2240/12—Speed
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/16—Driver interactions by display
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/24—Driver interactions by lever actuation
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/14—Control of torque converter lock-up clutches
- F16H61/143—Control of torque converter lock-up clutches using electric control means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
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- Y10S903/91—Orbital, e.g. planetary gears
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- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/945—Characterized by control of gearing, e.g. control of transmission ratio
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- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking
Definitions
- the present invention relates to a vehicle that is braked by electric motor torque and a control method thereof.
- the present invention relates to a vehicle capable of performing braking using an electric motor in addition to braking using a brake based on mechanical frictional force, and a control method therefor.Specifically, the amount of deceleration during braking using an electric motor is arbitrarily adjusted.
- the present invention relates to a possible vehicle and a control method for realizing the braking. Background art
- the hybrid vehicle described in Japanese Patent Application Laid-Open No. Hei 9-137407 discloses a conventional vehicle in which the output shaft of an engine is coupled to a drive shaft via a transmission.
- This is a vehicle with a configuration in which an electric motor is added in series. According to such a configuration, it is possible to travel using both the engine and the electric motor as power sources.
- the fuel efficiency of the engine is poor.
- a hybrid vehicle starts using the power of an electric motor to avoid such driving. After the vehicle reaches the specified speed, start the engine and use the power to drive. Therefore, the hybrid vehicle can improve fuel efficiency at the time of starting.
- hybrid vehicle can perform braking by regenerating the rotation of the drive shaft as electric power by an electric motor (hereinafter, such braking is referred to as regenerative braking).
- regenerative braking braking by regenerating the rotation of the drive shaft as electric power by an electric motor
- a hybrid vehicle can use kinetic energy without waste by regenerative braking. Due to these features, hybrid vehicles have the advantage of excellent fuel economy.
- the method of braking the vehicle involves pressing a pad or the like according to the operation of the brake pedal.
- a braking method that applies friction to the axle hereinafter simply referred to as a wheel brake
- a braking method that applies a load from a power source to the drive shaft like a so-called engine brake hereinafter called a power source brake
- power source brake includes engine braking based on engine bombing loss and regenerative braking due to regenerative load on the motor.
- Braking by a power source is useful in that braking can be performed without having to change from an accelerator pedal to a brake pedal.
- the deceleration amount of the engine brake becomes a substantially constant value according to the engine speed unless the opening / closing timing of the intake valve and the exhaust valve is changed. Therefore, in order for the driver to obtain a desired amount of deceleration by engine braking, the shift ratio of the transmission is changed by operating the shift lever, and the torque of the power source and the torque output to the drive shaft are changed. The ratio needed to be changed.
- the regenerative braking of the motor has the advantage that the regenerative load can be controlled relatively easily, and the control of the amount of deceleration can be realized relatively easily. From this viewpoint, in the hybrid vehicle described in Japanese Patent Application Laid-Open No. 9-37407, the regenerative deceleration amount of the electric motor is controlled so as to obtain the deceleration amount set by the user.
- the present invention employs the following configurations.
- the vehicle of the present invention A vehicle that travels by adjusting the power output from the power source to the drive shaft by operating the accelerator unit,
- An electric motor provided to be able to apply a braking force to the drive shaft
- Target deceleration amount setting means for setting a target deceleration amount of the vehicle according to the operation amount based on a predetermined relationship between the operation amount and the deceleration amount when the operation amount of the accelerator unit is equal to or less than a predetermined value;
- An electric motor operation state setting means for setting a target operation state of the electric motor for applying a braking force for realizing the set target deceleration amount to the drive shaft;
- Control means for controlling the electric motor to operate in the target operation state and braking the vehicle.
- the target operating state of the motor can be specified by using various parameters that affect the operating state, such as a target torque, electric power regenerated by the motor, and a current value flowing through the motor.
- the target deceleration amount is set according to the operation amount of the accelerator unit, and the vehicle is braked according to the target deceleration amount.
- the accelerator unit is a mechanism used to indicate the magnitude of the power output from the power source.
- the accelerator unit usually has room for operation called play. In other words, if the operation amount of the accelerator unit is small enough to fall within this play range, it does not function as a mechanism for indicating the magnitude of power.
- the driver can set the target deceleration amount based on the operation amount of the accelerator unit in such a range. Therefore, the driver can easily adjust the deceleration amount during driving without feeling uncomfortable.
- the vehicle of the present invention adjusts the target deceleration amount by following a change in the required deceleration amount according to the traveling state of the vehicle. While reducing the target deceleration amount. There is also an advantage that adjustment is possible.
- the present invention is not necessarily limited to a mode in which the target deceleration amount is set only in accordance with the operation amount in the range of play of the accelerator unit.
- the predetermined operation amount in the present invention may be set to a value that exceeds the range of play.
- the present invention uses the accelerator unit for instructing the increase or decrease of the required power also for adjusting the target deceleration amount, and the required power of the accelerator unit according to the operation range of the accelerator unit for achieving the conflicting instruction.
- the predetermined operation amount is not limited to the range of the play, but can be set to a range appropriate for the instruction of the required power and the target deceleration amount.
- the accelerator unit is configured as an accelerator pedal, and braking by electric motor torque works when the accelerator pedal is released.
- the driver must depress the brake pedal and apply the wheel brake to increase the amount of deceleration.
- decelerating and then accelerating again it is necessary to switch from the brake pedal to the accelerator pedal again. Such stepping will impair the operability of the vehicle.
- the vehicle of the present invention when the accelerator pedal is depressed, it is possible to obtain a deceleration amount substantially in accordance with the driver's intention according to the degree of the depression. Therefore, the driver can brake and accelerate the vehicle after deceleration without stepping on the accelerator pedal and the brake pedal.
- the deceleration amount can be finely adjusted by changing the depression amount of the accelerator pedal. Therefore, according to the vehicle of the present invention, the operability of the vehicle is greatly improved. can do.
- the case where the accelerator unit is constituted by a pedal has been described as an example, but it is needless to say that the above advantages are not limited to the case where the accelerator unit is constituted by a pedal.
- the so-called engine brake is a deceleration amount that is almost uniquely determined according to the vehicle speed.
- a special mechanism such as a mechanism that changes the opening and closing timing of the intake and exhaust valves of the engine is required.
- the amount of deceleration by the motor can be controlled relatively easily, and its response is high.
- the vehicle of the present invention realizes the amount of deceleration according to the driver's intention based on the characteristic of braking by the electric motor.
- the vehicle of the present invention also has the following advantages in terms of energy efficiency.
- a wheel brake performs braking by discarding kinetic energy of a vehicle as heat energy to the outside due to friction between a drive shaft and a pad, and is therefore not preferable from the viewpoint of energy efficiency.
- the regenerative braking by the electric motor can regenerate the kinetic energy of the vehicle as electric power, so that the energy can be effectively used for subsequent traveling.
- ADVANTAGE OF THE INVENTION According to the vehicle of this invention, since the regenerative braking by an electric motor can be performed widely, there exists an advantage that the energy efficiency of a vehicle improves.
- the amount of deceleration means a parameter related to the deceleration of the vehicle. For example, it includes deceleration, that is, the amount of decrease in vehicle speed per unit time and braking force.
- the vehicles referred to in this specification include various types of vehicles.
- the first is a vehicle powered solely by an electric motor, a so-called pure electric vehicle.
- Second is a hybrid vehicle that uses both an engine and an electric motor as power sources.
- the eight hybrid vehicles include a parallel hybrid vehicle that cannot transmit power from the engine directly to the drive shaft, and a series hybrid vehicle that uses power from the engine only for power generation and is not directly transmitted to the drive shaft.
- the invention applies to both hybrid vehicles Applicable. It is needless to say that the present invention can be applied to a motor having three or more motors including a motor as a power source.
- the vehicle uses an engine as a power source when traveling, but is equipped with an electric motor for regenerative braking.
- the vehicle of the present invention may be provided with a braking force source capable of applying a braking torque other than the electric motor.
- the electric motor torque setting means sets the torque so that all of the desired deceleration amount is given by the electric motor.
- the torque is negative, and the motor is in regenerative operation.
- the motor torque setting means sets the torque by the motor in consideration of the amount of deceleration by a braking force source other than the motor. In such a case, the amount of deceleration by another braking force source may be treated as a predetermined value, or the so-called feedback control of the motor torque may be performed so that the entire deceleration amount becomes a predetermined value.
- the relationship in the target deceleration amount setting means can be set in various ways.
- the relationship in the target deceleration amount setting means is a relationship in which the deceleration amount increases as the operation amount decreases.
- a relationship in which the deceleration amount decreases in inverse proportion to the operation amount there can be mentioned a relationship in which the deceleration amount decreases in inverse proportion to the operation amount.
- the accelerator unit is generally configured so that the power output from the power source is increased when the accelerator is operated greatly. Conversely, as the operation amount of the accelerator unit becomes smaller, the required power becomes smaller and the vehicle acceleration is usually made lower.
- the relationship that the amount of deceleration increases as the amount of operation of the accelerator unit decreases is in good agreement with the driver's feeling. Therefore, the vehicle that adopts the above relationship can adjust the target deceleration amount without the driver feeling uncomfortable, and has excellent operability.
- the relationship in the target deceleration amount setting means is a relationship in which the deceleration amount in a state where the operation amount can be regarded as a value 0 is significantly larger than the deceleration amount in other states. Is also preferred.
- the driver sets the accelerator operation amount to a value of 0, that is, turns off the accelerator unit, when slightly braking is to be performed. Therefore, if braking is performed with a significantly larger deceleration amount than the deceleration amount in other states when the accelerator unit is off, it is possible to perform braking in accordance with the driver's intention. Become. As a result, according to the vehicle, braking by the electric motor can be more effectively utilized.
- the vehicle of the present invention it is also possible to apply a relationship in which the deceleration amount continuously changes according to the operation amount, based on the deceleration amount in a state where the accelerator unit is off.
- the change of the deceleration amount relative to the unit operation amount of the accelerator unit that is, the rate of change of the deceleration amount is often relatively sharp.
- the rate of change of the deceleration amount is large, it is difficult to finely adjust the deceleration amount.
- the reference deceleration amount when the accelerator unit is turned off can be sufficiently ensured, and in other cases, the rate of change is such that fine adjustment of the deceleration amount is possible.
- the relationship between the deceleration amount and the operation amount can be set.
- the state in which the operation amount can be regarded as the value 0 is determined in consideration of the resolution of a sensor for detecting the operation amount of the accelerator unit.
- the operation amount is strictly 0, but also a range in which the operation amount is determined to be substantially 0 in consideration of the resolution of the sensor can be included.
- a braking mechanism using mechanical frictional force When a wheel brake is provided, the relationship between the accelerator operation amount and the deceleration amount may be switched depending on whether the wheel brake is operating. For example, the amount of deceleration by the electric motor may be set to be larger when the wheel brake is activated than when it is not activated. When the wheel brakes are activated, the driver is expected to request a greater amount of deceleration. By setting in this way, it is possible to achieve braking that is suitable for the driver's feeling.
- the relationship between the operation amount of the accelerator unit and the deceleration amount may be set in a multiple manner based on various parameters.
- the target deceleration amount setting unit may be a means for setting the target deceleration amount based on the operation amount and the vehicle speed.
- the vehicle of the present invention further comprises:
- a transmission capable of selecting a plurality of transmission ratios at the time of power transmission, in a state coupled between the power source and the drive shaft;
- the vehicle further includes a shift control unit that controls the transmission to achieve the speed ratio.
- the selection means can realize an appropriate speed ratio in accordance with the amount of deceleration instructed by the driver and the magnitude of the torque of the electric motor. Further, by controlling the operating state of the electric motor under such a gear ratio, the deceleration amount instructed by the driver can be realized. That is, the vehicle of the present invention can perform braking in accordance with the driver's instructions in a wide range by integrally controlling both the transmission and the electric motor. In such a vehicle, the relationship between the operation amount of the accelerator unit and the target deceleration amount may be switched based on the gear ratio used during traveling.
- the relationship in the target deceleration amount setting means is a relationship in which a change range of the deceleration amount according to the operation amount is a range that can be realized while maintaining a constant transmission gear ratio. Is preferred.
- the gear ratio of the transmission can be kept constant even if the amount of deceleration is adjusted by changing the operation amount of the accelerator unit.
- the change in the deceleration amount is realized by controlling the motor.
- the amount of deceleration can be adjusted without switching the gear ratio, and smooth running can be realized.
- the present invention can be applied to a vehicle having a power source having various configurations.
- the present invention is applied to a vehicle including the electric motor and the engine as the power source.
- the present invention it is preferable to apply the present invention to a hybrid vehicle including an electric motor and an engine in a state where the electric motor is used as a power source and the power from the engine can be output to the axle.
- a hybrid vehicle including an electric motor and an engine in a state where the electric motor is used as a power source and the power from the engine can be output to the axle.
- the electric motor it is relatively difficult to adjust the deceleration of the engine brake in a vehicle powered by an engine.
- an engine and an electric motor are provided as power sources, controlling the braking torque by the electric motor makes it possible to relatively easily control the amount of deceleration of the entire vehicle. Therefore, if the present invention is applied to the above-described hybrid vehicle, the utility of the power source brake can be greatly improved in a vehicle using an engine as a main power source.
- the transmission described above is additionally provided. It is preferred that Generally, in a hybrid vehicle having the above configuration, an electric motor is usually provided as an auxiliary power source of the engine. Electric motors are used, for example, when starting and traveling at low speeds, and for assisting torque when engine torque is insufficient. Parallel hybrid vehicles are often equipped with a small motor with a relatively low output rating suitable for this purpose, and the motor alone does not have the ability to provide sufficient regenerative braking intended by the driver. There are many. Therefore, by providing a transmission together, braking in a wide range becomes possible, and the present invention can be applied particularly effectively. In the vehicle of the present invention,
- the apparatus further includes a change unit that changes a setting range of the target deceleration amount of the vehicle according to the operation amount of the accelerator unit.
- the driver can operate the operation unit to change the setting range of the target deceleration amount. Further, the target deceleration amount can be finely adjusted according to the operation amount of the accelerator unit within the setting range changed according to this operation. In this way, the driver can utilize the braking by the electric motor in a wider range. Therefore, according to the vehicle, the operability of the vehicle can be greatly improved.
- the above operation unit is operated to change the setting range of the target deceleration amount to a larger side.
- the accelerator unit By operating the accelerator unit after making such changes, it is possible to finely adjust the deceleration amount based on the relatively large deceleration amount.
- the road surface has a relatively low coefficient of friction, such as on a snowy road, 0/46062
- the above operation unit to change the setting range of the target deceleration amount to the smaller side.
- the deceleration amount can be finely adjusted based on the relatively small deceleration amount.
- the entire range of the deceleration amount required by the driver may be set only by operating the accelerator unit without performing the operation of the operation unit. If a configuration in which both the setting by the unit and the adjustment by operating the accelerator unit are adopted is employed, there is an advantage that the fine adjustment of the deceleration amount can be performed more easily.
- the setting range of the target deceleration amount is switched according to the operation of the operation unit, and the operation of the accelerator unit is performed.
- the same processing may be performed in another mode.
- the target deceleration amount may be set once by operating the operation unit, and then the target deceleration amount may be corrected according to the operation of the accelerator unit.
- the target torque of the electric motor may be corrected in accordance with the operation of an accelerator unit after the target deceleration is once set by operating the operation unit.
- the operation unit can have various configurations.
- the operation unit has a second switch that shifts the set range stepwise to a side where the amount of deceleration increases, and a second switch that shifts the set range stepwise to a side where the amount of deceleration decreases. You can be. In this case, if the first switch and the second switch are provided on the steering operation unit of the vehicle, there is an advantage that the operability is high.
- the operation unit may be a mechanism capable of instructing the deceleration amount by sliding a lever along a slide groove provided in advance. Especially the lever slide P
- a mechanism that can continuously change the setting of the deceleration amount by means of 13 has the advantage of increasing the degree of freedom in setting the deceleration amount.
- the vehicle includes: a transmission capable of selecting a plurality of gear ratios of power output from the power source; and a shift lever for inputting a shift position indicating a range of gear ratios that can be selected during traveling of the vehicle. If provided,
- the operation unit has a common mechanism with the shift lever. In this case, there is an advantage that it is not necessary to provide a new operation unit, and an operation unit with extremely high operability can be realized.
- the operation unit includes a slide groove for sliding the shift lever during normal running of the vehicle, and a slide groove for sliding the shift lever when instructing the amount of deceleration. Is desirable. In this way, the operability when instructing the deceleration amount can be improved.
- the information providing unit can be configured as a display unit for displaying the setting state of the deceleration amount or a unit for providing the setting state of the deceleration amount by voice.
- the content of the information to be provided may take various forms such as information notifying the setting range itself of the deceleration amount, information notifying the amount of fluctuation from the reference deceleration amount.
- a mechanism for transmitting dynamic power while converting torque and rotation speed by using slip between two rotating members on a path for transmitting braking force by the electric motor to the drive shaft When a torque converter having a lock mechanism capable of directly transmitting power by locking the relative rotation of the two rotating members is provided, the operation amount of the accelerator unit is equal to or less than a predetermined value. If The device may further include a lock mechanism control unit that controls the lock mechanism so as to be in a predetermined state in which slippage between the rotating members of the torque converter is suppressed.
- the lock mechanism is controlled during braking, the relative rotation of the two rotating members during the torque converter can be suppressed, and the braking force of the electric motor can be transmitted to the drive shaft with a small loss.
- the predetermined state may be, for example, a state in which the relative rotation of the two rotating members is locked.
- the predetermined value may be a value set in a range smaller than the operation amount at which the braking should be started. By doing so, it is possible to realize braking suitable for the driver's feeling. It is needless to say that various settings are possible without being limited to these.
- a transmission capable of selecting a plurality of gear ratios for transmitting the braking force of the electric motor to the drive shaft
- a shift position input means for indicating a range of a gear ratio selectable by the transmission; and a mechanical braking mechanism for applying a braking force to the drive shaft by mechanical friction.
- control means When the mechanical braking mechanism is operated, the control means allows the user to select a large gear ratio exceeding a range instructed by the shift position input means, and also controls the gear ratio. It is good also as a means to do.
- the target deceleration amount can be achieved. At this time, control the gear ratio beyond the restrictions imposed by the shift position. Is allowed, the target deceleration amount can be more reliably achieved.
- the control means may be configured as a means for simply changing the gear ratio to a one-step higher side regardless of the instruction of the shift position input means.
- the present invention may be configured as a vehicle control method in addition to the above-described vehicle.
- FIG. 1 is a schematic configuration diagram of a hybrid vehicle as an embodiment.
- FIG. 2 is an explanatory diagram showing the internal structure of the transmission 100.
- FIG. 3 is an explanatory diagram showing the relationship between the engagement state of the clutch, the brake, and the one-way clutch and the shift speed.
- FIG. 4 shows the operation section 1 of the shift position in the hybrid vehicle of this embodiment.
- FIG. 60 is an explanatory diagram showing 60.
- FIG. 5 is an explanatory diagram showing an operation unit provided on the steering wheel.
- FIG. 6 is an explanatory diagram showing an operation unit 160A according to a modification.
- FIG. 7 is an explanatory view showing an instrument panel of a hybrid vehicle in the present embodiment.
- FIG. 8 is an explanatory diagram showing the connection of input / output signals to the control unit 70.
- FIG. 9 is an explanatory diagram showing the relationship between the running state of the vehicle and the power source.
- FIG. 10 is an explanatory diagram showing the relationship between the gear position of the transmission 100 and the running state of the vehicle.
- FIG. 11 is an explanatory diagram showing a map of a combination of the vehicle speed and deceleration and the speed change stage in the hybrid vehicle of the present embodiment.
- FIG. 12 is an explanatory diagram showing the relationship between the deceleration and the speed at the vehicle speed Vs. 0 2
- FIG. 13 is an explanatory diagram showing deceleration when the gear position is fixed.
- FIG. 14 is an explanatory diagram schematically showing the relationship between the braking torque when the motor 20 is in the regenerative operation and the braking torque when the motor 20 is in the power running operation.
- FIG. 15 is a flowchart of the deceleration control processing routine.
- FIG. 16 is an explanatory diagram showing the accelerator opening.
- FIG. 17 is a flowchart of the initialization processing routine.
- FIG. 18 is a flowchart of the deceleration setting processing routine.
- FIG. 19 is a time chart showing a second example of setting the deceleration.
- FIG. 20 is a time chart showing a second example of setting the deceleration.
- FIG. 21 is a time chart showing a third example of setting the deceleration.
- FIG. 22 is a time chart showing a fourth setting example of the deceleration.
- FIG. 23 is a flowchart of the gear position selection processing routine.
- FIG. 24 is a flowchart of the braking control processing routine.
- FIG. 25 is an explanatory diagram showing the setting of the accelerator opening correction coefficient.
- FIG. 26 is an explanatory diagram showing the relationship between the change range of the deceleration according to the accelerator opening and the gear position.
- FIG. 27 is an explanatory diagram showing a configuration of a series hybrid vehicle as a second embodiment.
- FIG. 28 is an explanatory diagram showing a configuration of a vehicle as a third embodiment.
- FIG. 29 is a flowchart of a deceleration control processing routine in the fourth embodiment.
- FIG. 30 is an explanatory diagram showing an example of setting a braking torque in the fourth embodiment.
- FIG. 31 is an explanatory diagram showing an engaged state of the lock-up clutch.
- FIG. 32 is an explanatory diagram showing the relationship between the engagement force of the lock-up clutch and the braking torque of the motor.
- FIG. 1 is a schematic configuration diagram of a hybrid vehicle as an embodiment.
- the power sources of the hybrid vehicle of this embodiment are an engine 10 and a motor 20.
- the power system of the hybrid vehicle according to the present embodiment has a configuration in which an engine 10, a motor 20, a torque converter 30, and a transmission 100 are connected from the upstream side as shown below. are doing.
- motor 20 is coupled to crankshaft 12 of engine 10.
- the rotating shaft 13 of the motor 20 is connected to the torque compensator 30.
- the output shaft 14 of the torque converter is connected to the transmission 100.
- the output shaft 15 of the transmission 100 is connected to the axle 17 via a differential gear 16.
- Engine 10 is a normal gasoline engine. However, the engine 10 adjusts the opening / closing timing of the intake valve for sucking the mixture of gasoline and air into the cylinder and the exhaust valve for discharging the exhaust gas after combustion from the cylinder with respect to the vertical movement of the piston. (Hereinafter referred to as the VVT mechanism). Since the configuration of the VVT mechanism is well known, a detailed description thereof will be omitted here.
- the engine 10 can reduce the so-called pumping loss by adjusting the opening / closing timing so that each valve closes with a delay with respect to the vertical movement of the piston. As a result, the braking force by the so-called engine brake can be reduced. Further, when the engine 10 is motored, the torque to be output from the motor 20 can be reduced.
- the motor 20 is a three-phase synchronous motor, and includes a rotor 22 having a plurality of permanent magnets on its outer peripheral surface, and a stage 24 around which a three-phase coil for forming a rotating magnetic field is wound. And The motor 20 is driven to rotate by the interaction between the magnetic field generated by the permanent magnet provided on the rotor 22 and the magnetic field formed by the three-phase coil of the stay 24. Further, when the rotor 22 is rotated by an external force, an electromotive force is generated at both ends of the three-phase coil due to the interaction of these magnetic fields.
- a sine wave magnetized motor in which the magnetic flux density between the rotor 22 and the stay 24 has a sine distribution in the circumferential direction can be applied to the motor 20, but in this embodiment, A non-sinusoidal magnetized motor capable of outputting a relatively large torque was applied.
- the stay 24 is electrically connected to a battery 50 via a drive circuit 40.
- the drive circuit 40 is a transistor inverter, and is provided with a plurality of transistors for each of the three phases of the motor 20 with two sets of a source side and a sink side. As shown, the drive circuit 40 is electrically connected to the control unit 70.
- the control unit 70 performs PWM control of the on / off time of each transistor of the drive circuit 40, a pseudo three-phase alternating current using the battery 50 as a power supply flows through the three-phase coil of the stator 24 to form a rotating magnetic field. Is done.
- the motor 20 functions as the above-described motor or generator using the rotating magnetic field.
- the torque converter 30 is a well-known power transmission mechanism using a fluid.
- the input shaft of the torque converter 30, that is, the output shaft 13 of the motor 20 and the output shaft 14 of the torque converter 30 are not mechanically connected to each other, and are slipped with each other. It is rotatable.
- Turbines 32 each having a plurality of blades are provided at both ends, and the turbine of the output shaft ⁇ 3 of the motor 20 and the turbine of the output shaft 14 of the torque converter 30 face each other. It is assembled inside the torque converter in a state.
- the torque converter 30 has a sealed structure, Inside is trans mission oil. This oil acts on each of the above-mentioned vials, so that power can be transmitted from one rotating shaft to the other rotating shaft.
- the torque converter 30 is provided with a lock-up clutch 31 for mutually locking the rotations of turbines for transmitting power.
- the lock-up clutch 31 is engaged under predetermined conditions, such as when the slip of the turbine 32 becomes relatively small, power can be transmitted without slipping in the turbine, thus reducing power transmission loss. can do.
- the transmission 100 includes a plurality of gears, clutches, one-way clutches, brakes, and the like, and converts the torque and the rotation speed of the output shaft 14 of the torque converter 30 by switching the speed ratio. This is a mechanism that can be transmitted to the shaft 15.
- FIG. 2 is an explanatory diagram showing the internal structure of the transmission 100.
- the transmission 100 of the present embodiment is mainly composed of an auxiliary transmission portion 110 (the portion on the left side of the broken line in the drawing) and a main transmission portion 120 (a portion on the right side of the broken line in the drawing). With the structure shown in the figure, five forward gears and one reverse gear can be realized.
- the configuration of the transmission 100 will be described in order from the rotating shaft 14 side.
- the power input from the rotary shaft 14 is shifted at a predetermined speed ratio by a sub-variable portion 110 configured as an overdrive portion and transmitted to the rotary shaft 119.
- the auxiliary transmission unit 110 is constituted by a clutch CO, a one-way clutch F0, and a brake B0, centering on a single pinion type first planetary gear 112.
- the first planetary gear 1 1 2 is also referred to as a planetary gear.
- Ring gear It is composed of three types of gears, 1 1 8.
- the planetary pinion gear 115 is pivotally supported by a rotating part called a planetary carrier 116.
- a planetary gear has such a property that when the rotation state of two of the three gears described above is determined, the rotation state of the remaining one gear is determined.
- the rotation state of each gear of the planetary gear is given by a calculation formula (1) well-known in mechanics.
- Ns (1 + / o) / pXNc-Nr / p;
- Nc ( ⁇ + p) XNs + Nr / ( ⁇ + p);
- Nr (1 + / 0) Nc-pNs
- N s is the rotation speed of the sun gear
- T s is the sun gear torque
- N c is the rotational speed of the planetary carrier
- T c is the torque of the planetary carrier
- N r is the number of revolutions of the ring gear
- Tr is the torque of the ring gear
- a rotating shaft 14 corresponding to the input shaft of the transmission 100 is coupled to the planetary carrier 116.
- a one-way clutch F0 and a clutch C0 are arranged in parallel between the planetary carrier 116 and the sun gear 114.
- the sun gear 114 rotates forward relative to the planetary carrier 116, that is, rotates in the same direction as the input shaft 14 to the transmission. In the direction in which it engages.
- the sun gear 1 14 is provided with a multi-disc brake B 0 that can stop the rotation.
- a ring gear 1-8 corresponding to the output of the subtransmission unit 110 is connected to the rotating shaft 119.
- the rotating shaft 1 19 corresponds to the input shaft of the main transmission section 120.
- the planetary carrier 116 and the sun gear 114 rotate integrally when the clutch C0 or the one-way clutch F0 is engaged.
- the rotation speed of the ring gear 118 is also equal to these.
- the rotating shaft 1 19 has the same rotation speed as the input shaft 14.
- the rotation of the sun gear 114 is stopped by engaging the brake B 0, if the value 0 is substituted for the rotation speed N s of the sun gear 114 in the equation (1) shown above, it is obvious that The rotation speed Nr of the ring gear 118 is higher than the rotation speed Nc of the planetary carrier 116.
- the subtransmission unit 110 selectively plays the role of transmitting the power input from the rotating shaft 14 to the rotating shaft 119 as it is, and the role of increasing the speed. Can be.
- the main transmission section 120 includes three sets of planetary gears 130, 140, and 150. Further, clutches C 1 and C 2, one-way clutches F 1 and F 2 and brakes B 1 to B 4 are provided. Each planetary gear includes a sun gear, a planetary carrier, a planetary pinion gear, and a ring gear, like the first planetary gear 112 provided in the subtransmission portion 110.
- the three sets of planetary gears 130, 140, 150 are connected as follows.
- the sun gear 13 of the second planetary gear 13 and the sun gear 14 of the third planetary gear 14 are integrally connected to each other. It can be connected to the input shaft 1 19 via 2. These sun gears ⁇ 32,
- a brake B1 for stopping the rotation is provided on the rotary shaft to which 142 is coupled. Further, a one-way clutch F1 is provided in a direction in which the rotation shaft is engaged when the rotation shaft reversely rotates. Further, a brake B2 for stopping rotation of the one-way clutch F1 is provided.
- the planetary carrier 134 of the second planetary gear # 30 is provided with a brake B3 capable of stopping the rotation.
- the ring gear ⁇ 36 of the second planetary gear 130 is integrally connected to the planetary carrier 154 of the third planetary gear ⁇ 40 and the planetary carrier 150 of the fourth planetary gear 150. I have. Further, these three are coupled to the output shaft 15 of the transmission 100.
- the third planetary gear 1400 ring gear 1 4 6 is the fourth planetary gear
- the rotating shaft 122 can be connected to the input shaft 119 of the main transmission section 120 via the clutch C1.
- the ring gear 1556 of the fourth planetary gear 150 is provided with a brake B4 for stopping its rotation and a one-way clutch F2 in the direction in which the ring gear 1556 engages when rotating in the reverse direction. I have.
- each clutch and brake is provided with a hydraulic pipe for enabling such an operation, a solenoid valve for controlling hydraulic pressure, and the like.
- the control unit 70 controls the operation of each clutch and brake by outputting a control signal to these solenoid valves and the like.
- the transmission 100 of this embodiment sets five forward speeds and one reverse speed by a combination of engagement and disengagement of the clutches C0 to C2 and the brakes B0 to B4. can do. Also, so-called parking and neutral states can be realized.
- FIG. 3 is an explanatory diagram showing the relationship between the engagement state of each clutch, brake, and one-way clutch and the shift speed.
- ⁇ means that the clutch etc. is engaged
- ⁇ means that it is engaged during power source braking
- ⁇ means that it is engaged but does not affect power transmission.
- the power source brake means braking by the engine 10 and the motor 20.
- the engagement states of the one-way clutches F0 to F2 are not based on the control signal of the control unit 70, but based on the rotation direction of each gear. As shown in FIG. 3, in the case of parking (P) and neutral (N), the clutch C 0 and the one-way clutch F 0 are engaged. Since both the clutch C 2 and the clutch C 1 are in the released state, power is not transmitted downstream from the input shaft 1 19 of the main transmission section 120.
- P 4 is the gear ratio of the fourth planetary gear 150 ⁇ ⁇ ⁇ ⁇ (2);
- the clutch C1, the brake B3, and the one-way latch F0 are engaged.
- the clutch CO is further engaged.
- the input shaft 14 of the transmission # 00 is equivalent to a state where the input shaft 14 is directly connected to the sun gear 152 of the fourth planetary gear 150 and the ring gear 146 of the third planetary gear 140.
- the planetary carrier 134 of the second planetary gear 130 is fixed.
- the rotational speeds of the sun gears 132, 142 are the same.
- the rotation speeds of the ring gear 1 36 and the planetary carrier 144 are equal. Under these conditions, the rotational state of the planetary gears 130, 140 is uniquely determined according to the above-described equation ( ⁇ ).
- the relationship between the rotation speed N in and torque T in of the input shaft 14 and the rotation speed N out and torque T 0 ut of the output shaft 15 is given by the following equation (3).
- the rotation speed N 0 ut of the output shaft 15 is higher than the rotation speed of the first speed (1st), and the torque T 0 ut is lower than the torque of the first speed (1 st).
- 03 is the gear ratio of the third planetary gear 140.
- the clutches C0 and C1, the brake B2, and the one-way clutches F0 and F1 are engaged.
- the brake B1 is further applied.
- the input shaft 14 of the transmission 100 is equivalent to a state where the input shaft 14 is directly connected to the sun gear 152 of the fourth planetary gear 150 and the ring gear 146 of the third planetary gear 140.
- the second and third planetary gears 130, 140, the sun gears 1, 32, and 142 are brakes B2
- the reverse rotation is prohibited by the action of the one-way clutch F 1, and the rotation speed is actually 0.
- the rotational state of the planetary gears 130 and 140 is uniquely determined according to the above-described equation (1), and the output shaft 1
- the number of revolutions of 5 is also uniquely determined.
- the relationship between the rotation speed N in and the torque T in of the input shaft 14 and the rotation speed N out and the torque T out of the output shaft 15 is given by the following equation (4).
- the rotation speed Nout of the output shaft 15 becomes higher than the rotation speed of the second speed (2nd), and the torque Tout becomes lower than the torque of the second speed (2nd).
- the output shaft 15 rotates at a higher rotation speed than in the third speed (3rd). That is, the relationship between the rotation speed N in and the torque T in of the input shaft ⁇ 4 and the rotation speed N out. Torque T out of the output shaft 15 is given by the following equation (5).
- the rotation speed N 0 ut of the output shaft 15 is higher than the rotation speed of the third speed (3rd), and the torque Tout is lower than the torque of the third speed (3rd).
- the relationship between the rotation speed and the torque of the input shaft 14 and the output shaft 119 of the subtransmission unit 110 can be obtained, and the rotation speed of the output shaft 15 can be obtained.
- the torque can be determined.
- the relationship between the rotation speed N in and the torque T in of the input shaft 14 and the rotation speed N out and the torque T 0ut of the output shaft 15 is given by the following equation (6).
- the rotation speed N 0 ut of the output shaft ⁇ 5 becomes higher than the rotation speed of the fourth speed (4th), and the torque Tout becomes lower than the torque of the fourth speed (4th).
- ⁇ 1 is the gear ratio of the first planetary gear 1 1 2 ⁇ ⁇ ⁇ ⁇ (6);
- the transmission 100 of the present embodiment can achieve a speed change of five forward steps and one reverse step.
- the power input from the input shaft ⁇ ⁇ ⁇ 4 is output from the output shaft 15 as power having different rotation speed and torque.
- the rotation speed increases in order from the first speed (1 st) to the fifth speed (5 th), and the torque decreases. This is the same when a negative torque, that is, a braking force is applied to the input shaft 14.
- the variables k1 to k5 in the above equations (2) to (6) represent the gear ratios of the respective gears.
- the braking force is applied to the output shaft 15 in order from the first speed (1 st) to the fifth speed (5 th).
- the braking force is reduced.
- various well-known configurations other than the configuration applied in the present embodiment can be applied. Either one with less or more than 5 forward gears is applicable.
- FIG. 4 is an explanatory diagram showing the operation unit 160 of the shift position in the hybrid vehicle of the present embodiment.
- the operation unit 160 is provided on the floor next to the driver's seat in the vehicle along the front and rear directions of the vehicle.
- a shift lever 16 2 is provided as an operation unit.
- the driver can select various shift positions by sliding the shift lever 16 2 in the front-rear direction.
- the shift positions are parking (P), reverse (8), neutral (), drive position (D), fourth position (4), third position (3), and second position (2) from the front. And low position They are arranged in the order of (L).
- the drive position (D) refers to the selection of a mode in which the vehicle travels using the first speed (1 st) to the fifth speed (5 th) shown in FIG.
- the 4th position (4) up to the 4th speed (4th) the 3rd position (3) up to the 3rd speed (3rd)
- the low position (L) means the selection of the mode of driving using only the first speed (1st).
- the driver can arbitrarily set the deceleration by the power source brake, as described later.
- the operation unit # 60 for selecting the shift position is also provided with a mechanism for setting the deceleration.
- the shift lever 162 in the hybrid vehicle of the present embodiment can slide forward and backward to select a shift position, and can also slide sideways in the drive (D) position. .
- the position selected in this way is called an E position.
- the operation unit 160 is provided with a sensor for detecting the shift position and an E-position switch that is turned on when the shift lever 162 is in the E position. The signals of these sensors and switches are transmitted to the control unit 70 and used for various controls of the vehicle as described later.
- the operation when the shift lever 16 is in the E position will be described.
- the shift levers 16 2 are maintained at the neutral position of the E position when the driver releases the hand. If the driver wants to increase the deceleration, that is, if he wants to apply sudden braking, he tilts the shift lever 16 2 backward (Dece I side). Want to reduce deceleration In this case, that is, when a gentle braking is desired, the shift lever 16 2 is tilted forward (to the side of Can-Dece I). In such a case, the shift lever 16 2 does not slide continuously in the front-back direction, but moves with a sense of moderation.
- the shift lever-16 2 takes one of three states: a neutral state, a state tilted forward, and a state tilted backward.
- a neutral state When the driver releases the force applied to the shift lever 16 2, the shift lever 16 2 immediately returns to the neutral position.
- the deceleration due to the power source brake changes stepwise according to the number of forward and backward operations of the shift lever 162.
- FIG. 5 is an explanatory diagram showing an operation unit provided on the steering.
- FIG. 5 (a) shows a state in which the steering wheel 164 is viewed from the side facing the driver, that is, from the front.
- DeceI switches 166L and 166R for increasing deceleration are provided at the spokes of the steering 164. These switches are provided in places where the driver can easily operate the steering wheel with the right or left thumb.
- the two switches provided on the front are unified to have the same function so that an appropriate operation can be performed without confusion even when the steering wheel is turned.
- FIG. 5B shows a state in which the steering wheel 16 4 is viewed from the back.
- C an—Decel switches 168 L and 168 R for reducing deceleration are installed almost at the back of the Dec I switches 166 L and 166 R. Have been. These switches are installed in a place where the driver can easily operate the steering wheel with the right or left forefinger. For the same reasons as the Decel switches 1666L and 1666R, both switches are unified to perform the same function.
- the Decel switches 1666L and 1666R both switches are unified to perform the same function.
- the deceleration increases according to the number of times.
- C an — Decel switch 168 and pressing 168 R the deceleration decreases according to the number of times.
- switches 1666L, 1666R, 1668L, and 1668R are valid only when the shift lever 162 is in the E position (see Fig. 4). With this configuration, it is possible to prevent the driver from unintentionally operating these switches when operating the steering wheel 164 to change the setting of the target deceleration.
- the operation unit 160 has a snow mode switch 163 in addition to the above.
- the snow mode switch 163 is operated by the driver when the road surface has a low coefficient of friction such as a snowy road and is in a slippery condition.
- the snow mode switch 16 3 When the snow mode switch 16 3 is turned on, the upper limit of the target deceleration is suppressed to a predetermined value or less as described later. If the vehicle is decelerated at a large deceleration while traveling on a road surface with a low coefficient of friction, slipping may occur.
- the snow mode switch # 63 is on, the deceleration is suppressed to a predetermined value or less, so that a slip can be avoided.
- the snow mode switch 16 3 is turned on, it is possible to change the deceleration to the extent that slip does not occur.
- FIG. 6 is an explanatory diagram showing the operation unit 160A of the modification.
- the operation unit 16 OA is provided beside the driver along the front-rear direction of the vehicle. The driver can select various shift positions by sliding the shift lever 16 2 in the front-rear direction.
- FIG. 6 only the drive position (D) is shown and four positions and the like are omitted, but various shift positions can be provided similarly to the operation unit 160 in FIG.
- An E position is provided further behind the normal movable range for selecting an option.
- the driver can continuously change the setting of the deceleration by sliding the shift lever 16 2 forward and backward in the E position.
- the deceleration is increased by sliding the shift lever 16 2 backward, and the deceleration is decreased by sliding the shift lever 16 2 forward.
- this modification is merely an example, and various other configurations can be applied to the mechanism for setting the deceleration.
- FIG. 7 is an explanatory diagram showing an instrument panel of an eight-bridged vehicle in the present embodiment. This instrument panel is installed in front of the driver as in a normal vehicle. On the instrument panel, a fuel gauge 202 and a speedometer 204 are provided on the left side as viewed from the driver, and an engine water temperature gauge 208 and an engine tachometer 206 are provided on the right side. . A shift position indicator 220 for displaying a shift position is provided at the center, and direction indicator indicators 210 and 210R are provided on the left and right thereof. These are the same display units as ordinary vehicles.
- an E position indicator 222 is provided above the shift position indicator 220 in addition to these display portions. Further, a deceleration indicator 224 for displaying the set deceleration is provided on the right side of the E position indicator 222.
- E position indicator 2 2 2 Lights when the shift lever is in the E position.
- the deceleration indicator 2 (The right-pointing arrow of 7) increases or decreases the length so that the setting result is intuitively represented.
- the hybrid vehicle according to the present embodiment can suppress the deceleration set based on various conditions. is there.
- the E position indicator 222 and the deceleration indicator 222 when such suppression is performed, inform the driver of the suppression of deceleration by displaying in an unusual manner such as blinking. It also plays a role.
- the control unit 70 controls the operation of the engine 10, the motor 20, the torque converter 30, the transmission 100, and the like (see FIG. 1).
- the control unit 70 is a one-chip microcomputer including a CPU, a RAM, a ROM, and the like therein, and the CPU performs various control processes described later according to a program recorded in the R ⁇ M.
- Various input / output signals are connected to the control unit 70 in order to realize such control.
- FIG. 1 shows a representative example of a signal from an operation unit 160 having a shift lever and an accelerator pedal position sensor 72 for detecting the amount of depression of an accelerator pedal 74, that is, an accelerator opening. The signal from was shown.
- Various other signals shown in Fig. 8 are input and output to and from the control unit.
- FIG. 8 is an explanatory diagram showing connection of input / output signals to the control unit 70. The left side of the figure shows the signals input to the control unit 70, and the right side shows the signals output from the control unit 70.
- the signals input to the control unit 70 are signals from various switches and sensors.
- Such signals include, for example, a hybrid cancel switch for instructing operation using only the engine 10 as a power source, an acceleration sensor for detecting vehicle acceleration, a rotation speed of the engine 10, a water temperature of the engine 10, and an identification. It, the remaining capacity SOC of the battery 50, the crank position of the engine 10, the defogger on / off, the operating condition of the air conditioner, the vehicle speed, the oil temperature of the torque converter 30, the shift position (see Fig. 4), Turn on / off the side brake, depress the foot brake, the temperature of the catalyst that purifies the exhaust of the engine 10, accelerator opening, turn on / off the cruise switch, turn on / off the E-position switch (see Fig. 4).
- the signals output from the control unit 70 are signals for controlling the engine 10, the motor 20, the torque converter 30, the transmission 100, and the like.
- Such signals include, for example, an ignition signal for controlling the ignition timing of the engine 10, a fuel injection signal for controlling the fuel injection, a starter signal for starting the engine 10, and a motor for switching the drive circuit 40.
- MG control signal for controlling the operation of 200, transmission] Transmission control signal for switching the gear stage of 00, AT solenoid signal for controlling the hydraulic pressure of transmission 100, AT line pressure control solenoid signal, A signal to control the actuator of the Tilock Brake System (ABS), a drive power source indicator signal to display the drive power source, an air conditioner control signal, a control signal to prevent various alarm sounds, and the electronics of the engine 10 Throttle valve control signal, snow mode indicator signal to indicate snow mode selection, engine ⁇ 0 intake valve, exhaust valve open There are a VVT signal that controls the closing timing, a system indicator signal that indicates the vehicle's operating status, and a set deceleration indicator signal that indicates the set deceleration.
- VVT that controls the closing timing
- a system indicator signal that indicates the vehicle's operating status
- a set deceleration indicator signal that indicates the set deceleration.
- the hybrid vehicle of this embodiment includes the engine 10 and the motor 20 as power sources.
- the control unit 70 travels by properly using both according to the traveling state of the vehicle, that is, the vehicle speed and the torque.
- the proper use of both is set in advance as a map, and is stored in the ROM in the control unit 70.
- FIG. 9 is an explanatory diagram showing a relationship between a traveling state of a vehicle and a power source.
- Curve in figure LIM indicates the limit of the area where the vehicle can travel.
- the region MG in the figure is a region where the vehicle runs with the motor 20 as the power source
- the region EG is a region where the vehicle runs with the engine 10 as the power source.
- the former is referred to as EV driving
- the latter is referred to as normal driving.
- the hybrid vehicle of the present embodiment starts by EV traveling first.
- the hybrid vehicle of the present embodiment is configured such that the engine 10 and the motor 20 rotate integrally. Therefore, the engine 10 is rotating even during the EV running. However, fuel injection and ignition are not performed, and the motor is still running.
- the engine # 0 is provided with the VVT mechanism.
- the control unit 70 controls the VVT mechanism to reduce the load applied to the motor 20 during EV traveling and to control the intake valve and the intake valve so that the power output from the motor 20 can be used effectively for traveling of the vehicle. Delay the opening and closing timing of the exhaust valve.
- the control unit 70 starts the engine 10 when the vehicle started by the EV running reaches the running state near the boundary between the area MG and the area EG in the map of FIG. Since the engine 10 has already been rotated at a predetermined rotational speed by the motor 20, the control unit 70 injects fuel into the engine 10 at a predetermined timing and ignites it. Further, the VVT mechanism is controlled to change the opening / closing timing of the intake valve and the exhaust valve to a timing suitable for the operation of the engine 10.
- the vehicle runs in the region EG using only the engine 10 as a power source.
- the control unit 70 shuts down all the transistors of the drive circuit 40.
- motor 20 simply turns idle.
- the control unit 70 performs the control of switching the power source according to the running state of the vehicle as described above, and also performs the process of switching the gear position of the transmission 100.
- the switching of the gear stage is performed based on a map set in advance in the running state of the vehicle, similarly to the switching of the power source.
- FIG. 10 is a map showing the relationship between the gear position of the transmission 100 and the running state of the vehicle.
- the control unit 70 switches the gear so that the gear ratio decreases as the vehicle speed increases. This switching is restricted by the shift position.
- the vehicle In the drive position (D), as shown in FIG. 10, the vehicle travels using gears up to the fifth speed (5th). In four positions, the vehicle travels using gears up to the fourth speed (4th). In this case, the fourth speed (4 th) is used even in the 5 th region in FIG.
- the shift speed is switched by a driver who suddenly depresses an accelerator pedal, so that the shift speed is shifted to a higher gear ratio, that is, so-called kick down.
- These switching controls are similar to those of a known vehicle that uses only an engine as a power source and has an automatic transmission.
- the same switching is performed even when the vehicle is running in the EV mode (area MG).
- the relationship between the shift speed and the running state of the vehicle can be variously set according to the gear ratio of the transmission # 100, in addition to the relationship shown in FIG.
- FIGS. 9 and 10 show maps in the case where EV traveling and normal traveling are selectively used according to the traveling state of the vehicle.
- the control unit 70 of the present embodiment is also provided with a map for performing all traveling states in normal traveling. These maps are obtained by removing the EV traveling region (region MG) in FIGS. 9 and 10.
- the control unit 70 switches the map according to the state of charge of the battery 50 and controls the vehicle. That is, when the remaining capacity SOC of the battery 50 is equal to or more than the predetermined value, E based on FIG. 9 and FIG. Driving is performed by using V running and normal running separately.
- the vehicle When the remaining capacity SOC of the battery 50 is smaller than a predetermined value, the vehicle is operated in the normal running using only the engine 10 as the power source even at the time of starting and running at low speed. Use of the above two maps is determined repeatedly at predetermined intervals. Therefore, even when the remaining capacity SOC is equal to or greater than the predetermined value and the vehicle starts to start in EV driving, if the remaining capacity S 0 C becomes smaller than the predetermined value as a result of power consumption after the vehicle starts running, the vehicle traveling state becomes smaller than the predetermined value. Even in MG, it can be switched to normal driving.
- the hybrid vehicle of the present embodiment can be braked by two types of brakes: a wheel brake added by depressing a brake pedal, and a power source brake by a load torque from the engine 0 and the motor 20. .
- Braking by the power source brake is performed when the accelerator pedal is released.
- Fig. 9 shows the braking force by the power source brake, that is, the negative torque.
- the power source brake changes along the straight line L1 in the figure according to the vehicle speed.
- a braking force consisting of the sum of the power source brake and the wheel brake is applied to the vehicle.
- the lock-up clutch 31 of the torque converter 30 is controlled to the engaged state in principle.
- the lock-up clutch 31 is released.
- the power source brake may be applied while the power source is kept on.
- a mode in which the strength of engagement of the lock-up clutch 31 is controlled according to conditions such as the vehicle speed and the engine speed can be adopted.
- braking of the power source brake will be described assuming that the lock-up clutch 31 is in the engaged state.
- the driver can set the deceleration of the power source brake by operating at the E position described above.
- the hybrid vehicle of the present embodiment is realized by controlling the power source brake set in a stepwise manner by combining both the switching of the gear position of the transmission 100 and the braking force by the motor 20.
- FIG. 1 is an explanatory diagram showing a map of a combination of a vehicle speed and a deceleration and a shift speed in the hybrid vehicle of the present embodiment.
- the deceleration is indicated by an absolute value.
- the deceleration by the power source brake can be changed within a certain range by controlling the torque of the motor 20. Further, by switching the gear position of the transmission 100, the ratio between the torque of the power source and the torque output to the axle 17 can be changed, so that the deceleration of the vehicle can be reduced according to the gear position. Can be changed. As a result, when the speed is in the second speed (2nd), the deceleration in the range indicated by the short broken line in FIG. 11 can be achieved by controlling the torque of the motor 20. You. When the vehicle is in the third speed (3rd), the deceleration in the range shown by the solid line in FIG. 11 can be achieved.
- the control unit 70 selects a gear that achieves the deceleration set according to the map in FIG. 1 and performs braking. For example, if the deceleration is set to the straight line B in Fig. 11, in the region where the vehicle speed is higher than the value VC, the deceleration is controlled by the fifth speed (5th), and the vehicle speed is lower than the value VC. In low range, shift to 4th speed (4th) Replace and brake. In such a region, the desired deceleration cannot be realized at the fifth speed (5th). In the present embodiment, the ranges of the deceleration realized at the respective shift speeds are set to overlap.
- the control unit 70 selects one of the fourth speed (4 th) and the fifth speed (5 th) based on various conditions to perform a braking operation by selecting a gear that is more suitable for braking. .
- FIG. 12 is an explanatory diagram showing the relationship between the deceleration and the shift speed at a certain vehicle speed Vs. This corresponds to the relationship between the deceleration and the shift speed along the straight line Vs in FIG.
- Vs vehicle speed
- the deceleration is realized only in the fifth speed (5th).
- the deceleration is realized at the fifth speed (5th) and the fourth speed (4th).
- FIG. 13 is an explanatory diagram showing deceleration at the second speed (2nd).
- the broken line TL in the figure indicates the lower limit of the deceleration realized in the second speed (2nd), and the broken line TU indicates the upper limit.
- the straight line TE indicates the deceleration that can be achieved only by engine braking by the engine # 0.
- VVT mechanism In the hybrid vehicle of the present embodiment, it is also possible to change the deceleration by the engine brake by controlling the VVT mechanism. However, such control has low response and accuracy. Therefore, in this embodiment, when braking, VV T mechanism is not controlled. As a result, as shown in Fig. 13, the deceleration due to the engine brake is a value uniquely determined according to the vehicle speed.
- the deceleration is changed by controlling the torque by the motor 20.
- the motor 20 In the hatched area Bg in Fig. 13, the motor 20 is so-called regeneratively operated, and the braking force is applied to the motor 20 to achieve a deceleration larger than the deceleration caused by the engine brake. ing.
- the motor 20 In the other area B p, that is, in the area between the straight line TE and the broken line TL, the motor 20 is operated in a running manner, and the driving force is output from the motor 20 to realize a deceleration lower than that of the engine brake. ing.
- FIG. 14 is an explanatory diagram schematically showing the relationship between the braking torque when the motor 20 is in the regenerative operation and the braking torque when the motor 20 is in the power running operation.
- the braking torque (state in the region Bp) when the motor 20 is operated in the running mode is shown.
- the braking torque by the engine brake is indicated by belt BE in the figure.
- the motor 20 outputs the driving force indicated by the band BM in the direction opposite to the braking torque by the engine brake. Since a braking torque consisting of the sum of the two is output to the axle # 7, a braking torque lower than the braking torque B due to the engine brake is output as shown by hatching in the figure.
- the braking torque (state in the area B g) when the motor 20 is regeneratively operated is shown.
- the braking torque by the engine brake is indicated by a band BE having the same size as that in the region Bp.
- the motor 20 outputs the braking torque indicated by the band BM in the same direction as the braking torque by the engine brake. Since the braking torque consisting of the sum of the two is output to the axle 17, a braking torque larger than the braking torque BE by the engine brake is output as shown by hatching in the figure.
- the hybrid vehicle of the present embodiment regenerates the operation state of By switching between rolling and running, deceleration larger and lower than the deceleration caused by the engine brake is realized.
- the deceleration region realized by the power running operation at the gear stage with the higher gear ratio overlaps the deceleration region realized by the regenerative operation at the gear stage with the lower gear ratio.
- the map shown in Fig. 1 is set as shown below. For example, the region of braking by the second-speed (2 nd) driving operation and the region of braking by the regenerative operation at the third speed (3 rd) are overlapped.
- braking can be performed in a mode suitable for the remaining capacity SOC of the battery 50.
- a gear position with a smaller gear ratio is selected so that a desired deceleration can be obtained by regenerative operation of the motor 20.
- a gear position with a higher gear ratio is selected so that a desired deceleration can be obtained by running the motor 20 in power.
- the desired deceleration can be realized regardless of the remaining capacity S 0 C of the battery 50 in this manner. Is possible.
- these settings are only examples, and may be set so that the deceleration rates realized by the respective gears do not overlap. Further, the setting may be such that not all of the gears have an area overlapping with other gears as in the map of FIG. 1, but that only some of the gears have an area that overlaps.
- the set deceleration corresponds to the lower limit of the power source brake applied to the vehicle. For example, consider the case where the deceleration is set to a straight line BL. If the gear is 3rd speed (3rd) in the region above the speed VC, the deceleration will always be greater than the deceleration corresponding to the straight line BL. In the hybrid vehicle of this embodiment, the lower limit value of the deceleration is set, and in such a case, the required deceleration is realized. In other words, in the case described above, After switching the stage to the fourth speed (4 th) or the fifth speed (5 th), the control for realizing a relatively low deceleration corresponding to the straight line BL is not performed. However, if the driver operates the Can-DeceI switch to weaken the deceleration setting, the gears are switched to achieve deceleration according to the driver's intention.
- E position braking When the shift lever is not in the E position, normal braking is performed. Normal braking does not switch gears, unlike E-position braking. Therefore, braking is performed with the gear position used when the power source brake is applied.
- the vehicle When the vehicle is in the drive position (D), the vehicle normally travels in the fifth speed (5th), so that braking is performed at a relatively low deceleration that can be realized in the gear.
- control unit 70 controls the engine # 0, the motor 20 and the like to enable the above-described traveling.
- the details of the deceleration control will be described focusing on the driving at the time of braking characteristic of the hybrid vehicle of the present embodiment.
- FIG. 15 is a flowchart of the deceleration control processing routine.
- This process is This is a process executed by the CPU of the control unit 70 at a predetermined cycle.
- the CPU first performs an initial setting process (step S10).
- the initial setting process is a process for initial setting and canceling the target deceleration required for deceleration control. This process is executed not only when the deceleration control process routine is executed for the first time, but also when it is repeatedly executed.
- FIG. 17 is a flowchart of the initialization processing routine.
- the CPU first inputs a switch signal (step S15).
- the signals to be input here are listed in Fig. 8.
- the signals directly related to the initialization processing routine are the signal indicating the shift position and the signal of the E position switch. Therefore, in step S15, only these signals may be input.
- the CPU determines whether or not the shift position has been switched from the D position to the E position based on the input signal (step S20). If the input shift position is the E position and the previous shift position is the D position, it is determined that the above-described switching has been performed. The determination may be made based on whether or not the E position switch has changed from the off state to the on state.
- the E position indicator (see FIG. 7) is turned on (step S40).
- a signal for turning on the E position indicator is output as the system indicator signal shown in FIG.
- the E position indicator lights up in response to this signal.
- the CPU sets the set value to a value equivalent to the D position as initialization of the target deceleration (step S45).
- step S 45 If the power source brake is applied at the fifth speed (5 th) at the D position, at step S 45, an eye corresponding to the deceleration realized at this speed
- the deceleration is set as an initial value.
- the lowest value of the set deceleration (the straight line BL in the figure) is realized at the fifth speed (5 th). May be greater than the deceleration.
- the setting of the target deceleration in step S45 is performed within the range of the deceleration that can be taken in the E position.
- the deceleration achieved in the D position is lower than the minimum deceleration that can be taken in the E position (linear BL)
- the deceleration is set to a value equivalent to the linear BL.
- the initial setting value of the deceleration becomes a value equivalent to the deceleration realized in the D position in the region where the vehicle speed is relatively high, and D in the region where the vehicle speed is relatively low.
- the deceleration is larger than the deceleration achieved in the position.
- step S45 the set value of the target deceleration can be intentionally set to be larger than the D position.
- the driver wants to change the deceleration in the E position, the driver often feels that the deceleration in the D position is insufficient. Therefore, in step S45, if a deceleration larger than the D position is set as the initial value, the deceleration required by the driver can be quickly obtained.
- the processing in step S45 is intended to set the initial value of the deceleration at the E position based on the deceleration at the D position.
- the driver can easily estimate the deceleration immediately after switching to the E position, and the deceleration at the E position Can be set easily, and the discomfort when switching to the E position can be reduced.
- the CPU sets the initial value of the gear position to the gear position used in the D position (step S50).
- the gear position switching and the torque of the motor 20 are combined in the E position. In this way, braking at the set deceleration is realized.
- the target deceleration is set to the minimum deceleration desired by the driver. Therefore, for example, if the deceleration corresponding to the straight line BL in FIG. 11 is set, the speeds that can achieve the deceleration at the vehicle speed Vs are from the second speed (2nd) to the fifth speed (5 th).
- the gear position used in the D position is set as an initial value. By doing so, switching to the E position is performed, and it is possible to prevent the gear position from being switched, thereby reducing a shock at the time of switching.
- step S20 determines whether the switching from the E position to the D position has been performed (step S2). Five ). In other words, if the input shift position is the D position and the previous shift position is the E position, the above-described switching has been performed. The determination may be made based on whether or not the E position switch has changed from the on state to the off state.
- the E position indicator (see FIG. 7) is turned off (step S30). That is, a signal to turn off the E position indicator is output in addition to the system indicator signal shown in Fig. 8. The E position indicator turns off in response to this signal.
- the CPU releases the set value of the target deceleration (step S35). While driving in the E position, the driver operates the Dece I switch and the Can-Dece I switch to set the desired deceleration as described later. Cancel the setting.
- the deceleration requested by the driver often differs according to the running state of the vehicle.
- the necessity of storing the set value of the target deceleration in the case where the E position is selected next time is relatively low. It is rare for a driver to remember previous settings for deceleration. Therefore, if the set value of the target deceleration is not released, and it is used even when the E position is selected next, braking will be performed at the deceleration contrary to the driver's expectation at the same time as switching to the E position. could be done.
- the setting of the target deceleration is released each time the switching from the E position to the D position is performed.
- various methods other than those described here can be used to release the setting of the target deceleration.
- it instead of being released when switching from the E position to the D position, it may be released when switching from the D position to the E position.
- the initial value of the deceleration is set regardless of the previous setting value, so that the setting release processing in step S35 may be omitted.
- an operation for canceling the setting of the target deceleration may be separately provided.
- the target deceleration setting may not be released when switching from the E position to the D position, and the target deceleration setting may be released only when a special operation such as operation of the setting release switch is performed.
- step S25 if it is determined that the switching from the E position to the D position has not been performed, that is, if it is determined that there is no change in the E position or the D position, the initial setting is performed. Since it is not necessary to change the settings of the deceleration and the gear position as the processing, the CPU ends the initial setting processing routine without performing any processing.
- the CPU executes deceleration setting processing (step S100). This process is a process for setting the deceleration to be achieved at the E position based on the operation of the DeceI switch and the Can-DeceI switch. The contents of the deceleration setting process will be described with reference to FIG.
- FIG. 18 is a flowchart of the deceleration setting processing routine.
- the CPU inputs a switch signal (step S105).
- the signals input here are the signals of the Decel switch, the Can-Deceli switch, the E position switch, and the snow mode switch among the various signals shown in FIG. Of course, other signals may be input together.
- the CPU determines whether or not the E position is selected (step SI 10). This judgment is made by turning on / off the E-position switch. If the E position has not been selected, it is determined that the change in the deceleration setting should not be accepted, and the CPU ends the deceleration setting processing routine without performing any processing.
- step S110 the CPU next determines whether the Dece I switch and the Can—Dece I switch have failed (step S110).
- S 1 15). Failure can be determined by various methods. For example, when a switch is in poor contact, so-called chattering occurs, and the switch is switched on and off very frequently and detected. When ON / OFF is detected at a frequency equal to or higher than a predetermined value for a predetermined time, it can be determined that the switch has failed. Conversely, if the switch is turned on for a long time that cannot be expected by normal operation, it can be determined that the switch has failed.
- the CPU cancels the setting of the target deceleration in order to avoid the deceleration (step 70). Processing that does not change the setting of the target deceleration may be performed.
- the target deceleration setting is released in the case where the switch breaks down while the driver is modifying the deceleration set to a value not in accordance with his / her intention.
- the CPU performs a failure display for notifying the driver of a switch failure (step S175).
- the failure indication can take various methods.
- the alarm sound and the E-position indicator (see FIG. 7) can be reduced. These notifications are realized by outputting signals corresponding to the alarm sound signal and the system indicator signal shown in FIG. 8, respectively.
- the CPU further performs a process for prohibiting the E position braking (step S180).
- a prohibition process the CPU turns on a prohibition flag provided to prohibit braking of the E position.
- the braking in the E position is prohibited or permitted by turning on / off the prohibition flag.
- braking equivalent to the D position is performed regardless of whether the shift lever is at the E position. If the switch fails, the CPU executes the above processing and terminates the deceleration setting processing routine.
- step S # 15 the CPU proceeds to a process for changing the target deceleration setting.
- the CPU first determines whether or not the DeceI switch and the Can-DeceI switch are simultaneously operated (step S120). If both switches are operated at the same time, it is not clear which switch should be given priority. Therefore, the following process for changing the target deceleration setting is skipped, and the current setting is maintained.
- the hybrid vehicle of this embodiment can set the target deceleration with both the shift lever and the switch provided on the steering. Therefore, there is a possibility that the switch of the shift lever and the switch of the steering unit are simultaneously operated by the driver's erroneous operation.
- both the DeceI switch and the Can-DeceI switch provided in the steering section are operated at the same time.
- such an erroneous operation is likely to be performed unintentionally by the driver to change the deceleration, for example, when the steering is operated for steering.
- maintaining the target deceleration setting when both the Dece I switch and the Can-Dece I switch are simultaneously operated is because of the erroneous operation that does not follow the driver's intention. It also includes intentions to avoid setting changes.
- the setting of the target deceleration is changed according to the operation of each switch. That is, when it is determined that the DecI switch is ON (step S125), the CPU increases the target deceleration setting (step S130). If it is determined that the C an — D e c I switch is on (step S135), the CPU reduces the target deceleration setting (step S140). In the present embodiment, the setting of the target deceleration is changed stepwise according to the number of times of operation of each switch. If none of the switches is operated, the setting of the target deceleration is not changed.
- the CPU determines whether the set deceleration is within the reject range (step S14). Five).
- the upper limit value of the deceleration is changed according to the ON / OFF of the snow mode switch (see FIG. 8).
- the snow mode switch is a switch operated by the driver when traveling on a road surface with a low friction coefficient like a snowy road. It is Tsuchi. Sudden braking while traveling on a road surface with a low friction coefficient may cause the vehicle to slip.
- the upper limit of the deceleration is suppressed to such a degree that the vehicle can be prevented from slipping.
- step S150 the CPU suppresses the set deceleration to an allowable upper limit.
- step S155 a process for notifying the driver that the setting of the target deceleration has been suppressed is performed (step S155).
- the deceleration indicator 222 is blinked for about one second.
- an audible alarm will be issued at the same time.
- step S145 If it is determined in step S145 that the set deceleration is not within the reject range, these processes are skipped.
- the CPU displays the result on the deceleration indicator 224 (step S160), and ends the deceleration setting processing routine.
- FIG. 19 is a time chart showing a first setting example. Take the time on the horizontal axis to determine whether the Dece I switch and the Can-Dece I switch have been operated, to change the set value of the target deceleration, and the torque of the motor 20 to achieve the set deceleration. The figure also shows how the gears change. Fig. 19 shows that the vehicle speed is constant.
- step S105 of the deceleration setting routine the PU inputs the operation result of the switch based on the determination whether the switch is continuously on for a predetermined time or more.
- a phenomenon called "chattering" is usually used in a switch to detect on / off signals alternately in a very short cycle when switching on / off. If the setting is changed after the elapse of the predetermined time, it is possible to avoid a large change in deceleration against the driver's intention due to chattering.
- the DecI switch and the Can-DecI switch are provided in the steering section, so that there is a high possibility that the driver accidentally touches the switch. Therefore, means for avoiding a change in the setting of the target deceleration due to accidental operation is particularly effective.
- the above-described predetermined time (hereinafter, referred to as an ON determination reference time) can be set as a reference for determining whether or not the driver has intentionally operated the switch. If the ON determination reference time is short, there is a high possibility that the setting of the target deceleration is changed by accidental operation of the driver. Conversely, if the ON determination reference time is long, the responsiveness of the DecI switch and the Can-DecII switch deteriorates. An appropriate value can be set for the on-judgment reference time by experiment or the like in consideration of these conditions. Of course, the driver may be able to set a value suitable for the driver.
- the deceleration set at time a2 increases by one step.
- the range of deceleration varies greatly by switching the gear, and can be finely changed by controlling the motor torque.
- the set deceleration is changed stepwise within a relatively fine range.
- the steps changed at the time point a2 in FIG. 19 are steps within a range that can be changed by changing the torque of the motor without changing the gear position, as shown in the figure.
- the fifth speed (5 th) is the initial value has been described as an example of the shift speed.
- the set deceleration is further increased by one step as shown in the figure.
- the second change of the deceleration is realized by changing the torque of the motor without switching the gear.
- the deceleration steps are set in small steps. By doing so, the selection range in which the setting of the target deceleration can be changed is widened without switching gears, so that the driver can easily set a deceleration suitable for his / her request. Accordingly, as shown in FIG. 19, the torque of the motor changes at the time point a4, but the speed is maintained at the fifth speed (5th).
- an operation interval reference time relating to an interval when the switch is continuously operated is set in addition to the ON determination reference time.
- the subsequent operation is accepted as valid only if the subsequent operation is performed after the first operation and after the above-mentioned operation interval reference time has elapsed.
- the CPU determines whether or not the operation interval has exceeded the reference time since the previous operation, and then inputs the switch operation. It is doing.
- the operation interval reference time can be set by experiments or the like so as to satisfy the intention. If the operation interval reference time is short, the change in the target deceleration setting cannot be made sufficiently slow. Conversely, if the operation interval reference time is long, it takes a long time to change the setting of the target deceleration, and the operability decreases.
- the operation interval reference time can be set to an appropriate value by experiment or the like in consideration of these conditions. Of course, the driver may be able to set a value suitable for the driver.
- the DeceI switch is operated between times a7 and a8 as the fourth operation.
- This operation time exceeds the ON determination reference time. Therefore, the deceleration set according to the fourth operation further increases. This is three steps higher than the reference deceleration before operating the Decel switch.
- Such a deceleration cannot be realized only by controlling the motor torque. Therefore, at the time of the fourth operation, the shift speed is changed from the fifth speed (5th) to the fourth speed (4th) in accordance with the increase in the set deceleration.
- the shift speed is switched based on the map shown in FIG. 11 as described above. By switching to the 4th speed, the range of achievable decelerations is broadened overall. Therefore, in the fourth operation, the motor torque is reduced in order to achieve a deceleration three steps higher than the reference deceleration.
- the torque of the motor is set based on the set deceleration and shift speed set according to the map in FIG.
- Switching gears in response to an increase in deceleration has the advantage of achieving quick acceleration in addition to the purpose of achieving the required deceleration.
- quick acceleration is often required to return to the vehicle speed before braking. If the gear stage is switched to a larger gear ratio as the deceleration increases, rapid acceleration can be performed using that gear stage after braking. Therefore, the responsiveness of the vehicle at the time of acceleration / deceleration can be improved by switching the gear position according to the set deceleration.
- the Can-DeceI switch is operated as the fifth operation.
- the operation time exceeds the ON judgment reference time. Therefore, the deceleration set according to this operation is reduced by one step, and becomes equal to the deceleration set at time a4.
- the gear position and the torque of the motor are simultaneously changed.
- the Can-DeceI switch is operated as the sixth operation. This operation time is shorter than the ON determination reference time.
- this operation is determined to be invalid, and none of the set deceleration, motor torque, and speed change stage are changed.
- C an— D ece Similarly, when the operation interval of the I switch is shorter than the operation interval reference time, the operation is determined to be invalid, and the set deceleration and the like do not change.
- FIG. 20 is a time chart showing a second setting example. As illustrated, it is assumed that the DecI switch has been operated between times M and b2. It is assumed that the operation time exceeds the ON determination reference time described above. As described in the first setting example, the deceleration set according to the operation increases by one step. In addition, the torque of the motor is increased so as to realize such deceleration.
- the DecI switch is operated as the second operation between times b3 and b6. It is assumed that the ON determination reference time described above has been exceeded. However, in this case, the Can-DecI switch is also operated between times b4 and b6 in addition to the operation of the DecI switch. The time from the time b3 when the operation of the DecI switch is started to the time b4 when the operation of the Can-DecI switch is started is shorter than the ON determination reference time. Therefore, the operation of the DecI switch is not accepted as valid at time b4 when the operation of the Can-DecI switch is started.
- the CPU of the control unit 70 does not change the target deceleration setting when the Dece I switch and the Can—Dece I switch are simultaneously operated ( (See step S120 in Fig. 18). Therefore, as shown in FIG. 20, the set deceleration and the motor torque are set in spite of the fact that the Dece I switch has been operated between the times b3 and b5 and exceeded the ON judgment reference time. None of the gears change. In FIG. 20, the time during which only the DeceI switch is operated (between times b3 and b4) and the time during which only the Can-DeceI switch is operated (time b5 through b This is because none of 6) has exceeded the talent determination reference time.
- the deceleration set by operating the Dece I switch increases by one step. If the period between times b5 and b6 exceeds the ON determination reference time, the deceleration set by operating the Can-DeceI switch is reduced by one step.
- the Dece I switch is operated as the third operation exceeding the ON determination reference time between times b7 and b8, the switch operation is enabled.
- the target target deceleration setting is increased by one step. At the same time, the torque of the motor increases.
- the Can-DecI switch is operated as the fourth operation between times b9 and b11.
- the DecI switch is operated between times b10 and b12. Between times b10 and b11, both switches are operated simultaneously. In such a case, similarly to the case described in the second operation, none of the set deceleration, the motor torque and the gear position change.
- the set deceleration is The case is shown in which it changes stepwise according to the number of operations of the DeceI switch and the Can-DeceI switch. If the target deceleration is set in this manner, a modest setting can be achieved. In addition, since the target deceleration changes stepwise, the target deceleration can be changed widely with a relatively short operation, and there is an advantage that the operability is excellent.
- the setting of the target deceleration may be configured to change continuously according to the operation time of the switch. An example in which the setting of the target deceleration changes according to the operation time is shown in FIG. 21 as a third setting example.
- the DeceI switch is operated between times c1 and c3 as the first operation.
- the switch operation is accepted as valid when the age determination reference time has elapsed.
- the interval between times c1 and c2 corresponds to the ON determination reference time.
- the set deceleration increases between times c2 and c3 in proportion to the operation time of the Dece I switch. Further, in order to realize the set deceleration, the torque of the motor changes at the same time.
- the operation will be performed according to the operation time of the DecI switch
- the set deceleration increases.
- the motor torque changes accordingly.
- the gear position does not change. If the set deceleration changes to such an extent that it cannot be realized only by a change in the motor torque, the shift speed is switched based on the map in FIG.
- the Dece I switch is operated between times c7 and c8.
- the interval from time c6 when the second operation is completed to time c7 when the third operation is started is shorter than the operation interval reference time. Therefore, As in the first and second setting examples, the third operation is not accepted as valid, and the set deceleration does not change.
- the DecI switch is operated between times c9 and c10. This operation time is shorter than the ON determination reference time. Therefore, the fourth operation is not accepted as valid, and the set deceleration does not change.
- the setting of not only the side that increases the set deceleration but also the side that decreases the set deceleration changes according to the operation time of the Can-DecI switch. If the C an — Dece I switch is operated as the fifth operation between times c 11 and c 13, the operation time is proportional to the switch operation time after time c 12 when the ON judgment reference time has elapsed. The set deceleration is reduced.
- the C an -D ece I switch is operated between times c14 and (; ⁇ 5. This operation time is shorter than the ON determination reference time. The operation is not accepted as valid and the set deceleration does not change.
- the driver can set the desired deceleration without operating the switch many times.
- the target deceleration changes continuously, there is an advantage that the target deceleration can be set precisely according to the driver's intention.
- the set deceleration changes in proportion to the operation time of the switch, but the deceleration set in a non-linear manner with respect to the operation time may change.
- the set deceleration may change relatively slowly at the beginning of the operation, and the set deceleration may change quickly as the operation time increases.
- FIG. 22 shows an example in which the deceleration set as the fourth setting example falls within the rigid range.
- the fourth setting example as the first operation, time d1 to d3 The D ece I switch is being operated before. At time d2 when the ON determination reference time has elapsed from the start of the operation, the operation of the Dece I switch is accepted as valid, and the set deceleration is increased by one step. At the same time, the torque of the motor will increase.
- the operation of the Dece I switch is effective at time d5 when the ON determination reference time has elapsed. And the set deceleration is increased by one step. At the same time, the torque of the motor increases.
- the operation of the Dece I switch is effective at time d8 when the ON determination reference time has elapsed.
- the set deceleration is increased. If the set upper limit of the deceleration is not restricted, the set deceleration is increased by one step as shown by the dashed line in FIG. In this case, similarly to the first setting example (FIG. 19), the motor torque and the shift speed also change.
- the upper limit value of the deceleration is limited to DCI im. If the deceleration set in the third operation is changed to the value indicated by the dashed line, the set deceleration will exceed this upper limit DCI im. In such a case, the set deceleration is within the reject range. Therefore, as described above (see step S150 in FIG. 18), the set deceleration is set to the upper limit DCI im And the value shown by the solid line in FIG. 22 is obtained. At the same time, the torque of the motor and the gear position also become the set values indicated by the solid lines. In FIG. 22, the motor torque is increased compared to before the suppression, and the gear position is set to maintain the fifth speed (5 th).
- the driver sets various decelerations by operating the Decce I switch and the Can-Decce I switch. be able to. In addition, it is possible to prevent the driver from unintentionally changing the deceleration due to erroneous operation or frequent operation.
- FIG. 16 is an explanatory diagram showing the relationship between the accelerator opening and the effective opening.
- the accelerator pedal 74 changes its pedal position when depressed by the driver's foot.
- the accelerator pedal position sensor 72 detects the amount of depression of the accelerator pedal 74 as the depression angle 0 from the fully closed position. The fully closed position corresponds to a state where the accelerator pedal 74 is not operated at all.
- the accelerator pedal 74 is a mechanism for instructing an increase or decrease in the power output from the engine 10 and the motor 20. By greatly depressing accelerator pedal 74, the power output from the power source increases.
- the accelerator pedal 74 has a so-called play, and when the angle is 0 f from the fully closed position, depressing the accelerator pedal 74 does not contribute to the increase or decrease of the required power.
- a range exceeding the play range that is, in a range in which the depression angle 0 is larger than the value 0 and equal to or less than the maximum angle 0 maX, the required power is increased or decreased according to the depression angle 0.
- the amount of depression within a range related to the increase and decrease of the required power is referred to as the effective opening of the accelerator pedal.
- the accelerator pedal position sensor 72 of the present embodiment detects the amount of depression of the accelerator pedal 74 including the range of play. Therefore, the above step S 20 At 0, it is determined whether or not the effective opening is based on whether or not the accelerator pedal position sensor 72 is larger than the value 0f.
- the depression amount of the accelerator pedal 74 is at the effective opening, it is not in a state where braking by the power source brake should be performed, and the CPU ends the deceleration control processing routine without performing any processing.
- Step S205 the CPU determines whether or not the E-position braking is permitted.
- the prohibition flag for prohibiting the E-position braking is turned on (see Fig. 18). Step S180). If this flag is on, it is determined that E-position braking is not permitted. In addition, even when the shift lever is not in the E position, it is determined that the E position braking is not permitted.
- the CPU sets the target torque Tm of the motor 20 to a predetermined negative value Tm0 as normal braking processing.
- the predetermined value TmO can be set to any value within the range of the rating of the motor 20. In the present embodiment, the value is set to a value at which the deceleration can be obtained in the D position by the power source brake without excess or shortage.
- step S205 if it is determined in step S205 that the E-position braking is permitted, the CPU executes the E-position braking process. Specifically, first, the gear position is selected based on the processing shown in FIG. 23 (step S215).
- FIG. 23 is a flowchart of the gear position selection process.
- the CPU first determines whether or not the E position has just been selected (step S 220). As in step S20 of the initial setting processing routine (FIG. 17), it is determined whether or not it is immediately after switching from the D position to the E position. Immediately means the period after switching to the E position until the target target deceleration setting is changed.
- step S 2 2 the CPU determines whether or not the next set deceleration can be realized in the gear position used in the D position. As described in the initialization processing routine (Fig. 17), when switching from the D position to the E position is performed, the gear position used in the D position is used as the initial value of the gear position to be used. Is set.
- step S222 the CPU determines whether or not the deceleration set at the shift speed is achievable. If the CPU determines that the deceleration is achievable, the CPU sets the shift speed setting to an initial value, That is, the gear position used in the D position is determined (step S224). Note that the set deceleration means the minimum deceleration to be secured, as described above. Therefore, in step S222, it is determined that the set deceleration can be achieved if the maximum deceleration that can be achieved in the gear position used in the D position is equal to or greater than the set deceleration. Is done.
- step S220 it is determined that it is not immediately after the E position has been selected, and in step S224, it is determined that the set deceleration cannot be realized in the gear used in the D position.
- the gear position is set based on the map shown in FIG.
- the CPU refers to the map according to the set deceleration, and determines whether or not there are two or more shift speeds capable of achieving the set deceleration (step S2226). If there is only one gear position that achieves the set deceleration, the gear position setting is determined to be the gear position determined from the map (step S2288).
- step S230 it is determined whether or not the SOC is equal to or more than a predetermined value H (step S230). As described above with reference to FIG. 3, at each speed, there is a deceleration realized by regenerating the motor 20 and a deceleration realized by running the motor 20 in power. If the two gears correspond to the set deceleration, the set deceleration is realized by the regenerative operation of the motor 20 in one gear, and the power of the motor 20 is realized in the other gear. The set deceleration is realized by the line operation. Therefore, when two gears correspond to the set deceleration, an appropriate gear can be selected according to the remaining capacity SOC of the battery 50.
- the CPU selects the gear position on the side that realizes the set deceleration by running the motor 20 in power, that is, the gear position on the side with the larger gear ratio among the two gear positions (step S232) ).
- the remaining capacity S OC is smaller than the predetermined value H, it is desirable to charge the battery 50.
- the CPU selects the gear position on the side that realizes the set deceleration by regeneratively operating the motor 20, that is, the gear position on the smaller gear ratio side of the two gear positions (step S23).
- the CPU returns to the deceleration control processing routine and executes the gear shift processing (step S240).
- a predetermined signal is output as the transmission control signal (see FIG. 8), and the clutch and brake of the transmission 100 are turned on and off according to the gear stage set as shown in FIG. It is realized by controlling off.
- the CPU should output the motor 20.
- calculate the torque target value Tm (step S2445). Using the gear ratios k ⁇ to k5 previously shown in equations (2) to (6) according to the shift speed, based on the set deceleration, that is, the torque output to the axle 17 immediately, The total torque to be output from the power sources of the engine 10 and the motor 20 can be calculated.
- the braking force output from the engine 10, that is, the engine brake, is almost uniquely determined according to the rotation speed of the crankshaft 12. Therefore, the torque to be output by the motor 20 can be obtained by subtracting the torque by the engine brake from the total torque output from the power source.
- the target torque of the motor 20 is calculated in this way.
- a map for providing the target torque of the motor 20 may be prepared in addition to the map of FIG. Absent.
- the deceleration of the vehicle may be detected by an acceleration sensor, and the torque of the motor 20 may be feedback-controlled so that the set deceleration is realized.
- the motor torque is calculated after the shift speed switching process is completed.
- the motor torque may be calculated in parallel with the switching process. It is.
- the target torque of the motor is set according to each of the normal braking processing and the E-position braking processing.
- the CPU executes the braking control process (step S250).
- FIG. 24 is a flowchart of a braking control processing routine.
- the CPU first determines whether or not the brake is on, that is, whether or not the rib brake is being depressed (step S262). This determination is made based on the input of the foot brake signal shown in FIG. If the brake is on, the target torque Tm of the motor 20 is corrected by multiplying by the coefficient BK (Step S264). If the brake is not on, Skip this process.
- the coefficient BK is set to a value of 1.1 when the motor 20 corresponds to the regenerative operation, and to a value of 0.9 when the motor 20 corresponds to the power running operation.
- the deceleration of the vehicle is increased by multiplying the target torque of the motor 20 by the above coefficient.
- the deceleration can be increased by multiplying by a value larger than 1.
- the deceleration can be increased by multiplying the value by a value smaller than 1.
- the coefficient BK can be set to an appropriate value by experiments or the like according to the deceleration to be achieved when the brake is on.
- the CPU inputs the accelerator opening (step S266), and sets the accelerator opening correction coefficient AK based on the accelerator opening (step S268).
- the accelerator opening correction coefficient A K is a correction coefficient for adjusting the deceleration realized by correcting the target torque Tm of the motor 20 previously set.
- the correction coefficient A K is performed based on a preset table.
- FIG. 25 is an explanatory diagram showing an example of such a table. In the present embodiment, such a table is stored in R 0 M in the control unit 70.
- the correction coefficient AK is set as follows according to the accelerator opening.
- the accelerator opening (%) is
- the correction coefficient is set to increase as the accelerator opening decreases.
- the accelerator opening is 0%, that is, when the accelerator is fully closed, a large correction coefficient is adopted discontinuously.
- the reason why the correction coefficient A K is not set in a range larger than the accelerator opening 2% is that in this embodiment, the angle 0 f at the limit of the play range corresponds to the accelerator opening 2%.
- the setting of the correction coefficient AK may take different values at more stages in addition to the setting shown in FIG. 25, or may be continuously changed as shown by the broken line in FIG. It may be set to change.
- the CPU next determines whether or not the target torque T m of the motor 20 corresponds to the power running operation (step S270). If the target torque T m of the motor 20 corresponds to the regenerative operation instead of the power running operation, the next step S 27 2 is skipped, and the target torque of the motor 20 is corrected by multiplying by the correction coefficient AK. (Step S274). By performing such a correction, the braking torque by the motor 20 gradually decreases as the accelerator opening increases.
- the accelerator opening correction coefficient AK is corrected to ⁇ 1-1 AK ”(step S 272), and the correction coefficient AK To correct the target torque of the motor 20 (step S274). If the motor 20 is operating in a row, the target torque of the motor 20 should be corrected after the above correction, and as the accelerator opening increases, the braking torque by the motor 20 increases. Is gradually reduced.
- the correction of the accelerator opening correction coefficient here is not necessarily limited to the above equation (step S 272). If the correction coefficient AK increases as the accelerator opening increases, Any modifications are acceptable. In line with this tendency, A table for providing the correction coefficient AK may be separately prepared.
- the CPU executes the control of the operation of the motor 20 and the operation of the engine # 0 as the braking control (step S 2 7 6).
- the control of the engine 10 is a control for applying the engine brake, and the CPU stops the injection and the ignition of the fuel to the engine 10.
- the deceleration by the power source brake can be controlled by the torque of the motor 20. No control is performed.
- the motor 20 is operated by so-called PWM control.
- CPU sets the voltage value to be applied to the coil of the station 24. Such a voltage value is given according to the rotation speed of the motor 20 and the target torque based on a preset table.
- the voltage value is set as a negative value, and when the motor 20 operates, the voltage value is set as a positive value.
- the CPU controls on / off of each transistor of the drive circuit 40 so that the voltage is applied to the coil. Since PWM control is a well-known technique, further detailed description will be omitted.
- the vehicle of the present embodiment described above by controlling the torque of the motor 20 while switching the gear position of the transmission 100 in accordance with the map shown in FIG.
- braking with deceleration according to the driver's instruction can be realized.
- the vehicle can be braked and accelerated while minimizing the stepping change between the accelerator pedal and the brake pedal, thereby greatly improving the operability of the vehicle.
- the power source brake applicable in a wide range, the kinetic energy of the vehicle can be efficiently recovered, and there is an advantage that the energy efficiency of the vehicle is improved.
- the target torque of the motor 20 is changed according to the accelerator opening to adjust the achieved deceleration.
- the required deceleration often changes frequently depending on the running conditions of the vehicle.
- the deceleration of the power source brake can be easily adjusted by operating the accelerator pedal 74, so that the deceleration can be quickly adjusted according to a change in the required braking force. You can also.
- the usefulness of the power source brake can be greatly improved.
- FIG. 26 is an explanatory diagram showing adjustment of deceleration by changing the accelerator opening.
- the abscissa indicates the deceleration to be realized, and the ordinate indicates the correspondence with the gear of the transmission 100. Region A in the figure will be described.
- the deceleration set by the driver through the deceleration setting process corresponds to the rightmost straight line LA of the area A. This corresponds to the reference deceleration at which the accelerator correction factor A K has a value of 1.
- the braking torque by the motor 20 changes according to the accelerator opening, and a deceleration in a range corresponding to a region A indicated by hatching in FIG. 26 can be realized. That is, the driver can finely adjust the deceleration in the range of the area A by changing the depression amount of the accelerator pedal 74 during the operation.
- the driver wants to achieve a larger or smaller deceleration than in region A, he operates the DeceI or CaneDeceI switch to change the reference deceleration. For example, if a large deceleration is required, operating the Decce I switch will cause the reference deceleration to change from the straight line LA in the area A. 68 Shift to deceleration of straight line LB in area B. By changing the depression amount of the accelerator pedal 74 in this state, the deceleration can be changed in the range of the area B. In this way, the driver can adjust his / her intention by roughly setting the deceleration by operating the Dece I switch and the Can-Dece I switch, and fine-adjusting the deceleration by the accelerator opening. Along the deceleration can easily be set. Accordingly, the hybrid vehicle of the present embodiment can enhance the usefulness of the power source brake and greatly improve the operability of the vehicle.
- the reference deceleration is set so that the shift speed does not change even when the deceleration is changed by the accelerator opening.
- all the decelerations in the area A can be realized in the third speed (3rd).
- All decelerations in region B can be realized in the second speed (2 nd).
- the setting is performed by operating the Dece I switch and the Can-Dece I switch.
- the deceleration corresponding to the linear LC1 is realized by the fourth speed (4th), and the deceleration corresponding to the straightest deceleration and the deceleration corresponding to C2 is It will be realized by the fifth speed (5 th).
- the reference deceleration is set in consideration of the range in which the deceleration is changed depending on the accelerator opening, so that switching does not occur during the braking of the shift speed. As a result, the hybrid vehicle of the present embodiment can perform braking without impairing ride comfort.
- the correction coefficient AK is set so that the deceleration increases discontinuously when the accelerator is fully closed as compared with other states. I have.
- the driver tries to apply a rather sharp braking In this case, if the operation amount of the accelerator unit is set to 0, that is, the accelerator unit is turned off, and braking is performed at such a large deceleration with the accelerator fully closed, it is more suitable for the driver's feeling. The deceleration can be realized.
- the correction coefficient in FIG. 25, it is also possible to set the correction coefficient to change continuously according to the degree of opening of the accelerator from the correction coefficient of 1.0 when the accelerator is fully closed.
- the rate of change of the correction coefficient becomes relatively sharp, and it is difficult to finely adjust the deceleration.
- the deceleration in the fully closed state of the accelerator can be sufficiently ensured, and in other cases, the deceleration can be finely adjusted.
- a method of obtaining the target torque Tm of the motor 20 based on the reference deceleration, and then correcting the target torque Tm according to the accelerator opening is applied.
- re-braking may be performed by setting the target deceleration based on both the reference deceleration and the accelerator opening and then obtaining the target torque Tm of the motor 20.
- a hybrid vehicle in which the driver can adjust the deceleration by using the Dece I switch and the Can-Dece I switch has been described as an example.
- the present invention is also applicable to a hybrid vehicle that does not have an operation unit for performing such adjustment.
- a hybrid vehicle capable of realizing a power source brake in a wide range by controlling the gear position of the transmission 100 and the torque of the motor 20 in an integrated manner has been described as an example.
- the present invention is also applicable to eight-brid vehicles that do not have the transmission 100.
- a parallel hybrid vehicle having a configuration in which the engine # 0 is directly connected to the motor 20 and is connected to the axle 17 via the transmission 100 is shown.
- the present invention can be applied to a parallel hybrid vehicle having various other configurations, that is, a hybrid vehicle that can directly transmit the output from an engine to an axle.
- a parallel hybrid vehicle having a configuration in which the engine 10 and the motor 20 are directly connected to each other and connected to the axle 17 via the transmission 100 is shown.
- the present invention can be applied to a series hybrid vehicle in which power from an engine is used only for power generation and is not directly transmitted to a drive shaft.
- An application example in such a case will be described as a second embodiment.
- FIG. 27 is an explanatory diagram showing a configuration of a series hybrid vehicle.
- the hybrid vehicle has a motor 20 A as a power source connected to an axle 17 A via a torque comparator 30 A and a transmission 100 A.
- Engine 1 O A and generator G are combined.
- Engine 1 O A is not connected to axle 17 A.
- the motor 2OA is connected to a battery 50A via a drive circuit 40A.
- Generator G is connected to battery 5 O A via drive circuit 41.
- the drive circuits 40A and 41 are the same transistor inverters as in the first embodiment. These operations are controlled by the control unit 70A.
- motive power output from engine 10A is converted into electric power by generator G.
- This electric power is stored in the battery 50 A and used for driving the motor 20 A.
- the vehicle can run with the power of the motor of 20 A. If a negative torque is output as a braking force from the motor 20 A, the power source brake can be applied. Since this hybrid vehicle also has a transmission 100 A, the hybrid vehicle of the first embodiment can be controlled over a wide range by controlling the combination of the torque of the motor 20 A and the gear position, as in the first embodiment. The deceleration set by the driver can be realized.
- the target torque of the motor 20 is set by subtracting the braking torque by the engine brake from the total torque to be output to the axle 17.
- the braking force to be output to the axle 17 A may be set as the target torque of the motor 20 A because the braking force by the engine brake has the value 0.
- the present invention is also applicable to a pure vehicle using only an electric motor as a power source.
- This vehicle configuration corresponds to a configuration in which the engine 10A, the generator G, and the drive circuit 41 are removed from the series hybrid vehicle shown in FIG.
- the driver can be set within a wide range as in the hybrid vehicles of the first and second embodiments by controlling the torque of the motor 20 A coupled to the axle and the gear position. The deceleration can be realized.
- FIG. 28 is an explanatory diagram showing a schematic configuration of a vehicle as a third embodiment.
- This vehicle is equipped with an engine 310 as a power source for driving, and the engine 310 is used to convert the torque of the engine 310 into a torque converter 330, a transmission 335, a drive shaft 15, a differential gear 16 and an axle. Transfer in the order of 17.
- the configurations of the torque converter 330 and the transmission 335 are the same as those of the torque converter 30 and the transmission 100 in the first embodiment.
- a pulley 316 is connected to a crankshaft of an engine 310 via a clutch 314.
- This pulley 3 16 has a power transmission belt
- Auxiliary equipment 312 and motor 3200 are connected so that power can be transmitted to each other at 318.
- the auxiliary equipment 312 includes an air conditioner compressor and an oil pump for power steering.
- the motor 320 is a synchronous motor, and can be driven using the battery 350 as a power supply by switching operation of the inverter 340 as a drive circuit.
- the motor 320 also functions as a generator by being rotated by external force.
- each unit of the vehicle in the third embodiment is controlled by a control unit 370.
- various signals such as various switch signals for the driver to instruct the deceleration amount and an accelerator pedal position are input to the control unit 370 as in the first embodiment. I have.
- this vehicle runs with the power of the engine 310 during running.
- the clutch 314 is engaged, and the auxiliary machine 321 is driven by the power of the engine 310.
- the motor 320 When the clutch 314 is engaged, the motor 320 is rotated via the power transmission belt 318, so that the vehicle can be braked by regenerating the motor 320. .
- the control unit 370 stops the operation of the engine 310 even in a temporary stop state such as waiting for a traffic light.
- the clutch 3 14 is released, the motor 3 20 is operated, and the auxiliary machine 3 12 is driven by the power of the motor 3 20.
- the clutch 3 14 is engaged, the engine 3 10 is cranked by the power of the motor 3 20, and the engine 3 10 is started to run.
- the power of the motor 320 is used only in principle for cranking the engine 310.
- the driving of the motor 320 may be continued until a predetermined vehicle speed is reached, and the power at the start of traveling may be assisted.
- the operation of the engine 300 is stopped when the vehicle stops, there is an advantage that fuel efficiency can be suppressed.
- the third embodiment regenerative braking by the motor 320 is possible, so that deceleration according to the amount of depression of the accelerator pedal can be easily realized as in the first embodiment.
- the state of connection of the motor 320, the engine 310, the torque converter 330, and the transmission 335 when the clutch 314 is connected is equivalent to that of the first embodiment in terms of application of braking force. It is in a combined state. Therefore, the control process exemplified in the first embodiment can be directly applied to the control process at the time of braking. Since the torque due to the regenerative braking of the motor 320 is transmitted to the drive shaft 15 via the transmission 335, the torque of the motor 325 and the transmission 335 are integrally controlled to control the torque. As in the first embodiment, the deceleration amount can be controlled in a wide range.
- the present invention is not limited to the vehicle in which the electric motor used during traveling is necessarily mounted, and is applicable.
- the case where the braking torque of the motor 320 is transmitted to the drive shaft 15 via the transmission 335 is illustrated.
- the regenerative braking directly coupled to the drive shaft 15 May be configured to include an electric motor for
- FIG. 29 is a flowchart of a deceleration control processing routine according to the fourth embodiment.
- the vehicle of the fourth embodiment has the same configuration as that of the first embodiment.
- the power source braking of the vehicle is realized by the control unit 70 executing the deceleration control processing routine as in the first embodiment.
- a signal is input first (step S3 30).
- various signals necessary for deceleration control are input.
- a depression amount of a brake pedal is also input in addition to signals such as an accelerator opening, a vehicle speed, and a shift position.
- the content of the braking control process is switched according to whether the brake is depressed (step S312).
- braking is performed by the processing shown in steps S316 to S320 in the figure. That is, the brake correction coefficient BK is set, the target deceleration ⁇ ⁇ ⁇ is set in consideration of the correction coefficient BK, and the motor 20, the speed ratio, and the lock-up clutch 31 are controlled so as to realize such deceleration. You do it.
- FIG. 30 is an explanatory diagram showing an example of setting a braking torque in the fourth embodiment.
- the braking torque is set according to the degree of opening in the range indicated by region A # in the figure.
- a braking torque that is significantly larger than the area AP is set.
- the figure shows an example in which the shift position is at the 5th speed, and when the accelerator is fully closed, the braking torque is within the range shown by the broken line centering on the braking torque shown by the solid line 5th in the figure. Is set.
- the braking torque here is controlled by the operation of the DeceI switch described in the embodiment. Fluctuate. Further, when the brake pedal is depressed, the regenerative braking force of the electric motor increases so that the braking torque at 5th becomes the straight line Bon in the figure.
- the braking torque indicated by the straight line Bon does not include the amount of the wheel brake due to the operation of the brake pedal. Therefore, the braking torque actually acting on the vehicle further increases according to the operation amount of the brake pedal.
- the driver usually requests an increase in deceleration. Therefore, if the braking force of the power source brake is changed according to the operation of the brake pedal as shown in FIG. 30, it is possible to realize braking more suitable for the driver's feeling.
- the braking torque may be multidimensionally set in consideration of parameters such as the vehicle speed and the shift position.
- the target deceleration ⁇ ⁇ ⁇ is set by multiplying the deceleration set based on various factors such as the shift position and the vehicle speed by the above-described brake correction coefficient ⁇ ⁇ ⁇ ⁇ as described in the first embodiment.
- step S320 for achieving the target deceleration set in this manner is almost the same as that of the first embodiment, but the fourth embodiment controls the engagement state of the lock-up clutch 31. This is different from the first embodiment in the point. Control of the lock-up clutch 31 will be described.
- Fig. 31 is a graph showing the relationship between accelerator opening and vehicle acceleration. Here, only the acceleration due to the power source brake is shown.
- braking by the power source brake that is, negative acceleration occurs when the accelerator opening becomes equal to or less than the predetermined value 0 °.
- the negative acceleration due to the power source brake changes depending on the vehicle speed, and is shown by the hatched area in Fig. 31.
- Upper limit VL is slow
- the lower limit VH is the acceleration at high speed.
- the lock-up clutch 31 When the accelerator opening reaches the set opening 0B slightly smaller than 0A, the lock-up clutch 31 is controlled to be engaged. In the range where the accelerator opening is smaller than 0 B, the lock-up clutch 31 is maintained in a completely engaged state.
- the accelerator opening 0B By setting the accelerator opening 0B in such a way that the lock-up clutch 31 is engaged immediately after the accelerator opening becomes smaller during driving and the braking by the power source brake is started, It is easy to adapt the feeling of braking to the driver's image.
- the accelerator opening When the brake is on, the accelerator opening is usually 0, so the lock-up clutch 31 is controlled to the engaged state according to the map in FIG.
- step S320 is executed in a state where the control of the gear ratio has the lowest priority. That is, the lock-up clutch 31 is controlled according to the accelerator opening, and the motor 20 is controlled so as to achieve the target deceleration ⁇ T according to the engagement state of the lock-up clutch 31. Only when it is determined that the target deceleration ⁇ ⁇ ⁇ ⁇ ⁇ cannot be achieved even when the braking torque of the motor 20 is maximized, control for increasing the gear ratio by one step is executed. By performing control in this priority order, it is possible to prevent the gear ratio from frequently switching.
- step S 3114 the braking by the power source brake is executed under the control of steps S322 to S326.
- the correction coefficient AK is set according to the accelerator opening (step S322), and the target deceleration ⁇ is set in consideration of the correction coefficient AK (step S3). S 3 2 4).
- the processing up to this point is the same as that of the first embodiment, and a detailed description will be omitted.
- step S3226 the motor 20 and the lock-up clutch 31 are controlled so as to achieve the target deceleration ⁇ T set in this way (step S3226).
- the gear ratio is not controlled.
- the lock-up clutch 31 is controlled in accordance with the map shown in FIG. 30 similarly to when the brake is on (step S320), and is engaged when the accelerator opening is not more than ⁇ ⁇ .
- the gear ratio is not controlled for the following reasons. When braking with the brake off, it is often necessary to accelerate the vehicle again immediately thereafter. If the gear ratio is controlled during braking, it is highly likely that it will be necessary to switch back to a gear ratio suitable for acceleration immediately thereafter. By not controlling the gear ratio during braking in the brake-off state, it is possible to avoid frequent switching of the gear ratio. As with braking when the brake is on, it is possible to adopt a mode in which the priority for controlling the gear ratio is the lowest.
- the braking adapted to the driving feeling can be realized by switching the deceleration by turning on / off the brake.
- the mouth-up clutch 31 By controlling the mouth-up clutch 31 in the above-described manner, it is possible to adapt to the driving feeling.
- the case where the binary control of turning the lock-up clutch 31 on or off is exemplified.
- the lock-up clutch 31 may be engaged with the torque converter 30 slipping.
- the strength of the engagement force may be controlled according to parameters such as the vehicle speed.
- the braking torque of the motor 20 is adjusted according to the engagement force of the lock-up clutch 31.
- the target deceleration amount can be realized by controlling the torque together.
- An example of the torque control of the motor 20 is shown in FIG.
- FIG. 32 is an explanatory diagram showing the relationship between the accelerator opening and the motor torque. Since the power source brake is effective in a region where the accelerator opening is 0 A or less, the motor 20 outputs a negative torque in such a range. At this time, it is assumed that the engagement force of the lock-up clutch 31 is flexibly controlled. When the lock-up clutch 31 is completely engaged, the torque of the motor 20 is transmitted to the drive shaft as a braking force without loss. Therefore, the absolute value of the braking torque of the motor 20 may be a relatively small value. On the other hand, when the lockup clutch 31 is in the disengaged state, a relatively large absolute value of the braking torque of the motor 20 is required.
- the output torque of the motor 20 changes in a hatched area in the figure according to the engagement state of the lock-up clutch 31.
- the upper torque limit UL corresponds to a state where the lock-up clutch 31 is completely engaged
- the lower limit LL corresponds to a non-engaged state.
- the mode in which the driver sets the target deceleration has been described.
- other types of deceleration such as the braking force or the braking amount acting on the wheels may be set.
- the regenerative braking by the motor is controlled using the target torque as a parameter
- various parameters related to the braking force can be used.For example, the power obtained by the regenerative braking and the current flowing through the motor are used as parameters. It is also possible to control as
- the transmission 100 capable of changing the gear ratio stepwise is used.
- Various configurations can be applied to the transmission 100, and a mechanism that can continuously change the gear ratio may be applied.
- the present invention is applicable to control for arbitrarily adjusting the deceleration amount during braking in a vehicle that is braked by the torque of an electric motor.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
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- Hybrid Electric Vehicles (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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EP00902028A EP1160119B1 (en) | 1999-02-08 | 2000-01-31 | Vehicle braked by motor torque and method of controlling the vehicle |
US09/889,970 US6719076B1 (en) | 1999-02-08 | 2000-01-31 | Vehicle braked by motor torque and method of controlling the vehicle |
JP2000597151A JP3680734B2 (ja) | 1999-02-08 | 2000-01-31 | 電動機のトルクにより制動する車両及びその制御方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP3001999 | 1999-02-08 | ||
JP11/30019 | 1999-02-08 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000046062A1 true WO2000046062A1 (fr) | 2000-08-10 |
Family
ID=12292142
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2000/000526 WO2000046062A1 (fr) | 1999-02-08 | 2000-01-31 | Vehicule freine par couple moteur et procede de commande du vehicule |
Country Status (6)
Country | Link |
---|---|
US (1) | US6719076B1 (ja) |
EP (1) | EP1160119B1 (ja) |
JP (1) | JP3680734B2 (ja) |
KR (1) | KR100460821B1 (ja) |
CN (2) | CN100349763C (ja) |
WO (1) | WO2000046062A1 (ja) |
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JP2017019412A (ja) * | 2015-07-10 | 2017-01-26 | 本田技研工業株式会社 | 緊急時車両制御装置 |
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Also Published As
Publication number | Publication date |
---|---|
JP3680734B2 (ja) | 2005-08-10 |
EP1160119A4 (en) | 2010-06-23 |
CN1340009A (zh) | 2002-03-13 |
KR100460821B1 (ko) | 2004-12-09 |
US6719076B1 (en) | 2004-04-13 |
EP1160119A1 (en) | 2001-12-05 |
EP1160119B1 (en) | 2011-10-05 |
CN1230321C (zh) | 2005-12-07 |
CN100349763C (zh) | 2007-11-21 |
KR20010101840A (ko) | 2001-11-14 |
CN1666900A (zh) | 2005-09-14 |
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