WO2013057779A1 - ハイブリッド車両の制御装置 - Google Patents
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- WO2013057779A1 WO2013057779A1 PCT/JP2011/073829 JP2011073829W WO2013057779A1 WO 2013057779 A1 WO2013057779 A1 WO 2013057779A1 JP 2011073829 W JP2011073829 W JP 2011073829W WO 2013057779 A1 WO2013057779 A1 WO 2013057779A1
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- 230000000694 effects Effects 0.000 claims description 10
- 230000000541 pulsatile effect Effects 0.000 abstract 1
- 238000006243 chemical reaction Methods 0.000 description 18
- 230000005540 biological transmission Effects 0.000 description 17
- 230000000052 comparative effect Effects 0.000 description 12
- 238000004364 calculation method Methods 0.000 description 11
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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
- B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
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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
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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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
- B60W10/04—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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18054—Propelling the vehicle related to particular drive situations at stand still, e.g. engine in idling state
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/184—Preventing damage resulting from overload or excessive wear of the driveline
- B60W30/1843—Overheating of driveline components
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
- B60W2030/206—Reducing vibrations in the driveline related or induced by the engine
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/04—Vehicle stop
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
- B60W2710/085—Torque change rate
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- 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
Definitions
- various modes regardless of, for example, fuel type, fuel supply mode, fuel combustion mode, intake / exhaust system configuration, and cylinder arrangement, can be used as power elements capable of supplying power to the drive shaft.
- a vehicle including at least a first electric motor and a second electric motor that can be configured as a motor generator such as a motor generator.
- Each of the internal combustion engine, the first electric motor, and the second electric motor is connected to a drive shaft via a power transmission mechanism including, for example, a plurality of rotating elements (preferably gears).
- a control device for a hybrid vehicle is a device that controls the operation of the hybrid vehicle described above, and includes, for example, one or more CPUs (Central Processing Unit), MPU (Micro Processing Unit), various processors, or various controllers.
- various processing units such as a single or a plurality of ECUs (Electronic Controlled Units) that may appropriately include various storage means such as ROM (Read Only Memory), RAM (Random Access Memory), buffer memory or flash memory
- ROM Read Only Memory
- RAM Random Access Memory
- flash memory flash memory
- Various computer systems such as various controllers or microcomputer devices can be used.
- the determination means determines the shared torque to be output from each of the first electric motor and the second electric motor based on the total torque required for traveling of the hybrid vehicle. Is done. Specifically, for example, the total torque required for traveling of the hybrid vehicle is determined based on the accelerator opening, the vehicle speed, and the like, and the output torque of the internal combustion engine is subtracted therefrom, and then the first motor and the second motor. Each shared torque is determined.
- the hybrid vehicle further includes a travel detection unit that detects whether or not the hybrid vehicle is traveling, and the determination unit is configured such that when the hybrid vehicle is not traveling, The shared torque is determined so that torque is output from both the first electric motor and the second electric motor, and when the hybrid vehicle is running, from either the first electric motor or the second electric motor.
- the shared torque is determined so as to output torque, and when the hybrid vehicle is not running, the correction means determines that the pulsating torque of the internal combustion engine on the drive shaft is the first electric motor and the second electric motor. It correct
- a rotation fluctuation detecting means for detecting a rotation fluctuation of the drive shaft is provided, and the correction means corrects the shared torque, but the drive shaft.
- the rotation fluctuation is equal to or greater than the second threshold, the shared torque is further corrected so as to enhance the effect of canceling out the pulsating torque of the internal combustion engine.
- the rotation fluctuation of the drive shaft is detected by the rotation fluctuation detecting means.
- the rotation fluctuation detecting means may be one that directly detects the rotation fluctuation of the drive shaft, or indirectly using the rotation fluctuation of the other part (for example, the input shaft). May be detected.
- a hybrid vehicle 1 includes a hybrid drive device 10, a PCU (Power Control Unit) 11, a battery 12, an accelerator opening sensor 13, a vehicle speed sensor 14, and an ECU 100.
- PCU Power Control Unit
- the engine 200 is a gasoline engine that is an example of the “internal combustion engine” according to the present invention, and is configured to function as a main power source of the hybrid vehicle 1.
- the “internal combustion engine” in the present invention is typically an in-line two-cylinder engine. However, if it is an engine that generates pulsating torque, which will be described later, it has a different configuration, such as an in-line four-cylinder engine. Also good.
- the drive shaft 500 is an example of the “drive shaft” in the present invention, and is connected to drive shafts SFR and SFL (see FIG. 1) that drive the right front wheel FR and the left front wheel FL, respectively, as drive wheels of the hybrid vehicle 1. .
- the vibration transmission characteristics in other words, the ease of vibration transmission
- the vibration transfer characteristic at the idling speed or higher is greater when the mount temperature is low than when it is high. That is, when the mount temperature is low, the mount is cured and vibrations are easily transmitted.
- the MG combined control having the effect of suppressing the mount vibration as well as the vibration in the drive shaft 500 is performed only when the mount temperature is low (that is, when the mount temperature is lower than the first threshold). If it does, it can suppress a vibration more efficiently and can reduce the power loss by outputting cancellation torque from both MG1 and MG2.
- the torque correction unit 130 stores the following mathematical formula (2) in order to calculate a torque value that cancels vibration caused by the pulsating torque in the drive shaft 500.
- the MG control unit 150 controls the MG1 and MG2 so as to realize the corrected torque value (step S109).
- FIG. 8 is a chart showing the relationship between the torque of each MG and the occurrence of vibration according to the comparative example and the embodiment.
- the rotation fluctuation detection unit 160 detects the rotation fluctuation of the input shaft 420.
- the rotational fluctuation of the input shaft 420 is detected in order to estimate the rotational fluctuation of the drive shaft 500. Therefore, for example, instead of the rotational fluctuation of the input shaft 420, the rotational fluctuation of the drive shaft 500 may be directly detected, or the rotational fluctuation of another shaft depending on the rotational fluctuation of the drive shaft 500 may be detected. It may be.
- the rotational fluctuation of the drive shaft 500 also corresponds to the rotational fluctuation of the input shaft 420. Therefore, in the comparative example in which torque correction is not performed, a large number of peaks (portions surrounded by circles in the figure) corresponding to the primary rotational vibration of the engine 200 exist in the torque fluctuation of the input shaft 420. On the other hand, in this embodiment in which torque correction is performed, the peak corresponding to the primary rotational vibration of the engine 200 is reduced.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
Description
なお、数式中の“Tm”はMG1のトルクを示しており、“Tg”はMG2のトルクを示している。
なお、式中の“a”及び“b”という記号は、それぞれMG1及びMG2単独で振動を相殺する場合に求められるトルク値に対応している。このため数式(2)は、ハイブリッド車両1の運転状況に応じて変化する。なお、“a”及び“b”は、図からも分かるようにa<bである。
10 ハイブリッド駆動装置
100 ECU
110 トルク算出部
120 シフト判定部
130 マウント温度検出部
140 トルク補正部
150 MG制御部
160 回転変動検出部
200 エンジン
310 MG1側動力伝達機構
320 MG2側動力伝達機構
410 ダンパ
420 インプットシャフト
500 ドライブシャフト
MG1,MG2 モータジェネレータ
Claims (5)
- 内燃機関、並びに第1電動機及び第2電動機を含む動力要素と、前記動力要素の各々から出力されるトルクを車軸へと伝達する駆動軸とを備えるハイブリッド車両の制御装置であって、
前記ハイブリッド車両の走行に要求される総トルクに基づいて、前記第1電動機及び前記第2電動機の各々から出力すべき分担トルクをそれぞれ決定するトルク決定手段と、
前記第1電動機及び前記第2電動機の各々の前記分担トルクを、前記駆動軸における前記内燃機関の脈動トルクが前記第1電動機及び前記第2電動機の各々から出力される前記分担トルクで相殺されるように、且つ前記第1電動機及び前記第2電動機の各々の前記分担トルクが前記回転軸に対して互いに逆方向となるようにそれぞれ補正するトルク補正手段と、
補正された前記分担トルクをそれぞれ出力するように前記第1電動機及び前記第2電動機の各々を制御する制御手段と
を備えることを特徴とするハイブリッド車両の制御装置。 - 前記ハイブリッド車両が走行中であるか否かを検出する走行検出手段を備え、
前記決定手段は、前記ハイブリッド車両が走行中でない場合には、前記第1電動機及び前記第2電動機の両方からトルクを出力するように前記分担トルクを決定し、前記ハイブリッド車両が走行中である場合には、前記第1電動機及び前記第2電動機のいずれか一方からトルクを出力するように前記分担トルクを決定し、
前記補正手段は、前記ハイブリッド車両が走行していない場合には、前記駆動軸における前記内燃機関の脈動トルクが前記第1電動機及び前記第2電動機のいずれか一方から出力される前記分担トルクで相殺されるように補正する
ことを特徴とする請求の範囲第1項に記載のハイブリッド車両の制御装置。 - 前記動力要素を前記ハイブリッド車両の車体に固定するマウントの温度を検出する温度検出手段を備え、
前記決定手段は、前記マウントの温度が第1閾値未満である場合には、前記第1電動機及び前記第2電動機の両方からトルクを出力するように前記分担トルクを決定し、前記マウントの温度が第1閾値以上である場合には、前記第1電動機及び前記第2電動機のいずれか一方からトルクを出力するように前記分担トルクを決定し、
前記補正手段は、前記マウントの温度が第1閾値以上である場合には、前記駆動軸における前記内燃機関の脈動トルクが前記第1電動機及び前記第2電動機のいずれか一方から出力される前記分担トルクで相殺されるように補正する
ことを特徴とする請求の範囲第1項に記載のハイブリッド車両の制御装置。 - 前記駆動軸の回転変動を検出する回転変動検出手段を備え、
前記補正手段は、前記分担トルクを補正しているにもかかわらず前記駆動軸の回転変動が第2閾値以上である場合には、前記内燃機関の脈動トルクへの相殺効果を高めるよう更に前記分担トルクを補正する
ことを特徴とする請求の範囲第1項に記載のハイブリッド車両の制御装置。 - 前記補正手段は、前記分担トルクを補正しているにもかかわらず前記駆動軸の回転変動が第3閾値以上である場合には、前記分担トルクの補正を中止し、
前記制御手段は、補正されていない前記分担トルクを出力するように前記第1電動機及び前記第2電動機の各々を制御する
ことを特徴とする請求の範囲第4項に記載のハイブリッド車両の制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2012507212A JP5252123B1 (ja) | 2011-10-17 | 2011-10-17 | ハイブリッド車両の制御装置 |
EP11824253.6A EP2769894B1 (en) | 2011-10-17 | 2011-10-17 | Device for controlling hybrid vehicle |
US13/394,986 US9493151B2 (en) | 2011-10-17 | 2011-10-17 | Control apparatus for hybrid vehicle |
PCT/JP2011/073829 WO2013057779A1 (ja) | 2011-10-17 | 2011-10-17 | ハイブリッド車両の制御装置 |
CN201180011632.2A CN103874613B (zh) | 2011-10-17 | 2011-10-17 | 混合动力车辆的控制装置 |
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PCT/JP2011/073829 WO2013057779A1 (ja) | 2011-10-17 | 2011-10-17 | ハイブリッド車両の制御装置 |
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EP (1) | EP2769894B1 (ja) |
JP (1) | JP5252123B1 (ja) |
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Cited By (1)
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JP2019193558A (ja) * | 2018-04-20 | 2019-10-31 | トヨタ自動車株式会社 | 電動車両 |
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US10196995B2 (en) * | 2015-01-12 | 2019-02-05 | Tula Technology, Inc. | Engine torque smoothing |
US10578037B2 (en) | 2015-01-12 | 2020-03-03 | Tula Technology, Inc. | Adaptive torque mitigation by micro-hybrid system |
CN109989840B (zh) | 2015-01-12 | 2021-11-02 | 图拉技术公司 | 用于操作混合动力传动系的方法及混合动力传动系控制器 |
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CN103874613A (zh) | 2014-06-18 |
JP5252123B1 (ja) | 2013-07-31 |
EP2769894A1 (en) | 2014-08-27 |
EP2769894A4 (en) | 2017-01-04 |
US9493151B2 (en) | 2016-11-15 |
JPWO2013057779A1 (ja) | 2015-04-02 |
CN103874613B (zh) | 2016-11-23 |
EP2769894B1 (en) | 2019-11-20 |
US20140222261A1 (en) | 2014-08-07 |
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