CN101274624B - 车辆控制装置、装有车辆控制装置的车辆及车辆控制方法 - Google Patents

车辆控制装置、装有车辆控制装置的车辆及车辆控制方法 Download PDF

Info

Publication number
CN101274624B
CN101274624B CN2008100912740A CN200810091274A CN101274624B CN 101274624 B CN101274624 B CN 101274624B CN 2008100912740 A CN2008100912740 A CN 2008100912740A CN 200810091274 A CN200810091274 A CN 200810091274A CN 101274624 B CN101274624 B CN 101274624B
Authority
CN
China
Prior art keywords
torque
power
vehicle
slip
drive wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2008100912740A
Other languages
English (en)
Other versions
CN101274624A (zh
Inventor
本美明
浜岛清高
滩光博
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of CN101274624A publication Critical patent/CN101274624A/zh
Application granted granted Critical
Publication of CN101274624B publication Critical patent/CN101274624B/zh
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • 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
    • 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
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2054—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed by controlling transmissions or clutches
    • 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
    • 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
    • B60L50/50—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
    • 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
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • 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
    • B60W30/18109—Braking
    • 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
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • 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
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1497—With detection of the mechanical response of the engine
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/441—Speed
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/443—Torque
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/48—Drive Train control parameters related to transmissions
    • B60L2240/486—Operating parameters
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/50—Drive Train control parameters related to clutches
    • B60L2240/507—Operating parameters
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • 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
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/10—Emission reduction
    • B60L2270/14—Emission reduction of noise
    • B60L2270/142—Emission reduction of noise acoustic
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/083—Torque
    • 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
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/26—Wheel slip
    • 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
    • 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
    • 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
    • B60W2710/10—Change speed gearings
    • B60W2710/105—Output torque
    • 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
    • B60W2710/10—Change speed gearings
    • B60W2710/105—Output torque
    • B60W2710/1055—Output torque change rate
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
    • F02D2200/501—Vehicle speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/60—Input parameters for engine control said parameters being related to the driver demands or status
    • F02D2200/602—Pedal position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2250/00—Engine control related to specific problems or objectives
    • F02D2250/18—Control of the engine output torque
    • F02D2250/26—Control of the engine output torque by applying a torque limit
    • 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
    • Y02T10/64—Electric machine technologies 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
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y10S903/904—Component specially adapted for hev
    • Y10S903/906—Motor or generator

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Abstract

本发明涉及车辆控制装置、装有车辆控制装置的车辆及车辆控制方法。当作为驱动轴的齿圈轴的算出的转矩指令值Tr*超过最大转矩Tmax时，通过检测到发生滑动而启动的滑动发生状态控制(步骤S118)计算转矩限制率KT(＝Tmax/Tr*)，并将输出给该齿圈轴的转矩限定为最大转矩Tmax。在驱动控制程序的下一循环中，由在步骤S105所输入的加速踏板位置AP和车速V计算的动力要求Pr在步骤S107处被限定为该动力要求Pr与动力限制率KP(＝KT)的积。利用该受限动力要求Pr进行控制理想地防止了超出驾驶员基于车辆运转状况所预料的较大发动机噪音。

Description

车辆控制装置、装有车辆控制装置的车辆及车辆控制方法
本申请是2003年7月7日在中国专利局提交的名称为“车辆控制装置、装有车辆控制装置的车辆及车辆控制方法”的专利申请03823652.4的分案申请。 
技术领域
本发明涉及一种车辆控制装置、一种具有该装置的车辆以及一种车辆控制方法。更具体地说，本发明涉及一种用于利用发动机的动力驱动电机(马达，原动机)以转动与驱动轮连接的驱动轴的车辆的车辆控制装置、一种具有该装置的车辆以及一种车辆控制方法。 
背景技术
各种车辆控制装置用于根据车辆运转状况(行驶状态)确定要输出给与驱动轮连接的驱动轴的动力要求、设定与所确定动力要求对应的发动机的目标转矩和目标转速、以及用该设定值控制该发动机和电机(电机)。这样一些车辆控制装置已经被提出，该车辆控制装置响应于驱动轮上发生滑动的现象，限制从电机输出给该驱动轮的转矩水平(参见，例如，日本专利公报10-304514和13-295676)。 
但这些现有技术不限制输出给驱动轴的动力要求，同时响应于驱动轮上发生滑动的现象限制电机的转矩要求。这导致超过驾驶员基于车辆运转状况所预料的较大发动机噪音，并使驾驶员感觉不舒适。 
为消除上述现有技术的缺陷，本发明的一种利用发动机的动力驱动电机以转动与驱动轮连接的驱动轴的车辆控制装置旨在防止驾驶员在滑动控制时感觉不舒适。 
发明内容
至少部分的以上及其它相关目的由采用以下布置的本发明的一种车辆控制装置及一种相应的车辆控制方法以及一种其上安装有车辆控制装置的 本发明车辆来实现。 
本发明旨在一种车辆控制装置，其中，利用发动机的动力驱动电机以使与驱动轮相连接的驱动轴转动。该车辆控制装置包括：根据车辆运转状况确定要输出给驱动轴的动力要求的动力要求确定单元(装置)；用所确定的动力要求控制发动机和电机的控制单元；检测发生在驱动轮上的滑动的滑动检测单元；以及响应于滑动检测单元的滑动的检测而限制驱动轮的转矩水平以抑制该滑动的转矩限制单元。在利用转矩限制单元对驱动轮的转矩水平进行限制的情况下，动力要求确定单元限制根据车辆运转状况确定的动力要求。 
该车辆控制装置根据车辆运转状况确定要输出给驱动轴的动力要求，并用所确定的动力要求控制发动机和电机。响应于检测到驱动轮上发生滑动，限制该驱动轮的转矩水平以抑制滑动。在限制驱动轮的转矩水平的情况下，该车辆控制装置限制根据车辆运转状况确定的动力要求。在限制驱动轮的转矩水平的情况下，控制发动机将未变化的大动力要求输出给驱动轴会导致超出驾驶员基于转矩水平受到限制的车辆运转状况所预料的大发动机噪音。本发明的车辆控制装置在这种情况下限制动力要求，由此抑制超出驾驶员基于车辆运转状况所预料的大发动机噪音并防止驾驶员感觉不舒适。 
在本发明车辆控制装置的一个优选实施例中，动力要求确定单元利用固定设定的动力限制率来限制根据车辆运转状况确定的动力要求，不考虑限制驱动轮的转矩水平的转矩限制率的变化。这种布置利用较简单的控制防止发动机噪音的令人难受的变化。 
在本发明车辆控制装置的另一优选实施例中，动力要求确定单元利用对应于限制驱动轮的转矩水平的转矩限制率而调节的动力限制率来限制根据车辆运转状况确定的动力要求。由此，驱动轴的转矩水平的高程度限制导致动力要求的显著限制。驱动轴的转矩水平的低程度限制导致动力要求的略微限制。这种布置理想地防止了驾驶员感觉不舒适。 
在本发明车辆控制装置的此优选实施例中，动力要求确定单元利用被调节为随着时间的经过接近转矩限制率的动力限制率来限制根据车辆运转状况确定的动力要求。即便在转矩限制率发生突然变化的情况中，这种布置也通过随着时间的经过逐渐改变动力限制率进行限制来确保动力要求的缓慢变化。动力要求的缓慢变化导致发动机噪音的平稳变化，并有效防止驾驶员感觉不舒适。 
在本发明的车辆控制装置中，优选在由滑动检测单元检测到该滑动收敛之后，转矩限制单元利用驱动轮的转矩水平的缓慢限制来恢复该驱动轮的被限制的转矩水平。这种布置理想地防止了突然解除转矩限制以及在滑动收敛之后立即产生大转矩。甚至在驱动轴的转矩水平的缓慢限制期间，也限制根据车辆运转状况确定的动力要求。这种控制导致发动机噪音的平稳变化，并有效防止驾驶员感觉不舒适。 
在本发明的一个优选实施例中，该车辆控制装置还包括：可与发动机共同或者独立于该发动机驱动电机的蓄电装置；以及发动机停止禁止单元，它在由动力要求确定单元根据车辆运转状况确定的动力要求的限制的情况下控制该蓄电装置以驱动电机并禁止该发动机的停止。根据车辆运转状况确定的动力要求的限制水平可仅通过自蓄电装置(例如，电池或电容器)输出以驱动电机并使驱动轴转动的电力来满足。即便在这种情况下，本实施例的车辆控制装置也不停止发动机，而是保持该发动机待用以立即响应于在解除对驱动轴的转矩水平的限制之后动力要求的增大。发动机可以空转或者维持怠速而不停止。 
本发明还旨在一种其上安装有按照前述任何布置的车辆控制装置的车辆。该具有本发明车辆控制装置的车辆实现同本发明车辆控制装置相同的效果。在限制驱动轮的转矩水平的情况下，控制发动机将未变化的大动力要求输出给驱动轴会导致超出驾驶员基于转矩水平受到限制的车辆运转状况所预料的大发动机噪音。该具有本发明车辆控制装置的车辆在这种情况下限制动力要求，由此抑制超出驾驶员基于车辆运转状况所预料的大发动机噪音并防止驾驶员感觉不舒适。 
本发明还旨在一种用于车辆的车辆控制方法，其中，利用发动机的动 力驱动电机以使与驱动轮连接的驱动轴转动。该车辆控制方法包括步骤：(a)根据车辆运转状况确定要输出给驱动轴的动力要求；(b)用所确定的动力要求控制发动机和电机；(c)检测发生在驱动轮上的滑动；以及(d)响应于所述步骤(c)中的滑动的检测而限制驱动轮的转矩水平以抑制该滑动，其中，在利用所述步骤(d)对驱动轮的转矩水平进行限制的情况下，所述步骤(b)限制根据车辆运转状况确定的动力要求。 
该车辆控制方法根据车辆运转状况确定要输出给驱动轴的动力要求，并用所确定的动力要求控制发动机和电机。响应于检测到驱动轮上发生滑动，限制该驱动轮的转矩水平以抑制滑动。在限制驱动轮的转矩水平的情况下，该车辆控制装置限制根据车辆运转状况确定的动力要求。在限制驱动轮的转矩水平的情况下，控制发动机将未变化的较大动力要求输出给驱动轴会导致超出驾驶员基于转矩水平受到限制的车辆运转状况所预料的较大发动机噪音。本发明的车辆控制方法在这种情况下限制动力要求，由此抑制超出驾驶员基于车辆运转状况所预料的较大发动机噪音并防止驾驶员感觉不舒适。 
附图说明
图1示意性示出一个实施例中的混合动力车的构造； 
图2是示出驱动控制程序的流程图； 
图3示出转矩要求值相对于车速和加速器开度的设定映射图的例子； 
图4是示出滑动发生状态控制程序的流程图； 
图5是示出最大转矩相对于角加速度的变化的映射图； 
图6是示出滑动收敛(convergence)状态控制程序的流程图； 
图7示出齿圈轴的转矩要求随角加速度变化的变化；以及 
图8示意性示出另一实施例中的混合动力车的构造。 
具体实施方式
以下参照附图描述本发明的一个优选实施例。图1示意性示出安装有 本发明的车辆控制装置的混合动力车20的构造。混合动力车20包括发动机22、经由减振器28与作为发动机22的输出轴的曲轴26连接的三轴式动力分配集成(综合)机构30、与动力分配集成机构30连接的第一电机MG1、同样与动力分配集成机构30连接的第二电机MG2、以及控制该车辆的全体驱动***的混合电子控制单元70。以下，该电子控制单元被称为ECU。 
发动机22是采用烃类燃料例如汽油或轻油来输出动力的内燃机。发动机ECU24自检测发动机22的运转状况的各种传感器接收信号，并负责发动机22的运转控制，例如燃料喷射控制、点火控制和进气流调节。发动机ECU24与混合ECU70通信以响应于从该混合电子控制单元70传送的控制信号控制发动机22的运转，同时根据需要将有关该发动机22运转状况的数据输出给混合电子控制单元70。 
动力分配集成机构30具有太阳齿轮或外齿轮31、与太阳齿轮31同轴设置的齿圈或内齿轮32、多个既与太阳齿轮31啮合也与齿圈32啮合的行星齿轮33、以及支承多个行星齿轮33以允许它们公转和绕其轴自转的行星架34。动力分配集成机构30被构造为具有与作为转动件的太阳齿轮31、齿圈32以及行星架34的差速运动的行星齿轮机构。在动力分配集成机构30内，行星架34与发动机22的曲轴26连接，太阳齿轮31与电机MG1连接，以及齿圈32与电机MG2连接。当电机MG1作为发电机时，自发动机22输出且经由行星架34传递的动力以太阳齿轮31和齿圈32的齿轮齿数比分配给太阳齿轮31和齿圈32。另一方面，当电机MG1作为电动机时，自发动机22输出且经由行星架34传递的动力与自电机MG1输出且经由太阳齿轮31传递的动力集成并输出给齿圈32。齿圈32经由带36、齿轮机构37以及差速器38与作为车辆前轮的驱动轮39a和39b机械连接。输出给齿圈32的动力相应地经由带36、齿轮机构37以及差速器38传递给驱动轮39a和39b。与驱动***内的动力分配集成机构30连接的三根轴是作为与行星架34连接的发动机22的输出轴的曲轴26、作为与太阳齿轮31连接的第一电机MG1的转动轴的太阳齿轮轴31a、以及作为与齿圈32连接且与驱动轮39a和39b机械连接的驱动轴的齿圈轴32a。 
两电机MG1和MG2是公知的既可作为发电机驱动又可作为电动机驱动的同步电动发电机。电机MG1和MG2经由逆变器41和42将电力传递给电池50以及接收来自电池50的电力。连接逆变器41和42与电池50的电力线54被构造为由该逆变器41和42共用的正极母线和负极母线。这种布置使得由电机MG1和MG2中的一个产生的电力能够由另一个消耗。电池50利用电机MG1或MG2产生的电力盈余充电，以及放电以弥补电力的不足。当电机MG1和MG2之间达到动力平衡时，电池50既不充电，也不放电。两电机MG1和MG2的运转由电机ECU40来控制。电机ECU40接收为控制电机MG1和MG2的运转所需的各种信号，例如，来自用于检测电机MG1和MG2内的转子的转动位置的转动位置检测传感器43和44的信号以及提供给电机MG1和MG2且由电流传感器(未示出)测量的相电流。电机ECU40给逆变器41和42输出转换控制信号。电机ECU40与混合电子控制单元70通信以响应于从该混合电子控制单元70传送的控制信号控制电机MG1和MG2的运转，同时根据需要将与电机MG1和MG2的运转状况相关的数据输出给该混合电子控制单元70。 
电池50受电池ECU52的控制。电池ECU52接收为控制电池50所需的各种信号，例如，由设在电池50的两端子之间的电压传感器(未示出)测量的端子间电压、由连接在与电池50的输出端子连接的电力线54上的电流传感器(未示出)测量的充放电电流、以及由连接到电池50上的温度传感器(未示出)测量的电池温度。电池ECU52根据需要将有关电池50状态的数据输出给混合ECU70。电池ECU52基于由该电流传感器所测量的累积充放电电流计算电池50的充电状态以控制该电池50。 
混合ECU70被构造为包括CPU72、用于储存处理程序的ROM74、暂时储存数据的RAM76、未示出的输入输出端口以及未示出的通信端口的微处理器。混合ECU70经由该输入口接收各种信号：来自点火开关80的点火信号、来自用于检测换档杆81的当前位置的换档位置传感器82的换档位置SP、来自用于测量加速器踏板83的踩踏量的加速器踏板位置传感器84的加速器开度AP、来自用于测量制动器踏板85的踩踏量的制动器踏板位置传感器86的制动器踏板位置BP、以及来自车速传感器88的车速 V。混合电子控制单元70经由该通信端口与发动机ECU24、电机ECU40和电池ECU52连接，并给发动机ECU24、电机ECU40和电池ECU52传送以及自发动机ECU24、电机ECU40和电池ECU52获取各种控制信号和数据，如上所述。 
如此构成的本实施例的混合动力车20基于车速V和对应于加速器踏板83的驾驶员踩踏量的加速器开度AP的观测值计算要输出给作为驱动轴的齿圈轴32a的转矩要求Pr。发动机22和电机MG1和MG2受到运转控制以给齿圈轴32a输出对应于所算得转矩要求的所需动力水平。发动机22和电机MG1和MG2的运转控制有选择地实行转矩变换驱动模式、充放电驱动模式以及电机驱动模式之一。该转矩变换驱动模式控制发动机22的运转以输出与所需动力水平相当的动力，同时驱动并控制电机MG1和MG2以使得自发动机22输出的所有动力都通过动力分配集成机构30和电机MG1和MG2进行转矩变换并输出给齿圈轴32a。该充放电驱动模式控制发动机22的运转以输出与所需动力水平以及通过给电池50充电所消耗或者通过使电池50放电所提供的电力的和相当的动力，同时驱动并控制电机MG1和MG2以使得自发动机22输出的与所需动力水平相当的全部或部分动力通过动力分配集成机构30和电机MG1和MG2进行转矩变换并输出给齿圈轴32a，同时给电池50充电或使其放电。该电机驱动模式停止发动机22的运转，且驱动并控制电机MG2以给齿圈轴32a输出与所需动力水平相当的动力。 
本说明书现在说明混合动力车20的一系列驱动控制，尤其是包括当驱动轮39a和39b上发生滑动时的电机驱动控制的驱动控制操作。驱动控制程序储存在混合ECU70的ROM74中，且以预设的时间间隔(例如，每隔8秒)由CPU72重复执行。以下说明书假定不需要利用发动机22给电池50充电。 
当该驱动控制程序开始时，混合ECU70的CPU72输入齿圈轴32a的转速Nr(步骤S100)。利用自转速传感器44读取的齿圈轴32a的转动角θr计算该齿圈轴32a的转速Nr。然后，CPU72自加速器踏板位置传感器84读取加速器踏板位置AP(步骤S102)。驾驶员在感到用以驱动车辆的 动力不足时踏下加速器踏板83。相应地，加速器踏板位置AP反映了驾驶员需要的动力要求。接着，CPU72对应于所输入的加速器踏板位置AP设定作为要输出给齿圈轴32a的目标转矩的转矩指令值Tr*(步骤S104)。一个具体过程是预先将代表转矩指令值Tr*相对于齿圈轴32a的转速Nr和加速器踏板位置AP的变化的映射图储存在ROM74中，然后从该图中读取对应于给定加速器踏板位置AP和给定的齿圈轴32a的转速Nr的转矩指令值Tr*。该映射图的一个例子在图3中示出。 
接着，混合ECU70的CPU72利用所设定的转矩指令值Tr*和所输入的齿圈轴32a的转速Nr计算要输出给作为驱动轴的齿圈轴32a的动力要求Pr(Pr＝Tr*×Nr)(步骤S105)。CPU72检查动力限制标记F的设定(步骤S106)。动力限制标记F在限制齿圈轴32a的转矩指令值Tr*的场合设定为1，同时在不限制齿圈轴32a的转矩指令值Tr*的场合重置为0。在启动驱动***时，动力限制标记F重置为0。响应于动力限制标记F的设定‘0’，CPU72直接进入步骤S108。另一方面，响应于动力限制标记F的设定‘1’，限制输出给齿圈轴32a的转矩。CPU72根据转矩限制的程度限制动力要求Pr(步骤S107)，然后进入步骤S108。限制输出给齿圈轴32a的转矩是当在步骤S110设定的转矩指令值Tr*超过最大转矩Tmax时将该转矩指令值Tr*限定为该最大转矩Tmax，如随后将要详细论述的。转矩限制率KT(＝Tmax/Tr*)预先在滑动发生状态控制程序(步骤S118)或者滑动收敛状态控制程序(步骤S124)中获得，并在此驱动控制程序的下一循环的步骤S107处用作限制动力要求Pr的动力限制率KP。 
在步骤S108，基于要输出给齿圈轴32a的动力要求Pr，设定发动机22的目标转矩Te*和目标转速Ne*。在不限制输出给齿圈轴32a的转矩的场合，步骤S108处采用的动力要求Pr等于步骤S105处算出的动力要求Pr。另一方面，在限制输出给齿圈轴32a的转矩的场合，步骤S108处采用的动力要求Pr等于步骤S106处经限制的动力要求Pr。动力要求Pr是目标转矩Te*和目标转速Ne*的积(假定电池50不充电或不放电)。为给出动力要求Pr，存在无数目标转矩Te*和目标转速Ne*的组合。一个优选 程序是根据经验确定能确保高效且平稳(平滑)行驶的目标转矩Te*和目标转速Ne*的理想组合，并将该理想组合以一映射图(未示出)的形式储存在ROM74中。然后，自此映射图读取对应于给定动力要求Pr的目标转矩Te*和目标转速Ne*。由齿圈轴32a的转矩指令值Tr*、发动机22的目标转矩Te*以及齿轮齿数比ρ(＝太阳齿轮的齿数/齿圈的齿数)计算第二电机MG2的转矩指令值Tm2*(步骤S110)。接着，对应于发动机22的目标转速Ne*和第二电机MG2的转速Nm2设定第一电机MG1的目标转速Nm1*(步骤S112)。发动机22与行星架34直接连接，因此该发动机22的转速Ne等于行星架轴34a的转速Nc。第二电机MG2与齿圈32直接连接，因此第二电机MG2的转速Nm2等于齿圈轴32a的转速Nr。第一电机MG1与太阳齿轮31直接连接，因此第一电机MG1的转速Nm1等于太阳齿轮轴31a的转速Ns。设定转速Nc，Nr和Ns中的两个就自动确定了剩余一个转速。因此在步骤S112，对应于发动机22的目标转速Ne*和在步骤S100输入的齿圈轴32a的转速Nr设定第一电机MG1的目标转速Nm1*。在步骤S110根据以下给出的式(1)计算第二电机MG2的转矩指令值Tm2*
Tm2*←Tr*-Te*×(1/(1+ρ))                           (1) 
随后，CPU72检测混合动力车20是否发生滑动(步骤S114)。一具体过程是由在步骤S100输入的齿圈轴32a的转速Nr计算角加速度α，并比较所算得角加速度α与一根据经验判定为发生滑动时的角加速度值的预设阀值αslip。当所算得角加速度α超过预设阀值αslip时，判定发生滑动。在此实施例中，角加速度α的计算是用在此驱动控制程序的当前循环中输入的当前转速Nr减去在此驱动控制程序的前一循环中输入的前一转速Nr(当前转速Nr-前一转速Nr)。角加速度α的单位是[rpm/8msec]，因为在此实施例中该驱动控制程序的执行间隔是8msec，其中转速Nr用每分钟转数[rpm]表示。角加速度α可采用任何其它适当单位，只要该角加速度α可表示为转速的时间变化率。为将潜在误差减至最小，角加速度α可以是在此驱动控制程序的预设次数(例如，3次)循环中算得的角加速度的平均值。 
响应于在步骤S114检测为未发生滑动，CPU72检查动力限制标记F的设定(步骤S120)。当步骤S120处动力限制标记F等于0时，即在未发生任何滑动且未对输出给齿圈轴32a的转矩设定任何限制的运转状况下，利用在步骤S108至S112获得的各个设定值控制发动机22、第一电机MG1和第二电机MG2(步骤S126)。然后，该驱动控制程序终止。 
另一方面，响应于在步骤S114检测为发生滑动，CPU72将动力限制标记F设定为等于1(步骤S116)，并执行图4中所示的滑动发生状态控制程序(步骤S118)。在该滑动发生状态控制程序中，混合ECU70的CPU72首先比较角加速度α与一预设峰值αpeak(步骤S150)。当角加速度α超过预设峰值αpeak时，将该预设峰值αpeak更新为角加速度α的当前值(步骤S152)。峰值αpeak代表由于滑动而增大的角加速度α的峰值且初始设定为等于0。峰值αpeak被相继地更新为角加速度α的当前值，直至角加速度α增大至达到其最大值。当逐渐增大的角加速度α到达其最大值时，逐渐增大的角加速度α的该最大值被固定为峰值αpeak。在设定峰值αpeak之后，CPU72对应于该峰值αpeak将最大转矩Tmax设定为输出给齿圈轴32a的转矩的上限(步骤S154)。本实施例的程序参考图5中示出的映射图。图5所示映射图示出最大转矩Tmax相对于角加速度α的变化。最大转矩Tmax表示为角加速度α的函数g(α)。在此映射图中，最大转矩Tmax随着角加速度α的增大而减小。逐渐增大的角加速度α的峰值αpeak越大即滑动越严重，就将越小的值设定给最大转矩Tmax并将输出给齿圈轴32a的转矩限制为越小的最大转矩Tmax。 
然后，混合ECU70的CPU72比较齿圈轴32a的转矩指令值Tr*与最大转矩Tmax(步骤S156)。当转矩指令值Tr*不超过最大转矩Tmax时，该滑动发生状态控制程序终止。回头参照图2的驱动控制程序，CPU72控制发动机22、第一电机MG1和第二电机MG2(步骤S126)。利用在步骤S108至S112获得的各个设定值控制发动机22、第一电机MG1和第二电机MG2。 
当在步骤S156处转矩指令值Tr*超过最大转矩Tmax时，计算转矩限制率KT(＝Tmax/Tr*)并将其储存在RAM76的一特定区域内(步骤 S158)。最大转矩Tmax被设定为齿圈轴32a的转矩指令值Tr*(步骤S160)。通过用最大转矩Tmax替换以上给出的式(1)中齿圈轴32a的转矩指令值Tr*，重设第二电机MG2的转矩指令值Tm2*(步骤S162)。然后，该滑动发生状态控制程序终止。所算得的转矩限制率KT在图2所示驱动控制程序的下一循环的步骤S107处用作动力限制率KP。回头参照图2的驱动控制程序，用经修正的设定值控制发动机22、第一电机MG1以及第二电机MG2(步骤S126)。该驱动控制程序在这里终止。在发生滑动时输出给齿圈轴32a的转矩被限制为一较低水平(即，与图5所示映射图中角加速度的峰值αpeak相对应的最大转矩Tmax)以立即抑制滑动。这种限制有效地减少了滑动。 
响应于在步骤S114检测为未发生滑动且在步骤S120处动力限制标记F设定为‘1’时，CPU72判定是否满足一预定滑动收敛条件，即，所算得的角加速度α是否已在一预设时间段内保持为负(步骤S122)。不满足该预定滑动收敛条件意味着该滑动未收敛，并启动上述滑动发生状态控制程序(步骤S118)。相反，满足该预定滑动收敛条件意味着该发生在驱动轮39a和39b上的滑动收敛，并启动图6中所示的滑动收敛状态控制程序(步骤S124)。该滑动收敛状态控制程序恢复输出给齿圈32a的已经响应于在该滑动发生状态控制程序中角加速度α的降低而被限制的转矩水平。 
在该滑动收敛状态控制程序中，混合ECU70的CPU72首先判定当前运行是否是此滑动收敛状态控制程序的首次循环(步骤S170)。这指是否是在驱动控制程序的当前循环中首次满足预定滑动收敛条件，同时在该驱动控制程序的以前循环中未曾满足过该滑动收敛条件。在当前运行是该滑动收敛状态控制程序的首次循环时，CPU72求角加速度α的积分以算出其在角加速度α增大至预设阀值αslip以上与该角加速度α降低至该预设阀值αslip以下之间的积分区间上的时间积分αint，并计算作为时间积分αint的函数的保护值δ(用与角加速度相同的单位[rpm/8msec]表示)(步骤S172)。CPU72参考图5的映射图，设定对应于所算得保护值δ的最大转矩Tmax(步骤S182)。然后，CPU72执行与上述滑动发生状态控制程序中步骤S156至S162的处理相同的步骤S184至S190的处理(参见图4)， 并终止此滑动收敛状态控制程序。另一方面，当在步骤S170处当前运行不是该滑动收敛状态控制程序的首次循环时，CPU72判定当前定时(正时)是否是保护值δ的更新定时(步骤S174)。自设定保护值δ起每经过一预定等待时间，就到了该保护值δ的更新定时。在当前定时不是保护值δ的更新定时的情况下，CPU72进入步骤S184及随后步骤。相反，在当前定时是保护值δ的更新定时的情况下，CPU72用保护值δ的当前设定减去一固定值Δδ以算出保护值δ的一新设定(步骤S176)，并比较该保护值δ的新设定与值‘0’(步骤S178)。当保护值δ的新设定大于0时，CPU72参考图5的映射图，设定与保护值δ的新设定相对应的最大转矩Tmax(步骤S182)。然后，CPU执行与上述滑动发生状态控制程序中步骤S156至S162的处理相同的步骤S184至S190的处理(参见图4)，并终止此滑动收敛状态控制程序。当在步骤S178处保护值δ的新设定不大于0时，不需要进一步地限制转矩。动力限制标记F相应重置为0(步骤S180)，然后该滑动收敛状态控制程序终止。在通过限制按照一步进方式每经过预定等待时间就增大的最大转矩Tmax使滑动收敛之后，输出给齿圈轴32a的转矩水平逐渐增大。 
图7示出随着齿圈轴32a的角加速度α的变化，齿圈轴32a的转矩指令值Tr*的变化。在图7所示例子中，在时间点t3，角加速度α超过预设阀值αslip并相应地检测到发生滑动。此检测结果使得将动力限制标记F设定为值‘1’，并开始限制输出给齿圈轴32a的转矩。通过参考图5的映射图设定与时间点t3处的角加速度α的值相对应的最大转矩Tmax。在时间点t3之后的图2所示驱动控制程序的下一循环中，由车速V和加速器踏板位置AP算得的动力要求Pr被更新为所算得动力要求Pr与动力限制率KP(＝转矩限制率KT)的积。利用动力要求Pr的更新的设定对发动机22、第一电机MG1以及第二电机MG2进行的控制持续至时间点t17。在时间点t5，角加速度α到达其峰值。通过参考图5的映射图设定与角加速度α的峰值αpeak相对应的最大转矩Tmax。保持对应于峰值αpeak的最大转矩Tmax直至时间点t10。在图7所示例子中的时间点t11，当负角加速度α已经保持预设时间段时，判定满足预定滑动收敛条件并开始恢复转 矩输出水平。在时间点t11，设定与保护值δ对应的最大转矩Tmax，该保护值δ取决于角加速度α在当角加速度α超过预设阀值αslip时的时间点t3至当角加速度α降至预设阀值αslip以下时的时间点t7之间的积分区间上的时间积分αint。每经过预定等待时间便更新保护值δ，并设定与该更新的保护值δ对应的最大转矩Tmax。在时间点t17，保护值δ变为不大于0。这使得将动力限制标记F设定为值‘0’，并终止对输出给齿圈轴32a的转矩限制及对动力要求Pr的限制。限制输出给齿圈轴32a的转矩是用齿圈轴32a的转矩限制率KT(＝Tmax/Tr*)限制动力要求Pr。 
如上所述，本实施例的程序利用车速V和取决于同加速器踏板83的驾驶员踏下量相对应的加速器开度的加速器踏板位置AP计算要输出给齿圈轴32a或者驱动轴的动力要求Pr。利用对应的ECU以所算得的动力要求Pr控制发动机22、第一电机MG1以及第二电机MG2。响应于检测到驱动轮39a和39b上发生滑动，限制输出给齿圈轴32a的转矩水平以抑制该滑动。在限制输出给齿圈轴32a的转矩时，控制程序限制由加速器踏板位置AP和车速V计算出的动力要求Pr。在限制输出给齿圈轴32a的转矩时用未变化的大动力要求Pr控制发动机22会导致超出驾驶员基于车辆运转状况所预计的大发动机噪音。本实施例的控制程序在这种情况下限制动力要求Pr，由此抑制超出驾驶员基于车辆运转状况所预计的大发动机噪音并防止驾驶员感觉不舒适。 
本实施例的控制程序利用同用于限制输出给齿圈轴32a的转矩的转矩限制率KT相等的动力限制率KP限制由加速器踏板位置AP和车速V计算出的动力要求Pr。由此，对输出给齿圈轴32a的转矩的高程度限制导致对动力要求Pr的显著限制。对输出给齿圈轴32a的转矩的低程度限制导致对动力要求Pr的略微限制。这种布置理想地防止了驾驶员感觉不舒适。 
本实施例的控制程序利用在滑动收敛之后每经过预定等待时间以一步进方式逐渐增大的最大转矩Tmax的缓慢转矩限制来恢复输出给齿圈轴32a的被限制的转矩水平。这种布置理想地防止了突然解除转矩限制以及在滑动收敛之后立即产生大转矩。甚至在对输出给齿圈轴32a的所述缓慢转矩限制期间，也限制取决于加速器踏板位置AP和转速V的动力要求Pr。 
这种控制使得发动机噪音能够平稳变化，并有效防止了驾驶员感觉不舒适。 
上述实施例在各个方面都应被认为是示意性的，而不是限制性的。存在许多变更、变化和替换，而不脱离本发明主要特征的范围和精神。 
例如，由加速器踏板位置AP和转速V计算出的动力要求Pr的限制程序(即，步骤S107的被限制的动力要求Pr)可仅通过自电池50输出以驱动第二电机MG2并使齿圈轴32a或驱动轴转动的电力来满足。即便在这种情况下，控制程序也可不停止发动机22，而是保持该发动机22待用以立即响应于在解除对输出给齿圈轴32a的转矩的限制之后动力要求Pr的增大。此控制还防止频繁地停止和启动发动机22。发动机22可以空转或者维持怠速而不停止。 
以上实施例中的图2所示驱动控制程序基于电池50不需要充电的假定。若需要用电机MG1所产生的电力给电池50充电，则仅对驱动该车辆所需的一部分动力要求设定转矩限制，同时将充电所需的剩余动力要求部分排除在转矩限制的对象之外。 
在以上实施例的控制程序中，动力限制率KP被设定为等于转矩限制率KT。或者，动力限制率KP可计算为转矩限制率KT的函数。例如，转矩限制率KT的平均值(leveled value)被设定为动力限制率KP。更具体地说，动力限制率KP可被调节为不随着转矩限制率KT的变化同时变化，而是随着时间的经过逐渐接近转矩限制率KT。即便在转矩限制率KT发生突然变化的情况中，这种布置也通过随着时间的经过逐渐改变动力限制率KP进行限制来确保动力要求Pr的缓慢变化。动力要求Pr的缓慢变化导致发动机噪音平稳变化，并有效防止驾驶员感觉不舒适。另一方法可将转矩限制率KT与一特定系数k的积设定为动力限制率KP。再一方法可将动力限制率KP设定为一固定值，而不考虑转矩限制率KT的变化。最后一种方法通过较简单的控制防止发动机噪音的令人难受的变化。 
以上实施例的控制程序基于角加速度α的变化来检测是否发生滑动。除了这种检测之外或者代替这种检测，一个修正程序可用从动轮的轮速Va与驱动轮的轮速Vb之间的差除以该轮速Va来计算滑动率(Va-Vb)/Va、比较所算得滑动率与一预定参数值、且当所算得滑动率超过该预定参数值 时检测为发生滑动。 
本发明技术不限于上述实施例的混合动力车20，而是也可应用于各种串联式和并联式混合动力车。本发明的其它可能应用是包括经由变速器314(例如，无级变速器或者自动变速器)同与驱动轮318a和318b连接的驱动轴连接的发动机311以及放置在发动机311之后且经由变速器314与驱动轴连接的电机312(或者与该驱动轴直接连接的电机)的混合动力车310，如图8所示。 
工业应用性 
本发明技术可有效应用于汽车工业以及与车辆相关的其它行业。 

Claims (2)

1.一种车辆控制装置，其中利用发动机的动力驱动电机以使与驱动轮相连接的驱动轴转动，所述车辆控制装置包括：
根据车辆运转状况确定要输出给所述驱动轴的动力要求的动力要求确定单元；
用所确定的动力要求控制所述发动机和所述电机的控制单元；
检测发生在所述驱动轮上的滑动的滑动检测单元；以及
响应于所述滑动检测单元的滑动的检测而限制所述驱动轮的转矩水平以抑制所述滑动的转矩限制单元，
其中，在所述转矩限制单元的对所述驱动轮的转矩水平的限制的情况下，所述动力要求确定单元利用固定设定的动力限制率来限制根据所述车辆运转状况确定的所述动力要求，而与限制所述驱动轮的转矩水平的转矩限制率的变化无关，其中，所述动力限制率为一小于1的固定常数，用来限制驱动轴的动力要求，以及所述转矩限制率为转矩指令值超过最大转矩时，所述最大转矩与所述转矩指令值的比值。
2.一种用于车辆的车辆控制方法，其中利用发动机的动力驱动电机以使与驱动轮相连接的驱动轴转动，所述车辆控制方法包括步骤：
(a)根据车辆运转状况确定要输出给所述驱动轴的动力要求；
(b)用所确定的动力要求控制所述发动机和所述电机；
(c)检测发生在所述驱动轮上的滑动；以及
(d)响应于所述步骤(c)中的滑动的检测而限制所述驱动轮的转矩水平以抑制所述滑动，
其中，在所述步骤(d)的对所述驱动轮的转矩水平的限制的情况下，所述步骤(b)利用固定设定的动力限制率来限制根据所述车辆运转状况确定的所述动力要求，而与限制所述驱动轮的转矩水平的转矩限制率的变化无关，其中，所述动力限制率为一小于1的固定常数，用来限制所述驱动轴的动力要求，以及所述转矩限制率为转矩指令值超过最大转矩时，所述最大转矩与所述转矩指令值的比值。
CN2008100912740A 2002-09-03 2003-07-07 车辆控制装置、装有车辆控制装置的车辆及车辆控制方法 Expired - Fee Related CN101274624B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002257467A JP3729165B2 (ja) 2002-09-03 2002-09-03 車両制御装置及びその制御方法
JP257467/2002 2002-09-03

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CNB038236524A Division CN100396901C (zh) 2002-09-03 2003-07-07 车辆控制装置、装有车辆控制装置的车辆及车辆控制方法

Publications (2)

Publication Number Publication Date
CN101274624A CN101274624A (zh) 2008-10-01
CN101274624B true CN101274624B (zh) 2011-11-09

Family

ID=31972992

Family Applications (2)

Application Number Title Priority Date Filing Date
CNB038236524A Expired - Fee Related CN100396901C (zh) 2002-09-03 2003-07-07 车辆控制装置、装有车辆控制装置的车辆及车辆控制方法
CN2008100912740A Expired - Fee Related CN101274624B (zh) 2002-09-03 2003-07-07 车辆控制装置、装有车辆控制装置的车辆及车辆控制方法

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CNB038236524A Expired - Fee Related CN100396901C (zh) 2002-09-03 2003-07-07 车辆控制装置、装有车辆控制装置的车辆及车辆控制方法

Country Status (7)

Country Link
US (1) US7445066B2 (zh)
EP (1) EP1548253B1 (zh)
JP (1) JP3729165B2 (zh)
KR (1) KR100614945B1 (zh)
CN (2) CN100396901C (zh)
DE (1) DE60329772D1 (zh)
WO (1) WO2004022950A1 (zh)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3832405B2 (ja) * 2002-08-29 2006-10-11 トヨタ自動車株式会社 原動機の制御装置および原動機の制御方法
JP4363143B2 (ja) * 2003-09-24 2009-11-11 株式会社アドヴィックス トラクション制御装置
US7222014B2 (en) * 2004-05-14 2007-05-22 General Motors Corporation Method for automatic traction control in a hybrid electric vehicle
JP4222297B2 (ja) * 2004-11-24 2009-02-12 トヨタ自動車株式会社 車両の制御装置
JP4655723B2 (ja) * 2005-03-31 2011-03-23 トヨタ自動車株式会社 車両およびその制御方法
DE102005040778A1 (de) * 2005-08-29 2007-03-08 Robert Bosch Gmbh Verfahren zur Begrenzung von Sollmomenten bei der Motorsteuerung
JP4175361B2 (ja) * 2005-11-07 2008-11-05 トヨタ自動車株式会社 ハイブリッド車及びその制御方法
DE102005061414A1 (de) * 2005-12-22 2007-06-28 Robert Bosch Gmbh Verfahren zum Betreiben eines Hybridfahrzeugs
ITMI20061157A1 (it) * 2006-06-15 2007-12-16 Piaggio & C Spa Metodo di gestione delle modalita' di funzionamento di un gruppo motopropulsore ibrido impiegante lo stesso
JP2008005659A (ja) * 2006-06-23 2008-01-10 Toyota Motor Corp 電動車両
DE102006031007A1 (de) 2006-07-05 2008-01-10 Daimlerchrysler Ag Steuereinheit zum Betreiben eines Fahrzeugantriebes
JP4997949B2 (ja) * 2006-12-08 2012-08-15 トヨタ自動車株式会社 車両用駆動装置の制御装置
JP2008141810A (ja) * 2006-11-30 2008-06-19 Toyota Motor Corp 動力出力装置、それを備えた自動車、および動力出力装置の制御方法
US8195349B2 (en) * 2007-11-07 2012-06-05 GM Global Technology Operations LLC Method for predicting a speed output of a hybrid powertrain system
US8405335B2 (en) * 2007-12-28 2013-03-26 Aisin Aw Co., Ltd. Rotary electric machine control system
JP4547011B2 (ja) * 2008-02-13 2010-09-22 トヨタ自動車株式会社 動力出力装置、それを備えた車両、駆動装置および動力出力装置の制御方法
JP5115261B2 (ja) * 2008-03-18 2013-01-09 トヨタ自動車株式会社 車両およびその制御方法
JP4798638B2 (ja) * 2009-02-02 2011-10-19 日本輸送機株式会社 同期モータの制御装置
US8280598B2 (en) * 2009-07-16 2012-10-02 GM Global Technology Operations LLC Motor torque management associated with audible noise for a hybrid powertrain system
GB2481025B (en) * 2010-06-08 2013-11-27 Zeta Automotive Ltd Engine fuel economy unit
DE112012005785B4 (de) * 2012-01-30 2021-06-17 Toyota Jidosha Kabushiki Kaisha Antriebssystem für ein Fahrzeug
EP2631101B1 (de) * 2012-02-22 2016-06-08 MAGNA STEYR Fahrzeugtechnik AG & Co KG Hybridantrieb
JP2014014221A (ja) * 2012-07-04 2014-01-23 Toyota Industries Corp 電気車両のスリップ抑制駆動制御装置及びスリップ抑制方法
KR101611045B1 (ko) 2014-06-11 2016-04-11 현대자동차주식회사 구동모터의 토크 제어 장치 및 제어방법
GB201504597D0 (en) * 2015-03-18 2015-05-06 Jaguar Land Rover Ltd Vehicle control unit
JP6219883B2 (ja) * 2015-05-22 2017-10-25 株式会社アドヴィックス 車両用制御装置
CN108248453B (zh) * 2016-12-27 2020-09-15 比亚迪股份有限公司 识别路面方法、装置及汽车
TR201711580A2 (tr) * 2017-08-07 2019-02-21 Tofas Tuerk Otomobil Fabrikasi Anonim Sirketi Elektri̇kli̇ araçlarda menzi̇l arttirici bi̇r si̇stem yöntemi̇
CN108583365B (zh) * 2018-03-12 2021-03-26 上海伊控动力***有限公司 一种电动汽车齿面换向防抖控制方法
FR3086246B1 (fr) * 2018-09-25 2020-09-11 Psa Automobiles Sa Procede de gestion du groupe moto-propulseur d’un vehicule automobile
KR102103292B1 (ko) * 2019-09-04 2020-04-22 콘티넨탈 오토모티브 시스템 주식회사 차량용 제어기 통신 장치
CN111086500B (zh) * 2020-03-23 2020-07-31 盛瑞传动股份有限公司 车辆的打滑保护方法及其***、车辆
JP7302547B2 (ja) * 2020-08-07 2023-07-04 トヨタ自動車株式会社 車両の駆動力制御装置
CN112937314B (zh) * 2021-03-04 2023-03-21 广西玉柴机器股份有限公司 一种再生模式提升扭矩平顺性的方法及装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5269390A (en) * 1991-04-06 1993-12-14 Lucas Industries Public Limited Company Traction control system
CN1100691A (zh) * 1993-01-27 1995-03-29 马自达汽车株式会社 车辆滑动控制***
US6338392B1 (en) * 1999-03-26 2002-01-15 Robert Bosch Gmbh Method and arrangement for controlling a drive unit

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2669648B2 (ja) 1988-07-04 1997-10-29 マツダ株式会社 自動車のスリップ制御装置
EP0349993B1 (en) * 1988-07-04 1994-01-05 Mazda Motor Corporation Slip control apparatus
JP2591082B2 (ja) * 1988-07-07 1997-03-19 株式会社デンソー 車両のスリップ制御装置
JP2669653B2 (ja) 1988-07-18 1997-10-29 マツダ株式会社 自動車のスリップ制御装置
JP3158848B2 (ja) * 1994-03-16 2001-04-23 日産自動車株式会社 車両用トラクション制御装置
US5471386A (en) * 1994-10-03 1995-11-28 Ford Motor Company Vehicle traction controller with torque and slip control
JPH10246132A (ja) 1997-03-03 1998-09-14 Nissan Motor Co Ltd ハイブリッド車両の制御装置
JPH10304514A (ja) 1997-04-24 1998-11-13 Toyota Motor Corp ハイブリッド車両の駆動力制御装置
JP3292113B2 (ja) 1997-09-25 2002-06-17 トヨタ自動車株式会社 動力出力装置およびこの装置における原動機の停止方法
US6182002B1 (en) * 1998-10-26 2001-01-30 General Motors Corporation Vehicle acceleration based traction control
JP3812212B2 (ja) 1999-03-19 2006-08-23 マツダ株式会社 ハイブリッド車の車両走行制御装置
JP3654074B2 (ja) * 1999-08-27 2005-06-02 トヨタ自動車株式会社 複数の原動機を備えた車両の制御装置
JP3646643B2 (ja) 1999-10-08 2005-05-11 トヨタ自動車株式会社 ４輪駆動車の制御装置
JP3371889B2 (ja) 2000-04-17 2003-01-27 トヨタ自動車株式会社 車両のスリップ制御
JP4396002B2 (ja) * 2000-06-27 2010-01-13 トヨタ自動車株式会社 車輌のトラクション制御装置
JP4064042B2 (ja) * 2000-07-19 2008-03-19 本田技研工業株式会社 前後輪駆動車両の駆動力制御装置
JP4120504B2 (ja) * 2003-07-30 2008-07-16 トヨタ自動車株式会社 車両および車両の制御方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5269390A (en) * 1991-04-06 1993-12-14 Lucas Industries Public Limited Company Traction control system
CN1100691A (zh) * 1993-01-27 1995-03-29 马自达汽车株式会社 车辆滑动控制***
US6338392B1 (en) * 1999-03-26 2002-01-15 Robert Bosch Gmbh Method and arrangement for controlling a drive unit

Also Published As

Publication number Publication date
US20050241868A1 (en) 2005-11-03
CN1688800A (zh) 2005-10-26
KR100614945B1 (ko) 2006-08-28
DE60329772D1 (de) 2009-12-03
KR20050057104A (ko) 2005-06-16
EP1548253A1 (en) 2005-06-29
JP3729165B2 (ja) 2005-12-21
CN100396901C (zh) 2008-06-25
JP2004092580A (ja) 2004-03-25
US7445066B2 (en) 2008-11-04
CN101274624A (zh) 2008-10-01
EP1548253A4 (en) 2006-08-23
EP1548253B1 (en) 2009-10-21
WO2004022950A1 (ja) 2004-03-18

Similar Documents

Publication Publication Date Title
CN101274624B (zh) 车辆控制装置、装有车辆控制装置的车辆及车辆控制方法
CN1819933B (zh) 动力输出装置、控制动力输出装置的方法以及汽车
CN100560965C (zh) 动力输出装置和安装该装置的车辆以及该装置的控制方法
CN100453359C (zh) 动力输出装置及其控制方法及安装有动力输出装置的汽车
CN101421899B (zh) 电源装置和电源装置中的输入输出限制设定方法及车辆和其控制方法
CN101378925B (zh) 车辆、其控制方法和制动装置
KR100843668B1 (ko) 하이브리드자동차, 하이브리드자동차의 제어방법 및동력출력장치
CN101687503B (zh) 车辆及其控制方法以及驱动装置
CN101248260B (zh) 动力输出装置、配备有动力输出装置的机动车辆以及动力输出装置的控制方法
CN100488799C (zh) 混合动力输出装置以及控制方法
CN1292935C (zh) 混合动力车及混合动力车的控制方法
CN100404298C (zh) 混合动力车辆用动力输出装置
US20050082097A1 (en) Power output apparatus and automobile with power output apparatus mounted thereon
JP4222332B2 (ja) ハイブリッド車およびその制御方法
CN101522493A (zh) 制动/驱动力控制装置
US20200141341A1 (en) Hybrid vehicle
JP4281730B2 (ja) 車両およびその制御方法
JP4016897B2 (ja) 蓄電装置の充放電制御装置および自動車
JP4254635B2 (ja) 動力出力装置およびこれを搭載する自動車並びに動力出力装置の制御方法
JP4365354B2 (ja) 動力出力装置およびこれを搭載する自動車並びに動力出力装置の制御方法
JP4345765B2 (ja) 車両およびその制御方法
CN100402335C (zh) 混合动力汽车及其控制方法
CN100540375C (zh) 动力输出装置及其控制方法及安装有动力输出装置的汽车
CN100579839C (zh) 动力输出装置及其控制方法和汽车
CN100355609C (zh) 动力输出装置及其控制方法和汽车

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20111109

Termination date: 20160707

CF01 Termination of patent right due to non-payment of annual fee