JP7099873B2 - 車両の制御装置及び制御方法 - Google Patents
車両の制御装置及び制御方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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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- 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
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- 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
- B60L15/2045—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 for optimising the use of energy
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- 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
- B60K2006/4825—Electric machine connected or connectable to gearbox input shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2240/00—Control parameters of input or output; Target parameters
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
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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
- 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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/26—Transition between different drive modes
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
- B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
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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
- B60W2510/00—Input parameters relating to a particular sub-units
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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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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Description
まず、本発明の実施の形態に係る車両の制御装置を適用可能なハイブリッド車両の構成例を説明する。図1は、車両の制御装置100を備えたハイブリッド車両1を示す模式図である。以下、パワーユニット10と制御装置(電子制御系)100とに分けて、ハイブリッド車両1の全体構成例を説明する。
ハイブリッド車両1のパワーユニット10は、動力源としてエンジン11及びモータジェネレータ31を備える。モータジェネレータ31は駆動用モータとして機能する。また、パワーユニット10は、プライマリプーリ27及びセカンダリプーリ29を有する無段変速機(以下、「CVT」ともいう。)25を備える。
ハイブリッド車両1の制御装置100の全体構成を説明する。図1に示すように、ハイブリッド車両1は、パワーユニット10の作動状態を制御するため、マイクロコンピュータ等を備える各種コントローラを備える。各種コントローラとして、エンジンコントローラ103、ミッションコントローラ105、モータコントローラ107、バッテリコントローラ109及びメインコントローラ101が備えられている。
次に、本実施形態に係るハイブリッド車両1の制御装置100の具体例を説明する。
例えばメインコントローラ101が目標駆動力算出部121として機能する。目標駆動力算出部121は、ハイブリッド車両1の目標駆動力を算出する。例えば、目標駆動力算出部121は、あらかじめ記憶装置に格納された駆動力マップを参照して、アクセルセンサ81及びエンジン回転数センサ87の信号に基づいて目標駆動力を算出する。
例えばメインコントローラ101が走行モード設定部123として機能する。走行モード設定部123は、目標駆動力算出部121で算出された目標駆動力と、車速センサ85の信号に基づいて得られるハイブリッド車両1の車速とに基づいて、ハイブリッド車両1の走行モードを電動走行モードとハイブリッド走行モードとに切り換える。電動走行モードは、モータジェネレータ31の動力のみを駆動輪47に伝達する走行モードである。ハイブリッド走行モードは、モータジェネレータ31及びエンジン11の動力を駆動輪47に伝達する走行モードである。
例えばメインコントローラ101が駆動力差算出部125として機能する。駆動力差算出部125は、目標駆動力と、モード切換閾値との差である駆動力差を算出する。具体的には、目標駆動力算出部121で算出される目標駆動力と、ハイブリッド車両1の車速に対応するモード切換閾値との差の絶対値を駆動力差とする。
例えばメインコントローラ101がディレイ制御部127として機能する。ディレイ制御部127は、駆動力差及び車速に基づいて、目標駆動力がモード切換線を跨いでから走行モードを切り換えるまでのディレイ時間を設定する。ディレイ時間は、駆動力差と車速とに応じて設定される。例えば、ディレイ制御部127は、あらかじめ記憶装置に格納されたディレイマップを参照して、駆動力差及び車速に基づいてディレイ時間を設定してもよい。
例えばメインコントローラ101、エンジンコントローラ103、ミッションコントローラ105、及びモータコントローラ107が駆動制御部129として機能する。駆動制御部129は、設定された走行モードに応じて、エンジンクラッチ23を締結状態又は解放状態に切り換える。つまり、電動走行モードにおいては、エンジンクラッチ23を解放状態にする。ハイブリッド走行モードにおいては、エンジンクラッチ23を締結状態にする。駆動制御部129は、車速及び目標駆動力に応じてCVT25の変速比を設定し、CVT25を制御する。
次に、本実施形態に係るハイブリッド車両1の制御装置100による走行モード切換処理を説明する。
図7は、走行モードを電動走行モードからハイブリッド走行モードへの切換動作の一例を示すフローチャートである。
図8は、走行モードをハイブリッド走行モードから電動走行モードへの切換動作の一例を示すフローチャートである。
次に、図9~図11を参照して、本実施形態に係る車両の制御装置100の作用を説明する。図9は、目標駆動力が一時的にEV終了閾値を超える様子を示す説明図である。図10は、ディレイ時間を設定しない参考例を示し、図10は、ディレイ時間を設定する本実施形態の例を示す。
ここまで、本実施形態に係る車両の制御装置100について説明した。以下、本実施形態に係る車両の制御装置100の応用例を説明する。
11 エンジン
25 CVT
31 モータジェネレータ
81 アクセルセンサ
85 車速センサ
87 エンジン回転数センサ
100 車両の制御装置
101 メインコントローラ
103 エンジンコントローラ
107 モータコントローラ
117 バッテリ
121 目標駆動力算出部
123 走行モード設定部
125 駆動力差算出部
127 ディレイ制御部
129 駆動制御部
Claims (8)
- 駆動用モータを用いた電動走行モードと前記駆動用モータ及びエンジンを用いたハイブリッド走行モードとを切換可能な車両の制御装置において、
目標駆動力が車速に応じて設定されたモード切換閾値の連続線以下のときに前記電動走行モードに設定し、前記目標駆動力が前記モード切換閾値の連続線を上回るときに前記ハイブリッド走行モードに設定する走行モード設定部と、
前記目標駆動力と前記モード切換閾値との差である駆動力差を算出する駆動力差算出部と、
前記駆動力差及び前記車速に基づいて前記目標駆動力が前記モード切換閾値の連続線を跨いでから走行モードを切り換えるまでのディレイ時間の長さを設定するディレイ制御部と、
を備える、車両の制御装置。 - 前記モード切換閾値は、前記駆動用モータに電力を供給するバッテリの充電容量が低いほど小さい値に設定される、請求項1に記載の車両の制御装置。
- 前記ディレイ制御部は、前記駆動力差が小さいほど前記ディレイ時間を長くする、請求項1又は2に記載の車両の制御装置。
- 前記モード切換閾値は、前記電動走行モードから前記ハイブリッド走行モードに遷移させるためのEV終了閾値である、請求項1~3のいずれか1項に記載の車両の制御装置。
- 前記ディレイ制御部は、前記車速が小さいほど前記ディレイ時間を長くする、請求項4に記載の車両の制御装置。
- 前記モード切換閾値は、前記ハイブリッド走行モードから前記電動走行モードに遷移させるためのEV復帰閾値である、請求項1~3のいずれか1項に記載の車両の制御装置。
- 前記ディレイ制御部は、前記車速が大きいほど前記ディレイ時間を長くする、請求項6に記載の車両の制御装置。
- 目標駆動力が車速に応じて設定されたモード切換閾値の連続線以下のときに設定される駆動用モータを用いた電動走行モードと、前記目標駆動力が前記モード切換閾値の連続線を上回るときに設定される前記駆動用モータ及びエンジンを用いたハイブリッド走行モードとを切り換えながら車両の駆動力を制御する車両の制御方法において、
前記目標駆動力が前記モード切換閾値の連続線を跨いだときに、前記目標駆動力と前記モード切換閾値との差である駆動力差と、前記車速とに基づいて、前記目標駆動力が前記モード切換閾値の連続線を跨いでから走行モードを切り換えるまでのディレイ時間の長さを設定する、車両の制御方法。
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