JP5578089B2 - Hybrid vehicle and control method thereof - Google Patents

Description

  The present invention relates to a hybrid vehicle including an internal combustion engine capable of outputting power to an axle via a gear mechanism having a plurality of gears, an electric motor connected to the gear mechanism, and an electric storage means capable of exchanging electric power with the electric motor, and It relates to the control method.

  Conventionally, this type of hybrid vehicle includes an engine, a first motor capable of inputting / outputting power, a planetary gear mechanism (power split mechanism) connected to a drive shaft, an output shaft of the engine, and a rotation shaft of the first motor. ) And a second motor connected to the drive shaft, and has been proposed to reduce the creep torque requirement value, which is the creep torque requirement value, in response to an increase in brake torque (see, for example, Patent Document 1). ). In this hybrid vehicle, when the switching condition including the first condition that the vehicle is stopped and the second condition that the engine is in the load operation state is satisfied, compared to the case where the switching condition is not satisfied, By setting the creep torque to a large value, the torque output from the second motor is prevented from becoming substantially zero. As a result, the creep torque is set to be small while the vehicle is stopped (the torque output from the second motor becomes substantially zero), and the gears in the planetary gear mechanism (power split mechanism) are pressed against each other. It is possible to suppress the occurrence of rattling noise between the gears due to the pulsation of the output torque of the engine without reducing the force. Control for avoiding the torque output from the second motor from becoming substantially zero, that is, a pressing torque for pressing the gears of the drive system including the planetary gear mechanism from the second motor. Is generally intended to suppress the occurrence of rattling noise between the gears of the drive system gear mechanism due to engine torque pulsation, piston friction, etc. This is executed when the output shaft of the engine is rotating.

JP 2010-89543 A

  The pressing control as described above should be stopped as soon as possible when the output of the pressing torque becomes unnecessary or impossible, or when there is a possibility that the driver will feel uncomfortable due to the output of the pressing torque. Is desirable. On the other hand, if the pressing control is immediately stopped, the driver may feel uncomfortable.

  The hybrid vehicle of the present invention and the control method thereof cancel the pushing control for controlling the electric motor so as to output the pushing torque for catching backlash between the gears of the gear mechanism when the output shaft of the internal combustion engine is rotating. The main purpose is to cancel more appropriately according to the establishment of conditions.

  The hybrid vehicle of the present invention and the control method thereof employ the following means in order to achieve the main object described above.

The hybrid vehicle of the present invention
An internal combustion engine capable of outputting power to an axle via a gear mechanism having a plurality of gears; an electric motor connected to the gear mechanism; and an electric storage means capable of exchanging electric power with the electric motor; In a hybrid vehicle that performs a pressing control for controlling an electric motor to output a pressing torque for catching backlash between gears of the gear mechanism when the shaft is rotating,
When at least one of a plurality of predetermined pressing control release conditions is satisfied during execution of the pressing control, the pressing torque is accompanied by a gradual change process according to the satisfied pressing control release condition. And a pressing torque setting means for setting the value to 0.

  In the hybrid vehicle of the present invention, when the output shaft of the internal combustion engine is rotating, the pressing control for controlling the electric motor so as to output the pressing torque for catching backlash between the gears of the gear mechanism is executed. When at least one of a plurality of predetermined pressing control release conditions is satisfied during the execution of the pressing control, the pressing torque is accompanied by a gradual change process according to the satisfied pressing control release condition. Is set to the value 0. In this way, according to the content of the pressing control release condition, by changing the time from the state in which the pressing torque is output until the pressing torque becomes 0 according to the pressing control release condition. It is possible to select more precisely whether priority is given to stopping the output of the pressing torque quickly or suppressing the occurrence of vehicle shock. Therefore, in the hybrid vehicle of the present invention, it is possible to release the pressing control more appropriately according to the establishment of the release condition.

  Further, the hybrid vehicle of the present invention includes a shift position selection unit that allows a driver to select a desired shift position from among a plurality of shift positions, and a friction brake that outputs a friction braking force according to a brake pedaling force by the driver. And the plurality of pressing control release conditions include that the voltage of the power storage means is equal to or lower than a predetermined voltage, that the shift position is changed by the driver in a stopped state, The brake pedal force may be less than or equal to a predetermined pedal force, and the vehicle may be finely moved. The pressing torque setting means may be configured such that the voltage of the power storage means is the predetermined voltage during execution of the pressing control. When the following has occurred, the pressing torque is set to a value of 0 with the first gradual change process, and the pressing control is being executed. When at least one of the shift position is changed by the driver in the stopped state, the brake pedaling force is equal to or less than a predetermined pedaling force in the stopped state, and the vehicle is slightly moved, the first The pressing torque may be set to a value of 0 together with a second gentle change process that sharply reduces the pressing torque as compared to the slow change process.

  As described above, when the voltage of the power storage unit becomes equal to or lower than the predetermined voltage during the execution of the pressing control, the pressing torque is set to 0 with the first gradual change process, thereby generating the vehicle shock. While giving priority to suppression, the output of the pressing torque from the electric motor can be stopped to protect the power storage means. On the other hand, when the shift position is changed by the driver while the vehicle is stopped while the pressing control is being performed, torque opposite to the traveling direction of the vehicle intended by the driver is applied from the motor to the vehicle as the pressing torque. There is also a possibility that the driver may feel uncomfortable. For this reason, when the shift position is changed by the driver while the vehicle is stopped during the pressing control, the second gentle change process for sharply reducing the pressing torque as compared with the first gentle change process is involved. By setting the pressing torque to a value of 0, it is possible to quickly stop the output of the pressing torque and prevent the driver from feeling uncomfortable while suppressing the occurrence of vehicle shock. In addition, when the braking force of the brake pedal is equal to or less than a predetermined pedaling force when the vehicle is stopped during the pressing control, a second gentle change process that sharply reduces the pressing torque compared to the first gentle change process. By setting the pressing torque to a value of 0, the output of the pressing torque is stopped quickly while suppressing the occurrence of vehicle shock, and the vehicle slightly moves or vibrates due to the pressing torque. This can be suppressed so that the driver does not feel uncomfortable. Further, when the vehicle moves slightly during execution of the pressing control, the pressing torque is set to 0 along with the second gentle change process that sharply reduces the pressing torque compared to the first gentle change process. Thus, while suppressing the occurrence of a vehicle shock, the output of the pressing torque can be quickly stopped to suppress the fine movement of the vehicle so that the driver does not feel uncomfortable.

  Furthermore, the hybrid vehicle of the present invention may further include discharge allowable power setting means for setting discharge allowable power that is power allowed for discharging of the power storage means, and the pressing torque setting means has a vehicle speed of a predetermined value. The pressing torque is immediately applied when at least one of an immediate release condition is satisfied, including that the vehicle speed is exceeded, the vehicle is in a retreating traveling state, and the discharge allowable power is a predetermined value or less. May be set to 0. As described above, when the vehicle speed becomes equal to or higher than the predetermined vehicle speed during the execution of the pressing control, the output of the pressing torque from the electric motor is immediately stopped, so that the driving control is hindered by the output of the pressing torque. Can be suppressed. In addition, when the evacuation traveling state is entered during the execution of the pressing control, the output of the pressing torque from the electric motor is immediately stopped, thereby preventing the evacuation traveling from being hindered by the output of the pressing torque. it can. Further, when the discharge allowable power of the power storage means becomes a predetermined value or less during the pressing control, the output of the pressing torque from the electric motor is immediately stopped, thereby suppressing the discharge of the power storage means and Means can be protected.

  The hybrid vehicle of the present invention may further include a second electric motor capable of inputting and outputting power, and the gear mechanism includes a drive shaft connected to the electric motor, an output shaft of the internal combustion engine, and the second motor. A planetary gear mechanism connected to the rotating shaft of the motor, a differential gear connected to the axle, and a plurality of gears for connecting the drive shaft and the differential gear.

The hybrid vehicle control method of the present invention includes:
Control method of a hybrid vehicle comprising an internal combustion engine capable of outputting power to an axle via a gear mechanism having a plurality of gears, an electric motor connected to the gear mechanism, and power storage means capable of exchanging electric power with the electric motor In
(A) executing a pressing control for controlling the electric motor to output a pressing torque for catching backlash between the gears of the gear mechanism when the output shaft of the internal combustion engine is rotating;
(B) When at least one of a plurality of predetermined pressing control cancellation conditions is satisfied during execution of the pressing control, the slow change processing according to the satisfied pressing control cancellation condition is performed. Setting the pressing torque to a value of 0;
Is included.

  As in this method, by changing the time from when the pushing torque is output until the pushing torque reaches a value of 0 according to the pushing control release condition, the content of the pushing control release condition is set. Accordingly, it is possible to select more precisely whether priority is given to stopping the output of the pressing torque promptly or suppressing the occurrence of the vehicle shock. Therefore, according to this method, the pressing control can be released more appropriately according to the establishment of the release condition.

1 is a schematic configuration diagram of a hybrid vehicle 20 according to an embodiment of the present invention. It is a flowchart which shows an example of the pressing control cancellation | release routine performed by hybrid ECU70 of an Example.

  Next, the form for implementing this invention is demonstrated using an Example.

  FIG. 1 is a schematic configuration diagram of a hybrid vehicle 20 according to an embodiment of the present invention. As shown in the figure, a hybrid vehicle 20 according to the embodiment includes an engine 22 configured as an internal combustion engine that outputs power using a hydrocarbon-based fuel such as gasoline or light oil, and a crankshaft 26 serving as an output shaft of the engine 22 with a damper. 28, a gear mechanism 60 connected through the motor 28, drive wheels 63a and 63b connected to the gear mechanism 60, and a motor MG1 and a motor MG2 configured as, for example, a synchronous generator motor and having rotors connected to the gear mechanism 60, respectively. For example, a battery 50 configured as a lithium ion secondary battery and exchanging electric power with the motors MG1 and MG2 via the inverters 41 and 42, and a brake actuator for controlling the brakes of the drive wheels 63a and 63b and a driven wheel (not shown) 92 and motors MG1 and M through inverters 41 and 42 2, a motor electronic control unit (hereinafter referred to as “motor ECU”) 40, a battery electronic control unit (hereinafter referred to as “battery ECU”) 52 that manages the battery 50, a brake actuator 92, and a brake An electronically controlled hydraulic brake device (friction braking means) 90 having an electronic control unit (hereinafter referred to as “brake ECU”) 94 and capable of outputting friction braking force to the drive wheels 63a, 63b and other wheels (not shown); And a hybrid electronic control unit (hereinafter referred to as “hybrid ECU”) 70 for controlling the entire vehicle.

  The gear mechanism 60 has a sun gear 31 connected to the rotation shaft of the motor MG1, a carrier 34 connected to the crankshaft 26 of the engine 22 via a damper 28, and a ring gear 32 connected to a ring gear shaft 32a as a drive shaft. Connected to the planetary gear 30, the reduction gear 35 connected to the rotor of the motor MG2 and connected to the ring gear shaft 32a, the gear train 61 connected to the ring gear shaft 32a, the gear train 61 and the drive wheels 63a and 63b. Differential gear 62.

  The motor ECU 40 calculates data related to the motors MG1 and MG2, such as the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 based on signals from rotational position detection sensors 43 and 44 that detect the rotational positions of the rotors of the motors MG1 and MG2. In order to manage the battery 50, the battery ECU 52 calculates the storage ratio SOC of the battery 50, calculates the charge / discharge required power Pb * of the battery 50 based on the storage ratio SOC and predetermined charge / discharge constraints, Based on the storage ratio SOC of the battery 50 and the temperature of the battery 50, the input limit Win as the charge allowable power that is the power allowed for charging the battery 50 and the discharge allowable power that is the power allowed for discharging the battery 50 Or the output limit Wout. The battery ECU 52 is supplied with a voltage Vb between terminals of the battery 50 from a voltage sensor (not shown) that detects the voltage of the battery 50.

  The brake actuator 92 constituting the electronically controlled hydraulic brake device 90 is applied to the brake wheel cylinders 96a to 96d in accordance with the depression operation of the brake pedal 85 by the driver or regardless of the depression operation of the brake pedal 85 by the driver. It is possible to apply a friction braking force to the drive wheels 63a, 63b and other wheels by adjusting the hydraulic pressure. The brake ECU 94 calculates the pedal depression force (brake depression force) Fpd applied to the brake pedal 85 by the driver based on the brake pedal stroke BS from the brake pedal stroke sensor 86 that detects the depression amount of the brake pedal 85 and the pedal depression force. The required braking force requested by the driver is set based on Fpd. Then, the brake ECU 94 sets the required friction braking force for the electronically controlled hydraulic brake device 90 using the required braking force and a predetermined regeneration distribution ratio setting map, and the electronic control type based on the required friction braking force. The brake actuator 92 is controlled so that the friction braking force according to the share of the hydraulic brake device 90 acts on the drive wheels 63a and 63b and other wheels. The brake ECU 94 communicates with the hybrid ECU 70, controls the brake actuator 92 based on a signal from the hybrid ECU 70, and outputs data related to the state of the brake actuator 92 to the hybrid ECU 70 as necessary.

  The hybrid ECU 70 is configured as a microprocessor centered on the CPU 72, and includes a ROM 74 that stores a processing program, a RAM 76 that temporarily stores data, an input / output port and a communication port (not shown), in addition to the CPU 72. . The hybrid ECU 70 includes an ignition signal from the ignition switch 80, a shift position SP from the shift position sensor 82 that detects the operation position of the shift lever 81, and an accelerator opening from the accelerator pedal position sensor 84 that detects the amount of depression of the accelerator pedal 83. The degree Acc, the vehicle speed V from the vehicle speed sensor 88, and the like are input via the input port. The hybrid ECU 70 is connected to the engine ECU 24, the motor ECU 40, the battery ECU 52, and the brake ECU 94 via a communication port, and exchanges various control signals and data with the engine ECU 24, the motor ECU 40, the battery ECU 52, and the brake ECU 94.

  In the hybrid vehicle 20 of the embodiment configured as described above, the required torque Tr * to be output to the ring gear shaft 32a as the drive shaft is calculated based on the accelerator opening Acc and the vehicle speed V, and this required torque Tr *. The engine 22, the motor MG1, and the motor MG2 are controlled so that torque corresponding to the torque is output to the ring gear shaft 32a. As a control mode for the engine 22, the motor MG1, and the motor MG2, the engine 22 is controlled so that the power corresponding to the required torque Tr * is output from the engine 22, and all the power output from the engine 22 is transmitted to the planetary gear 30 and the motor. Torque conversion operation mode for driving and controlling motors MG1 and MG2 so that torque is converted by MG1 and motor MG2 and output to ring gear shaft 32a, and the required torque Tr * and the power required for charging / discharging battery 50 The engine 22 is controlled so that an appropriate power is output from the engine 22, and all or a part of the power output from the engine 22 with charging / discharging of the battery 50 is torque generated by the planetary gear 30, the motor MG1, and the motor MG2. Required torque Tr * with conversion Charge / discharge operation mode for driving and controlling the motors MG1 and MG2 so that the torque based on the torque is output to the ring gear shaft 32a, and the motor MG2 is driven so that the engine 22 is stopped and torque based on the required torque Tr * is output to the ring gear shaft 32a There are motor operation modes to be controlled. In the hybrid vehicle 20 of the embodiment, the engine 22 is prohibited from being stopped when the vehicle speed V is equal to or higher than a predetermined intermittent prohibition vehicle speed, and when the vehicle speed V is less than the intermittent prohibition vehicle speed, the engine 22 is stopped. Intermittent operation that automatically stops and starts is executed.

  Further, in the hybrid vehicle 20 of the embodiment, the engine 22 is in a starting process of the engine 22, during the operation of the engine 22, that is, during the load operation or the independent operation (idle operation) of the engine 22, and during the engine 22 stop process. When the crankshaft 26 serving as the output shaft is rotating, a pressing force that is a torque for catching backlash between gears included in the gear mechanism 60 (planetary gear 30, reduction gear 35, gear train 61, and differential gear 62). The pressing control for outputting the torque Tp from the motor MG2 is executed as necessary. The value of the pressing torque Tp is determined in advance by experiment / analysis or the like for each of start control, load operation control, independent operation control (idle operation control), and stop control of the engine 22.

  Next, in the hybrid vehicle 20 of an Example, the operation | movement at the time of canceling | releasing the pressing control mentioned above is demonstrated. FIG. 2 is a flowchart showing an example of a pressing control release routine executed by the hybrid ECU 70 during the pressing control. When the execution of the pressing control release routine shown in FIG. 2 is started, the hybrid ECU 70 firstly, the vehicle speed V from the vehicle speed sensor 88, the shift position SP from the shift position sensor 82, the voltage Vb between the terminals of the battery 50 and the output. Data necessary for control such as the limit Wout, the pedal depression force Fpd applied to the brake pedal 85 by the driver, the rotational position of the rotor of the motor MG2, and the value of the retreat travel flag are input (step S100). Here, the inter-terminal voltage Vb and the output limit Wout of the battery 50 are input by communication from the battery ECU 52, the pedal depression force Fpd is input by communication from the brake ECU 94, and the rotational position of the rotor of the motor MG2 is detected as the rotational position. A value detected by the sensor 44 is input from the motor ECU 40 by communication. The retreat travel flag is turned on by the hybrid ECU 70 when a predetermined retreat travel control is executed due to some abnormality occurring in the hybrid vehicle 20.

  If the necessary data is input in step S100, the hybrid ECU 70 determines whether or not the pressing control should be released immediately (step S110). In step S110 of the embodiment, the vehicle speed V has become equal to or higher than a predetermined vehicle speed V1 (for example, 1 to 2 km / h) during the execution of the pressing control, and has entered a retreat traveling state during the execution of the pressing control. When at least one of the immediate release conditions including that the output limit Wout of the battery 50 becomes equal to or less than the predetermined value Wout1 during execution of the pressing control is satisfied, it is determined that the pressing control should be released immediately. The The predetermined value Wout1 is determined in advance by experiments, analysis, and the like as a lower limit value of the output limit Wout for suppressing deterioration of the battery 50. If it is determined that at least one of the immediate release conditions is satisfied based on the vehicle speed V, the output limit Wout, and the retreat travel flag value input in step S100, the pressing control is immediately performed. In order to cancel, the pressing torque Tp is set to 0 (step S120), and this routine is terminated.

  As described above, when the vehicle speed V becomes equal to or higher than the predetermined vehicle speed V1 during the execution of the pressing control, the output of the pressing torque Tp from the motor MG2 is immediately stopped so that the travel control is performed based on the output of the pressing torque Tp. Can be prevented. Further, when the retraction travel state is entered during the execution of the pressing control, the output of the pressing torque Tp from the motor MG2 is immediately stopped, thereby preventing the retraction traveling from being hindered by the output of the pressing torque Tp. can do. Furthermore, when the output limit Wout becomes equal to or lower than a predetermined value Wout1 that is a lower limit value for suppressing deterioration of the battery 50 during the pressing control, the output of the pressing torque Tp from the motor MG2 is immediately stopped. Thereby, the discharge of the battery 50 can be suppressed and the battery 50 can be protected.

  If it is determined in step S110 that none of the above-described immediate release conditions is satisfied and the pressing control should not be released immediately, a predetermined first pressing control release condition is satisfied. It is determined whether or not (step S130). In the embodiment, the first pressing control release condition includes that the terminal voltage Vb of the battery 50 is equal to or lower than a predetermined protection start voltage Vref during the pressing control. When it is determined in step S100 that the input terminal voltage Vb is equal to or lower than the protection start voltage Vref, the pressing torque Tp is set to the value with the first gradual change process (first rate process). It is set to 0 (step S140), and this routine is terminated. The first gradual change process is a process of gradually decreasing the pressing torque Tp to the value 0 at a relatively small first rate (change amount per first unit time) from the state in which the pressing torque Tp is output. is there. As a result, the output of the pressing torque Tp is suddenly stopped, that is, the pressing torque Tp from the motor MG2 is given priority to the suppression of the occurrence of the vehicle shock due to the change in the torque output to the drive shaft. The battery 50 can be protected by stopping the output (releasing the pressing control).

  If it is determined in step S130 that the first pressing control release condition is not satisfied, it is determined whether a predetermined second pressing control release condition is satisfied. (Step S150). In the embodiment, the second pressing control release condition is that the driver has operated the shift lever 81 in the stopped state while the pressing control is being executed and the shift position SP has been changed, and the driver has stopped the brake pedal in the stopped state. This includes that the pedal depression force Fpd applied to 85 has become equal to or less than the predetermined depression force Fpdref and that the hybrid vehicle 20 has slightly moved from the stopped state. Here, the predetermined pedal effort Fpdref is a brake that can apply a friction braking force to the drive wheels 63a, 63b and other wheels so that the vehicle does not start even if the pressing torque Tp is output from the motor MG2 while the vehicle is stopped. The pedal depression force of the pedal 85 is a value determined in advance by experiment / analysis or the like. Then, when it is determined that all of the second pressing control release conditions are not satisfied based on the shift position SP, the pedal effort Fpd input in step S100, and the rotational position of the rotor of the motor MG2, The processing after step S100 is executed again. In step S150, it is determined that the hybrid vehicle 20 has moved slightly from the stopped state when the hybrid vehicle 20 has moved about several centimeters from the stopped state, for example.

  On the other hand, it is determined that at least one of the second pressing control cancellation conditions is satisfied based on the shift position SP, the pedal effort Fpd input in step S100, and the rotational position of the rotor of the motor MG2. In the case where it is determined, the pressing torque Tp is set to 0 with the second gradual change process (second rate process) (step S160), and this routine is terminated. In the second gradual change process, the pressing torque Tp is gradually reduced to a value of 0 at a second rate (change amount per second unit time) larger than the first rate from the state in which the pressing torque Tp is output. It is a process to reduce. That is, in the second gradual change process, the pressing torque Tp is sharply decreased as compared with the first gradual change process until the pressing torque Tp reaches the value 0 from the state in which the pressing torque Tp is output. To shorten the time.

  That is, when the shift position SP is changed by the driver while the vehicle is stopped during the pressing control, torque opposite to the traveling direction of the hybrid vehicle 20 intended by the driver is applied as the pressing torque Tp from the motor MG2. This may be given to the hybrid vehicle 20 and give the driver a feeling of strangeness. For example, when the shift position SP is changed from the parking position to the reverse position when the pressing torque Tp is output from the motor MG2 as torque in the vehicle traveling direction with the shift position SP set to the parking position. Even though the driver intends to move toward the rear of the vehicle, the pressing torque Tp is output as a torque in the vehicle traveling direction, which may cause the driver to feel uncomfortable. For this reason, when the shift position SP is changed by the driver while the vehicle is stopped during the pressing control, the second gentle change process for sharply reducing the pressing torque Tp compared to the first gentle change process. When the pressing torque Tp is set to 0 (with the pressing control canceled), the output of the pressing torque Tp is abruptly stopped, that is, the torque output to the drive shaft is changed. It is possible to quickly stop the output of the pressing torque Tp and prevent the driver from feeling uncomfortable while suppressing the occurrence of the vehicle shock.

  In addition, when the pedal depression force Fpd of the brake pedal 85 becomes equal to or less than the predetermined depression force Fpdref in the stop state during the execution of the pushing control, the second torque that sharply reduces the pushing torque Tp compared to the first gentle change process. By setting the pushing torque Tp to a value of 0 along with the gradual change processing, the output of the pushing torque Tp is quickly stopped while the occurrence of the vehicle shock is suppressed, and the hybrid vehicle is driven by the pushing torque Tp. It is possible to prevent the driver from feeling uncomfortable by suppressing slight movement or vibration. Further, when the hybrid vehicle 20 is finely moved during the execution of the pressing control, the pressing torque Tp is set with the second gentle change process that sharply decreases the pressing torque Tp compared to the first gentle change process. By setting the value to 0, the output of the pressing torque Tp is suddenly stopped, that is, the occurrence of the vehicle shock due to the change in the torque output to the drive shaft is suppressed, and the pressing torque Tp It is possible to quickly stop the output to suppress the fine movement of the vehicle and to prevent the driver from feeling uncomfortable.

  As described above, in the hybrid vehicle 20 of the embodiment, when the crankshaft 26 serving as the output shaft of the engine 22 is rotating, the gear mechanism 60 (the planetary gear 30, the reduction gear 35, the gear train 61, the differential gear 62). The pressing control for controlling the motor MG2 is executed so as to output the pressing torque Tp for catching backlash between the gears. Then, when at least one of the predetermined first and second pressing control release conditions is satisfied during the execution of the pressing control, a gradual change process corresponding to the established pressing control release condition, that is, the first When the 1-pressing control release condition is satisfied, the pressing torque Tp is set to a value of 0 along with the 1st slow-change process, and when the 2nd pressing-control release condition is satisfied, the 2nd slow-change process is set. (Steps S130-S160). In this way, by changing the time from when the pressing torque Tp is output according to the established pressing control canceling condition until the pressing torque becomes 0, the content of the pressing control canceling condition can be changed. Accordingly, it is possible to select more precisely whether priority is given to stopping the output of the pressing torque Tp or suppressing the occurrence of vehicle shock. Therefore, in the hybrid vehicle 20 of the embodiment, the pressing control can be released more appropriately according to the pressing control releasing condition being satisfied.

  Further, the hybrid vehicle 20 of the embodiment includes a shift lever 81 (shift position selection means) that allows the driver to select a desired shift position SP from among a plurality of shift positions, and a pedal depression force (brake depression force) by the driver. A brake actuator 92 (friction braking means) that outputs a friction braking force according to Fpd, and the first pressing control release condition includes that the terminal voltage Vb of the battery 50 is equal to or lower than the protection start voltage Vref. The second pressing control cancellation condition includes that the shift position SP is changed by the driver in the stopped state, that the pedal depression force Fpd is less than or equal to the predetermined pedaling force Fpdref in the stopped state, and that the vehicle has moved slightly. Then, the hybrid ECU 70 of the embodiment sets the pressing torque Tp to 0 with the first gentle change process when the first pressing control release condition is satisfied during the pressing control, and the pressing When at least one of the second pressing control release conditions is established during the execution of the pressing control, the pressing is performed with the second gentle change process that sharply decreases the pressing torque Tp compared to the first gentle change process. The torque Tp is set to the value 0.

  As described above, when the first pressing control release condition is satisfied during the pressing control, that is, when the voltage Vb between the terminals of the battery 50 becomes the protection start voltage Vref or less during the pressing control. By setting the pressing torque Tp to the value 0 with the slow change process of 1, the output of the pressing torque Tp from the motor MG2 is stopped and the battery 50 is protected while giving priority to suppressing the occurrence of the vehicle shock. be able to. On the other hand, when the shift position SP is changed by the driver while the vehicle is stopped during the pressing control, a second gentle change process for sharply reducing the pressing torque Tp is performed as compared with the first gentle change process. By setting the pressing torque Tp to 0, it is possible to quickly stop the output of the pressing torque Tp and prevent the driver from feeling uncomfortable while suppressing the occurrence of a vehicle shock. . In addition, when the pedaling force Fpd of the brake pedal 85 becomes equal to or less than the predetermined pedaling force Fpdref in the stop state during the pressing control, the second pressing torque Tp is sharply reduced as compared with the first gentle change process. By setting the pushing torque Tp to a value of 0 along with the gradual change processing, the output of the pushing torque Tp is quickly stopped while suppressing the occurrence of the vehicle shock, and the hybrid vehicle 20 slightly moves by the pushing torque Tp. It is possible to prevent the driver from feeling uncomfortable by suppressing the occurrence of vibration or vibration. Further, when the hybrid vehicle 20 is finely moved during the execution of the pressing control, the pressing torque Tp is set with the second gentle change process that sharply decreases the pressing torque Tp compared to the first gentle change process. By setting the value to 0, it is possible to quickly stop the output of the pressing torque Tp while suppressing the occurrence of a vehicle shock and suppress the fine movement of the hybrid vehicle 20 so that the driver does not feel uncomfortable. .

  Further, the hybrid ECU 70 according to the embodiment determines that the vehicle speed V is equal to or higher than the predetermined vehicle speed V1 during execution of the pressing control, the vehicle is in the retreat traveling state, and the output limit Wout of the battery 50 is equal to or lower than the predetermined value Wout1. The pressing torque Tp is immediately set to a value of 0 when at least one of the immediate release conditions including that is satisfied is satisfied. As described above, when the vehicle speed V becomes equal to or higher than the predetermined vehicle speed V1 during the execution of the pressing control, the output of the pressing torque Tp from the motor MG2 is immediately stopped so that the driving control is performed by the output of the pressing torque. It is possible to suppress troubles. Further, when the retraction travel state is entered during the execution of the pressing control, the output of the pressing torque Tp from the motor MG2 is immediately stopped, thereby preventing the retraction traveling from being hindered by the output of the pressing torque Tp. can do. Further, when the output limit Wout of the battery 50 becomes equal to or less than the predetermined value Wout1 during the pressing control, the discharge of the battery 50 is suppressed by immediately stopping the output of the pressing torque from the motor MG2. The battery 50 can be protected.

  The first and second pressing control release conditions are not limited to those described above. When the output of the pressing torque Tp is unnecessary or impossible, the first and second pressing control cancellation conditions are given to the driver by the output of the pressing torque Tp. Other conditions may be included when there is a risk of discomfort. In addition, when any of the above-described pressing control release conditions is satisfied, the pressing torque Tp is set to a value 0 with the first or second gradual change processing, or the pressing torque Tp Whether to immediately set the value to 0 is not limited to the above embodiment. Further, the hybrid vehicle 20 of the embodiment further includes a motor MG1 (second electric motor) capable of inputting and outputting power, and the gear mechanism 60 includes a ring gear shaft 32a as a drive shaft connected to the motor MG2 and an engine 22. It includes a planetary gear (planetary gear mechanism) 30 connected to the output shaft and the rotation shaft of the motor MG1, a differential gear 62 connected to the axle, and a gear train 61 connecting the ring gear shaft 32a and the differential gear 62. The present invention is applicable to any other form of hybrid vehicle as long as it includes an electric motor, a power generation source other than the electric motor, and a gear mechanism disposed between the electric motor, the power generation source, and the axle. May be.

  Here, the correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. In the embodiment, the engine 22 capable of outputting power to the axle via a gear mechanism 60 having a plurality of gears corresponds to an “internal combustion engine”, and the motor MG2 connected to the gear mechanism 60 corresponds to an “electric motor”. The battery 50 capable of exchanging electric power with the motor MG2 corresponds to “electric storage means”, and is established when at least one of a plurality of predetermined pressing control release conditions is satisfied during the execution of the pressing control. The hybrid ECU 70 that sets the pressing torque Tp to a value 0 with a gradual change process corresponding to the pressing control release condition corresponds to the “pressing torque setting means”, and the driver can select a desired one from a plurality of shift positions. A shift lever 81 that allows selection of the shift position SP corresponds to “shift position selection means”, and the pedal depression force (braking force) Fpd by the driver. The electronically controlled hydraulic brake device 90 that outputs the corresponding friction braking force corresponds to “friction braking means”, and the motor MG1 capable of inputting / outputting power corresponds to “second electric motor” and is connected to the motor MG2. The planetary gear 30 connected to the ring gear shaft 32a, the output shaft of the engine 22 and the rotating shaft of the second motor corresponds to the “planetary gear mechanism”, and the differential gear 62 connected to the axle corresponds to the “differential gear”. The gear train 61 connecting the ring gear shaft 32a and the differential gear 62 corresponds to “a plurality of gears”.

  However, the correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problem is the invention described in the column of means for solving the problem by the embodiment. Therefore, the elements of the invention described in the column of means for solving the problems are not limited. In other words, the examples are merely specific examples of the invention described in the column of means for solving the problem, and the interpretation of the invention described in the column of means for solving the problem is It should be done based on the description.

  As mentioned above, although the embodiment of the present invention has been described using examples, the present invention is not limited to the above-described examples, and various modifications can be made without departing from the scope of the present invention. Needless to say.

  The present invention is applicable to the hybrid vehicle manufacturing industry.

  20 hybrid vehicle, 22 engine, 24 engine ECU, 26 crankshaft, 28 damper, 30 planetary gear, 31 sun gear, 32 ring gear, 32a ring gear shaft, 34 carrier, 35 reduction gear, 40 motor ECU, 41, 42 inverter, 43, 44 Rotation position detection sensor, 50 battery, 52 battery ECU, 60 gear mechanism, 61 gear train, 62 differential gear, 63a, 63b drive wheel, 70 hybrid ECU, 72 CPU, 74 ROM, 76 RAM, 80 ignition switch, 81 shift lever , 82 Shift position sensor, 83 Accelerator pedal, 83 Accelerator pedal, 84 Accelerator pedal position sensor, 85 Brake pedal, 86 Brake pedal stroke Kusensa, 88 vehicle speed sensor, 90 electronic control hydraulic brake system, 92 a brake actuator, 94 a brake ECU, 96A～96d brake wheel cylinders, MG1, MG2 motor.

Claims (4)

An internal combustion engine capable of outputting power to the axle via a gear mechanism having a plurality of gears, an electric motor connected to the gear mechanism, an electric storage means capable of exchanging electric power with the electric motor, and a plurality of shift positions Shift position selecting means for allowing the driver to select a desired shift position, and friction braking means for outputting a friction braking force in accordance with the brake depression force by the driver, the output shaft of the internal combustion engine is rotating in hybrid vehicles to perform pushing control for controlling the motor to output a pressing torque for stuffing a backlash between gears of the gear mechanism when,
When at least one of a plurality of predetermined pressing control release conditions is satisfied during execution of the pressing control, the pressing torque is accompanied by a gradual change process according to the satisfied pressing control release condition. A pressing torque setting means for setting the value to 0 ,
The plurality of pressing control release conditions are that the voltage of the power storage means is equal to or lower than a predetermined voltage, the shift position is changed by a driver in a stopped state, and the brake pedaling force is equal to or lower than a predetermined pedaling force in a stopped state. And that the vehicle has moved slightly,
The pressing torque setting means sets the pressing torque to a value of 0 with a first gradual change process when the voltage of the power storage means becomes equal to or lower than the predetermined voltage during execution of the pressing control. In addition, during execution of the pushing control, the shift position has been changed by the driver in a stopped state, the brake pedal force has become equal to or less than the predetermined pedal force in the stopped state, and the vehicle has moved slightly. When at least one of them is established, the pressing torque is set to a value of 0 together with a second gentle change process that sharply reduces the pressing torque as compared with the first gentle change process. A hybrid car. The hybrid vehicle according to claim 1 ,
Further comprising discharge allowable power setting means for setting discharge allowable power which is power allowable for discharging of the power storage means;
The pressing torque setting means is at least one of an immediate release condition including that the vehicle speed is equal to or higher than a predetermined vehicle speed, the vehicle is in a retreat traveling state, and the discharge allowable power is equal to or lower than a predetermined value. A hybrid vehicle characterized in that the pushing torque is immediately set to a value of 0 when one is established. The hybrid vehicle according to claim 1 or 2 ,
A second electric motor capable of inputting and outputting power;
The gear mechanism includes a drive shaft connected to the electric motor, an output shaft of the internal combustion engine, a planetary gear mechanism connected to a rotating shaft of the second electric motor, a differential gear connected to the axle, and A hybrid vehicle comprising a plurality of gears connecting a drive shaft and the differential gear. An internal combustion engine capable of outputting power to the axle via a gear mechanism having a plurality of gears, an electric motor connected to the gear mechanism, an electric storage means capable of exchanging electric power with the electric motor, and a plurality of shift positions In a control method of a hybrid vehicle, comprising: a shift position selecting unit that allows a driver to select a desired shift position; and a friction braking unit that outputs a friction braking force according to a brake pedaling force by the driver .
Comprising the steps of: (a) an output shaft of the internal combustion engine to perform the pressing control for controlling the motor to output a pressing torque for stuffing the backlash between the gear of the gear mechanism when rotating,
(B) When at least one of a plurality of predetermined pressing control cancellation conditions is satisfied during execution of the pressing control, the slow change processing according to the satisfied pressing control cancellation condition is performed. Setting the pressing torque to a value of 0;
Only including,
The plurality of pressing control release conditions are that the voltage of the power storage means is equal to or lower than a predetermined voltage, the shift position is changed by a driver in a stopped state, and the brake pedaling force is equal to or lower than a predetermined pedaling force in a stopped state. And that the vehicle has moved slightly,
In step (b), when the voltage of the power storage means becomes equal to or lower than the predetermined voltage during execution of the pressing control, the pressing torque is set to a value of 0 with a first gradual change process, and During execution of the pressing control, at least one of the change of the shift position by the driver in the stopped state, the brake pedaling force being equal to or less than the predetermined pedaling force in the stopped state, and the vehicle having moved slightly. If any one of them is established, the pressing torque is set to a value of 0 together with a second gradual change process for sharply reducing the urging torque as compared with the first gradual change process. Control method of hybrid vehicle.

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