Patent Grant
11993248
This application is a U.S. national stage application of International Application No. PCT/JP2020/029114, filed on Jul. 29, 2020.
The present invention relates to a method for controlling a series hybrid vehicle, and to a series hybrid vehicle.
JP 2018-135045 A discloses a hybrid vehicle comprising an internal combustion engine and a drive motor as motive power sources, wherein, in order to reduce floor vibration generated due to vibration of the internal combustion engine being transmitted to a vehicle compartment floor via an engine mount, a control for causing the drive motor to generate counter torque is performed.
In series hybrid vehicles, configurations are known in which an internal combustion engine and a drive motor are installed in a vehicle in an integrated state such that a casing of the drive motor is connected to the internal combustion engine. In this configuration, when the drive motor generates torque, an engine mount supporting the internal combustion engine is compressed by an associated reactive force, and a spring constant of the engine mount increases. When the spring constant of the engine mount increases, an engine-rotational-speed resonant rotational speed region in which floor vibration becomes a problem is offset toward a high-rotational-speed side. In this case, an upper limit of the engine rotational speed is restricted in order to, inter alia, promote warming-up of an exhaust purification catalyst; when the internal combustion engine is operating at a relatively low rotational speed, there is a concern that the engine rotational speed could enter the resonant rotational speed region. Specifically, there is a concern that resonance could be generated due to combustion excitation force of the internal combustion engine and floor vibration could increase.
The aforementioned document does not disclose suppressing any increase in floor vibration produced due to the reason described above. Thus, an object of the present invention is to suppress any increase in floor vibration produced due to a resonant rotational speed region, which originates from generation of torque by a drive motor, being offset toward a high-rotational-speed side.
According to one aspect of the present invention, there is provided a control method for controlling a series hybrid vehicle in which a drive motor and an internal combustion engine are supported in a vehicle body via a plurality of mount members in an integrated state, the method being one in which a controller: causes an electric power generation motor to generate electric power, the electric power generation motor being driven by motive power of the internal combustion engine; actuates the drive motor by using the generated electric power and drives drive wheels; and causes the drive motor to generate regenerative torque that corresponds to a deceleration request during deceleration. In this control method, the regenerative torque is generated by the drive motor such that an upper limit of the regenerative torque is restricted to a magnitude at which a floor vibration generation region, which is an engine rotational speed region where resonance occurs on the vehicle body floor and is determined based on the upper limit of the regenerative torque, is lower than an engine rotational speed of the internal combustion engine when the electric power generation motor generates the electric power in a state where the regenerative torque is generated.
Referring now to the attached drawings which form a part of this original disclosure.
An embodiment of the present invention is described below with reference to the accompanying drawings.
The internal combustion engine 2 may be either a gasoline engine or a diesel engine. The electric power generation motor 3 is driven by motive power of the internal combustion engine 2 whereby electric power is generated. The drive motor 4 is driven by electric power from the battery 5 and drives the drive wheels 6. The drive motor 4 also has a “regenerative function,” in which the drive motor 4 co-rotates with the drive wheels 6 during deceleration, etc., whereby deceleration energy is regenerated as electric power. The battery 5 is charged by the electric power generated by the electric power generation motor 3 and the electric power regenerated by the drive motor 4.
The vehicle 1 has a first motive power transmission path 21 and a second motive power transmission path 22. The first motive power transmission path 21 transmits motive power between the drive motor 4 and the drive wheels 6. The second motive power transmission path 22 transmits motive power between the internal combustion engine 2 and the electric power generation motor 3. The first motive power transmission path 21 and the second motive power transmission path 22 are configured to be mutually independent of each other; specifically, motive power is not transmitted from the first motive power transmission path 21 to the second motive power transmission path 22 or vice versa.
The first motive power transmission path 21 is configured to have: a first reduction gear 11 provided to a rotating shaft 4a of the drive motor 4; a second reduction gear 12 that meshes with the first reduction gear 11; a third reduction gear 13 that is provided coaxially with the second reduction gear 12 and that meshes with a differential gear 14; and the differential gear 14, which is provided to a differential case 15.
The second motive power transmission path 22 is configured to have a fourth reduction gear 16 provided to an output shaft 2a of the internal combustion engine 2, a fifth reduction gear 17 that meshes with the fourth reduction gear 16, and a sixth reduction gear 18 that is provided to a rotating shaft 3a of the electric power generation motor 3 and that meshes with the fifth reduction gear 17.
Neither of the first motive power transmission path 21 and the second motive power transmission path 22 is provided with an element for obstructing transmission of motive power. Specifically, each of the first motive power transmission path 21 and the second motive power transmission path 22 is configured in a state in which motive power is always transmitted.
The second motive power transmission path 22 constitutes a motive power transmission path of a motive power transmission system 23. The motive power transmission system 23 includes the internal combustion engine 2 and the electric power generation motor 3 and is configured such that motive power is transmitted from the electric power generation motor 3 to the internal combustion engine 2 during motoring of the internal combustion engine 2.
The vehicle 1 is furthermore provided with a controller 30 that serves as a control unit. The controller 30 is configured to have a vehicle dynamics controller 41 and a body control module 42 (described later), in addition to an engine controller 31 that controls the internal combustion engine 2, an electric-power-generating-motor controller 32 that controls the electric power generation motor 3, a drive-motor controller 33 that controls the drive motor 4, and a integrated controller 34 that consolidates the control of the vehicle 1.
The engine controller 31 is configured from a microcomputer provided with a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), and an input/output interface (I/O interface). The same applies to the electric-power-generating-motor controller 32, the drive-motor controller 33, and the integrated controller 34. The engine controller 31, the electric-power-generating-motor controller 32, and the drive-motor controller 33 are communicably connected to each other by a CAN standard bus via the integrated controller 34.
Signals from a variety of sensors and switches are inputted to the controller 30, the sensors and switches including a rotational speed sensor 81 for detecting a rotational speed NE of the internal combustion engine 2, an accelerator position sensor 82 for detecting an accelerator position APO that indicates the amount by which an accelerator pedal is depressed, a water temperature sensor 83 for detecting a water temperature THW of the internal combustion engine 2, and a vehicle speed sensor 84 for detecting a vehicle speed VSP. These signals are inputted to the integrated controller 34 either directly or via the engine controller 31 or another controller. The vehicle speed VSP may be inputted directly from the vehicle speed sensor 84 to the integrated controller 34 by way of the vehicle dynamics controller (VDC) 41.
The vehicle 1 constitutes a series hybrid vehicle that uses electric power from the electric power generation motor 3, which is driven by the motive power from the internal combustion engine 2 and which generates electric power, to drive the drive wheels 6 using the drive motor 4.
In
A driver drives the vehicle 1 by performing operations for switching between a plurality of shift positions and drive modes. Shift position switching is carried out by operating a shifter (not shown). The shift positions that can be selected by the shifter include a park position (P), a reverse position (R), a neutral position (N), a first advancement position (D), and a second advancement position (B). In cases where it is not necessary to distinguish between D and B, these two shift positions may be collectively referred to as an advancement position.
Drive mode switching is carried out by operating a drive mode switch (not shown). The drive modes include N mode, S mode, and ECO mode. In N mode, acceleration is carried out by operating an accelerator pedal (normal regeneration mode). Therefore, in N mode, regenerative deceleration is not carried out while the accelerator pedal is being operated, and regenerative deceleration is carried out when the accelerator pedal is in an off state. In S mode and ECO mode, acceleration and regenerative deceleration are carried out by operating the accelerator pedal (one-pedal modes). ECO mode is more suitable for fuel-efficient driving than S mode.
Depending on a combination with the selected drive mode in the vehicle 1, D constitutes ND mode in combination with N mode, SD mode in combination with S mode, or ECO-D mode in combination with ECO mode. Similarly, depending on the combination with the selected drive mode, B constitutes NB mode, SB mode, or ECO-B mode.
The deceleration rate of the vehicle 1 caused by regeneration in the drive motor 4 is higher in the B position than in the D position. Specifically, a target deceleration rate is set so as to be higher in the B position than in the D position. A higher deceleration rate implies that the degree of deceleration is greater (absolute value of the deceleration rate is higher). The same applies to the target deceleration rate. An absolute value of regenerative electric power produced by the drive motor 4 is higher in the B position than in the D position, resulting in a higher deceleration rate. In addition, the regenerative electric power produced by the drive motor 4 is greater in both SD mode and ECO-D mode than in ND mode, resulting in a higher deceleration rate. In the descriptions given below, N mode is referred to as a normal regeneration mode, and S mode and ECO mode are referred to as enhanced regeneration modes.
A control executed by the integrated controller 34 during regenerative deceleration is described next.
In the present embodiment, cooperative regenerative braking is executed when the vehicle 1 is decelerating. As is well known, cooperative regenerative braking is a control in which a target braking force established in accordance with, inter alia, an amount by which the brake pedal is operated by the driver is obtained by combining a braking force of a friction brake that operates through hydraulic pressure and a braking force generated through regeneration in the drive motor 4. In the present embodiment, the target braking force basically is met by the braking force produced by the drive motor 4, but when the braking force produced thereby is insufficient to reach the target braking force, the friction brake is operated. Specifically, during cooperative regenerative braking, regenerative torque of the drive motor 4 is greater than regenerative torque produced through coasting travel.
When the drive motor 4 and the internal combustion engine 2 are integrated and elastically supported in the vehicle body as described above, if the drive motor 4 generates torque, the engine mount 7 is compressed by an associated reactive force. Due to the engine mount 7 being compressed, a spring constant (coefficient of elasticity) of the engine mount 7 increases. As a result, a characteristic frequency of a single-degree-of-freedom system formed by the internal combustion engine 2 and the engine mount 7 increases. Typically, in order to suppress “floor vibration,” the spring constant of the engine mount 7 is set such that the characteristic frequency of the single-degree-of-freedom system formed by the internal combustion engine 2 and the engine mount 7 is below the frequency band of vibration during operation of the internal combustion engine 2. However, if the engine mount 7 is compressed by reactive force of the torque of the drive motor 4 and the characteristic frequency increases as described above, the characteristic frequency could fall within the frequency band of vibration during operation of the internal combustion engine 2.
The horizontal axes in
A rotational speed region from the engine rotational speed NE1 to an engine rotational speed NE2 is a region in which resonance is produced by the combustion excitation force in a state where the drive motor 4 is not generating torque (also referred to as a resonant rotational speed region below). A rotational speed region from an engine rotational speed NE5 to an engine rotational speed NE6 is a region that can be obtained when the internal combustion engine 2 is operating in order to generate electric power (also referred to as an engine operation point region below).
When the drive motor 4 is not generating torque, the resonant rotational speed region is separated from the engine operation point region as shown in
When the drive motor 4 generates torque, the resonant rotational speed region shifts toward higher rotation as mentioned above. As shown in
There is no problem if the resonant rotational speed region shifts toward higher rotation but does not overlap the engine operation point region. However, because the amount of regenerative torque generated by the drive motor 4 increases when cooperative regenerative braking is executed, it is highly likely that floor vibration caused by resonance will become a problem.
Displacing the engine operation point region toward higher rotation is considered to be a measure against resonance. Specifically, when the resonant rotational speed region shifts to NE3-NE5 shown in
In
When deceleration starts, the torque of the drive motor (drive motor torque in the drawing) changes from positive to negative, and generation of electric power through regeneration starts. In this instance, the torque (solid line in the drawing) is obtained by adding cooperative regenerative torque to coasting regenerative torque (dashed line in the drawing). In cases where the target braking force that corresponds to brake depressing force cannot be realized even if the cooperative regenerative torque is added, the lacking braking force is compensated for by the friction brake (single-dot chain line in the drawing).
The lower limit of the engine rotational speed is raised in order to suppress any increase in floor vibration caused by cooperative regenerative braking. For example, in cases where the internal combustion engine 2 has operated at an idling rotational speed in order to generate electric power, the lower limit of the engine rotational speed is raised in accordance with a decrease (negative-direction increase) in the drive motor torque.
This makes it possible to increase the lower limit in the engine operation point region to a greater extent than in the resonant rotational speed region, therefore making it possible to suppress any increase in floor vibration.
However, in series hybrid vehicles, there are cases where the upper limit of the engine rotational speed of the internal combustion engine 2 is restricted during power generation. For example, during execution of a catalyst warm-up mode for warming up an exhaust purification catalyst immediately after startup of a hybrid system, and during execution of a recovery mode for increasing the temperature of the exhaust purification catalyst for which the temperature has decreased during travel, the upper limit of the engine rotational speed is restricted. In addition, when the vehicle is traveling at low vehicle speed in cases where the internal combustion engine 2 is operating, there is a concern that an amount of heat propagating from the internal combustion engine 2 to surrounding devices could increase. Even during execution of a heat protection mode for suppressing this increase, the upper limit of the engine rotational speed is restricted.
There is a concern that, due to the upper limit of the engine rotational speed being restricted, it could become impossible to increase the lower limit in the engine operation point region to a greater extent than the upper limit in the resonant rotational speed region. Specifically, there is a concern that it could become impossible to increase the engine rotational speed above the resonant rotational speed region, in which floor vibration becomes a problem.
In the present embodiment, by executing the control described above, both cooperative regenerative braking and suppression of floor vibration are achieved even in cases where the upper limit of the engine rotational speed is restricted.
The motor drive force computation unit 43 computes a requested drive force that corresponds to the accelerator position based on of a current drive mode inputted from the accelerator position APO, the vehicle speed VSP, and a BCM 42. The BCM 42 is a controller (body control module) that controls operation of electrical components. The requested drive force is computed by, e.g., creating in advance a map in which it is possible to search for drive force according to the accelerator position APO and the vehicle speed VSP in each drive mode, storing the map in the integrated controller 34, and searching the map based on of inputted signals.
The conversion unit 44 converts the requested drive force to torque (requested torque) of the drive motor 4. The requested torque obtained thereby is inputted to the motor torque command value computation unit 45 and the lower limit rotational speed computation motor torque computation unit 48.
The regenerative torque upper limit value setting unit 46 sets a regenerative torque upper limit value, which is an upper limit value of the regenerative torque of the drive motor 4 for preventing floor vibration, through the method described below.
The vibration produced by the combustion excitation force of the internal combustion engine 2 is handled as vibration of a single-degree-of-freedom system, where the internal combustion engine 2 is a rigid body having a mass m, and the engine mount 7 is an elastic body having a spring constant k. This system is handled as a single-degree-of-freedom system of the engine mount 7 alone without consideration for the motor mount that elastically supports the drive motor 4, which is integrated with the internal combustion engine 2, because the motor mount is installed at a position set apart from the internal combustion engine 2 and therefore need not be included when considering the vibration of the internal combustion engine 2.
A combustion excitation force frequency fe during operation at an upper limit engine rotational speed Ru, which is the lowest engine rotational speed among engine rotational speeds in cases where the upper limit is restricted through, inter alia, the catalyst warm-up mode described above, is represented by expression (1). In the present embodiment, the combustion excitation force frequency following a 1.5 rotation is calculated with the internal combustion engine 2 being a three-cylinder engine.
Expression 1
A characteristic frequency of the single-degree-of-freedom system is represented by expression (2).
Expression 2
A target characteristic frequency ft, which is a frequency in a case where the floor vibration is at a permissible level, is represented by expression (3).
Expression 3
ft[Hz]=f*η (3)
The symbol η in expression (3) is a coefficient for releasing the characteristic frequency f to a permissible level of floor vibration. This coefficient η can be set with discretion.
If the combustion excitation force coefficient fe is less than the target characteristic frequency f, it is considered that floor vibration is at a permissible level. As such, expression (1) is greater than expression (3), and when the spring constant k is calculated in this instance, the relationship in expression (4) is formed.
Expression 4
The regenerative torque upper limit value setting unit 46 calculates the regenerative torque upper limit value by using the spring constant k obtained in this manner. Specifically, this value is calculated according to the method shown in
First, the value of (deformation amount)×1 when the spring constant established according to expression (4) is employed is calculated from the characteristic diagram shown in the lower section of
The description now returns to the explanation of
The regenerative torque upper limit value set by the regenerative torque upper limit value setting unit 46 is inputted to the motor torque command value computation unit 45 and the regenerative torque upper limit value transmission unit 47. The regenerative torque upper limit value transmission unit transmits the regenerative torque upper limit value to the VDC 41.
The VDC 41 controls the hydraulic pressure of the friction brake such that a braking force that corresponds to the difference between the regenerative torque upper limit value and a requested regenerative torque (described later) is supplemented by the friction brake.
In addition to the regenerative torque upper limit value and the requested torque corresponding to the accelerator position, a requested regenerative torque that corresponds to the brake operation amount is also inputted from the VDC 41 to the motor torque command value computation unit 45. The motor torque command value computation unit 45 calculates, as a motor torque command value, a value obtained by restricting an overall regenerative torque using the regenerative torque upper limit value, the overall regenerative torque having been established according to the requested torque corresponding to the accelerator position and the requested regenerative torque corresponding to the brake operation amount, and inputs the motor torque command value to the drive motor controller 33.
In addition to the requested torque corresponding to the accelerator position, the requested regenerative torque corresponding to the brake operation amount is also inputted from the VDC 41 to the lower limit rotational speed computation motor torque computation unit 48. The lower limit rotational speed computation motor torque computation unit 48 employs, as a lower limit rotational speed computation motor torque for computing the lower limit rotational speed of the internal combustion engine 2, an overall regenerative torque obtained by adding the requested regenerative torque corresponding to the brake operation amount to the requested torque corresponding to the accelerator position, and inputs the lower limit rotational speed computation motor torque to the lower limit rotational speed computation unit 49.
The lower limit rotational speed computation unit 49 calculates a lower limit rotational speed using the lower limit rotational speed computation motor torque. Specifically, this calculation is performed using a table in which the relationship between the motor torque and the lower limit rotational speed is specified, such as is shown in, e.g.,
The requested rotational speed computation unit 50 determines a requested rotational speed based on of the upper limit rotational speed, which is restricted for the purposes of the catalyst warm-up mode, etc., and the lower limit rotational speed calculated by the lower limit rotational speed computation unit 49. Because exhaust performance is prioritized over floor vibration, the upper limit rotational speed is prioritized over the lower limit rotational speed. Specifically, when the upper limit rotational speed is lower than the lower limit rotational speed, the upper limit rotational speed is employed as the requested rotational speed. The requested rotational speed is inputted to the electric power generation motor controller 32 and the requested engine torque computation unit 51.
The requested engine torque computation unit 51 calculates engine torque that corresponds to the inputted requested rotational speed and inputs the calculated engine torque to the engine controller 31.
As described above, in the present embodiment, the torque of the drive motor 4 and the rotational speed of the internal combustion engine 2 are restricted using the overall regenerative torque. The vehicle 1 in the present embodiment is a front-wheel-drive vehicle, and the overall regenerative torque is regenerative torque produced by front wheels.
Should the vehicle 1 be a four-wheel-drive vehicle, a total regenerative torque of front and rear wheels would be the overall regenerative torque. The floor vibration that is addressed as a problem in the present embodiment is generated due to the engine mount 7 being compressed as a result of the motor torque generated by the front wheels and due to an increase in a characteristic frequency of a vibration system, in which the internal combustion engine 2 is a rigid body; therefore, in a four-wheel-drive vehicle as well, the restrictions described above presumably should be made using the motor torque of the front wheels. However, in the case of a four-wheel-drive vehicle, torque distribution to front and rear wheels may change, and there is a concern that a sense of discomfort could be imparted to the driver if the engine rotational speed changes each time the torque distribution changes. Thus, in the case of a four-wheel-drive vehicle as described above, the total regenerative torque of the front and rear wheels would be the overall regenerative torque.
The abovementioned restrictions on regenerative torque are limited to times during deceleration when the advancement position is selected and the accelerator position is at zero. This limitation is applied for the following reasons. In cases where the advancement range is selected and the accelerator pedal is depressed, i.e., cases where there is an acceleration request, the engine rotational speed increases in accordance with the acceleration request, whereby it is possible to avoid conditions under which floor vibration increases. During deceleration when the reverse position is selected and the accelerator position is in a zero state, a motor torque requested value is inherently low, wherefore the conditions under which floor vibration increases are not met. Moreover, in cases where the reverse position is selected and the accelerator pedal is depressed, drive force performance will be prioritized even if the conditions under which floor vibration increases are met.
When the accelerator position reaches zero and deceleration is started at a timing T1, the requested torque of the drive motor 4 decreases as indicated by a dashed line in the drawing (“before restriction” in the drawing). Specifically, the requested regenerative torque increases. In cases where the requested torque before restriction is generated, it is necessary to increase the engine rotational speed of the internal combustion engine 2 to a lower limit rotational speed (dashed line in the drawing) in order to suppress floor vibration. However, because the heat protection mode continues to be executed, the engine rotational speed is restricted to an upper limit rotational speed that is lower than the lower limit rotational speed. Therefore, in the present embodiment, the engine rotational speed is restricted to the upper limit rotational speed. As a result, the engine rotational speed is as shown by the solid line in the drawing.
In order to suppress any increase in floor vibration in a state where the engine rotational speed is restricted, the regenerative torque of the drive motor 4 is restricted by a regenerative torque upper limit value (dotted line in the drawing). As a result, the regenerative torque is as shown by the solid line in the drawing.
Furthermore, braking force that decreases due to the regenerative torque being restricted is supplemented by the friction brake.
This makes it possible to suppress any increase in floor vibration while carrying out cooperative regenerative braking even during execution of the heat protection mode.
In the present embodiment as described above, there is provided a method for controlling a series hybrid vehicle, the control method involving controlling a series hybrid vehicle in which the drive motor 4 and the internal combustion engine 2 are supported in a vehicle body via a plurality of mount members in an integrated state, wherein a controller 30: causes the electric power generation motor 3 to generate electric power, the electric power generation motor 3 being driven by motive power of the internal combustion engine; actuates the drive motor 4 by using the generated electric power and drives the drive wheels 6; and causes the drive motor 4 to generate regenerative torque that corresponds to a deceleration request during deceleration. In this control method, the regenerative torque is generated by the drive motor 4 such that an upper limit of the regenerative torque is restricted to a magnitude at which a floor vibration generation region, which is an engine rotational speed region where resonance occurs on the vehicle body floor and is determined based on the upper limit of the regenerative torque, is lower than an engine rotational speed of the internal combustion engine 2 when the electric power generation motor 3 generates the electric power in a state where the regenerative torque is generated. Specifically, the upper limit of the regenerative torque is restricted so that the floor vibration generation region established based on of the upper limit of the regenerative torque, the region being an engine rotational speed region in which resonance of the vehicle body floor is produced, is lower than the engine rotational speed of the internal combustion engine 2 when the electric power generation motor 3 is generating electric power in a state where the regenerative torque is being generated, such that the regenerative torque is generated by the drive motor 4. This makes it possible to prevent the floor vibration from increasing to an impermissible magnitude even when cooperative regenerative braking is executed in a case where the internal combustion engine 2 is operating in order to generate electric power.
In the present embodiment, a calculation is made of a spring constant k of an engine mount 7 for a case in which a combustion excitation force frequency at an upper limit rotational speed of the internal combustion engine 2 during electric power generation and a characteristic frequency of the internal combustion engine 2 elastically supported by the engine mount 7 are equal to each other, a calculation is made of the value of (compression amount of the engine mount 7)×1 when the calculated spring constant k is employed, and the torque of the drive motor 4 when (compression amount)×1 is employed is used as the regenerative torque upper limit value. This makes it possible to set a suitable regenerative torque upper limit value that is appropriate for the characteristics of the spring constant of the engine mount 7.
A modification of the embodiment described above is described below. This modification also belongs within the scope of the present invention.
In the embodiment described above, the regenerative torque upper limit value is calculated using the lowest engine rotational speed among upper limit rotational speeds restricted by the regenerative torque upper limit value setting unit 46 according to the catalyst warm-up mode, the recovery mode, and the heat protection mode. By contrast, in the present modification, the regenerative torque upper limit value is calculated using an upper limit rotational speed that corresponds to a travel scenario. For example, in cases where the upper limit rotational speed differs in each of the catalyst warm-up mode, the recovery mode, and the heat protection mode, the upper limit rotational speed for the mode currently being executed is used. There are also instances where, e.g., the upper limit rotational speed changes during execution of the catalyst warm-up mode; in these cases, the current upper limit rotational speed is used. This makes it possible to restrict the regenerative torque and the engine rotational speed as necessary.
As shown in
According to the present modification, because the engine rotational speed can be raised to the lower limit rotational speed while the upper limit rotational speed is higher than the lower limit rotational speed, it is possible to compensate for the braking force that corresponds to the brake operation amount using the regenerative torque of the drive motor 4. However, when the upper limit rotational speed is lower than the lower limit rotational speed, the engine rotational speed is restricted to the upper limit rotational speed that is lower than the lower limit rotational speed, and as a result the regenerative torque of the drive motor 4 is also restricted. The braking force produced through cooperative regeneration is thus lacking, and therefore the braking force is supplemented by the friction brake.
Thus, in the present modification, the upper limit value of the regenerative torque of the drive motor 4 decreases as the upper limit of the engine rotational speed decreases. Specifically, the upper limit value of the regenerative torque approaches zero as the upper limit of the engine rotational speed decreases. Thus, even when the extent of the restriction on the regenerative torque changes during deceleration, this change is not manifested in the behavior of the vehicle 1, and therefore no sense of discomfort is imparted to the driver.
Although an embodiment of the present invention is described above, this embodiment merely illustrates a portion of an application example of the present invention, and is not intended to limit the technical scope of the present invention to the specific configuration in the embodiment described above.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/029114 | 7/29/2020 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2022/024273 | 2/3/2022 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 20030098185 | Komeda | May 2003 | A1 |
| 20220055609 | Mizuguchi | Feb 2022 | A1 |
| Number | Date | Country |
|---|---|---|
| 2009-67216 | Apr 2009 | JP |
| 2012-86735 | May 2012 | JP |
| 2018-135045 | Aug 2018 | JP |
| Number | Date | Country | |
|---|---|---|---|
| 20220363239 A1 | Nov 2022 | US |
