JP2012046106A - Hybrid vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide more proper feeling to a driver, while suppressing giving the driver the sense of incongruity to gas pedal operation when getting over a level difference.SOLUTION: Within the limits of start/stop thresholds of the engine instruction power, when a driver is determined to have an intention to get over a level difference while operation of engine is stopped (S100), the engine is started into operation and self sustaining operation of the engine is carried out with the self sustaining rotation speed of tendency of becoming larger, if larger the gas pedal opening is (S110, S120), and then, when it is determined that the intention of the driver to get over the level difference is lost (S130), the operation of the engine is stopped (S140). Thereby the sense of incongruity given to the driver when the engine starts by increase of gas pedal opening when the vehicle getting over the level difference is suppressed, and more proper feeling can be given to the driver to the gas pedal operation when getting over the level difference.

Description

  The present invention relates to a hybrid vehicle. More specifically, the present invention relates to three axes: an engine, a first motor capable of inputting / outputting power, an output shaft of the engine, a rotating shaft of the first motor, and a driving shaft connected to driving wheels. A planetary gear mechanism to which three rotating elements are connected, a second motor that can input and output power to the drive shaft, a battery that can exchange power with the first motor and the second motor, and the accelerator opening When the required power required for the drive shaft is less than the threshold, the required power is output to the drive shaft in a state where the operation of the engine is stopped. The present invention relates to a hybrid vehicle including a control unit that controls an engine, a first motor, and a second motor so as to be output to a drive shaft.

  Conventionally, this type of hybrid vehicle includes an engine and a motor as a power source, a generator, a planetary gear set in which an engine, a generator, left and right front wheels, and a motor are connected to a carrier, a sun gear, and a ring gear, a motor, A battery connected to the generator, and when the engine is not operating when the engine is not operating when a heavy load condition is detected that makes it impossible to run due to overstepping due to the maximum driving force obtained from the engine or motor After that, it has been proposed to increase the power generation load of the generator after temporarily increasing the rotational speed for load-operating the engine (see, for example, Patent Document 1). In this hybrid vehicle, it is said that it is possible to get over the step by using the rotational energy corresponding to the decrease in engine rotation by such control.

JP 2007-38919 A

  However, in the hybrid vehicle described above, even when it is possible to get over the step within the range of the maximum driving force obtained from the engine or motor, the engine is started by greatly increasing the accelerator pedal when getting over the step. Then, the driver may feel as if the vehicle driving force suddenly increases. Further, when the vehicle driving force output from the motor is relatively large, the driver feels a sense of incongruity when the engine is started because even a slight change in the vehicle driving force gives the driver a sense of discomfort. .

  The main purpose of the hybrid vehicle of the present invention is to prevent the driver from feeling uncomfortable with respect to the accelerator operation at the time of overcoming the step and to give the driver a more appropriate feeling.

  The hybrid vehicle of the present invention employs the following means in order to achieve the main object described above.

The hybrid vehicle of the present invention
A planet in which three rotating elements are connected to three axes: an engine, a first motor capable of inputting / outputting power, an output shaft of the engine, a rotating shaft of the first motor, and a driving shaft coupled to driving wheels. A gear mechanism, a second motor capable of inputting / outputting power to / from the drive shaft, a battery capable of exchanging electric power with the first motor and the second motor, and the drive shaft depending on the accelerator opening. When the requested power is less than a threshold, the requested power is output to the drive shaft in a state where the operation of the engine is stopped, and when the requested power is equal to or greater than the threshold, the request is performed while the engine is under load operation. In a hybrid vehicle comprising: control means for controlling the engine, the first motor, and the second motor so that power is output to the drive shaft;
It has a judgment means to judge the presence or absence of the driver's intention to overcome the step,
When the determination means determines that the determination means has an intention to get over the step while the operation of the engine is stopped within the range where the required power is less than the threshold, the engine is started and the accelerator is Self-sustained operation for controlling the engine, the first motor, and the second motor so that the engine operates independently at a rotational speed that tends to increase as the opening degree increases and the required power is output to the drive shaft. The engine is stopped and the requested power is driven when the determination means determines that there is no intention to get over the step during the drive control. Means for controlling the engine, the first motor and the second motor to be output to a shaft;
It is characterized by that.

  In the hybrid vehicle of the present invention, when it is determined that there is an intention to get over the step while the operation of the engine is stopped within the range where the required power is less than the threshold value, the engine is started and the accelerator opening degree is increased. The self-sustained operation drive control is performed to control the engine, the first motor, and the second motor so that the engine is autonomously operated at a rotation speed that tends to increase as the value increases, and the required power is output to the drive shaft. When it is determined that there is no intention to get over the step during the execution of the control, the engine is stopped, and the engine, the first motor, and the second motor are connected so that the required power is output to the drive shaft. Control. When the engine is started when the required power becomes equal to or greater than a threshold due to an increase in the accelerator opening when the vehicle goes over a level difference, the driver may feel uncomfortable. On the other hand, when it is determined that there is an intention to overcome the step while the engine is stopped, the engine is started. Therefore, the engine is started when the required power exceeds a threshold value. The driver can be prevented from feeling uncomfortable. In addition, since the engine is started and autonomous operation is performed at a rotational speed corresponding to the accelerator opening, an appropriate feeling can be given by the driver to the accelerator operation when overcoming the step. As a result, it is possible to suppress the driver from feeling uncomfortable with respect to the accelerator operation at the time of overcoming the step, and to give the driver an appropriate feeling. Of course, when it is determined that there is an intention to overcome the step, or when it is determined that there is no such intention, the required power can be output to the drive shaft.

1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 as an embodiment of the present invention. It is a flowchart which shows an example of the control routine at the time of step crossing performed by the electronic control unit for hybrids 60 of this invention.

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

  FIG. 1 is a configuration diagram showing an outline of the configuration of a hybrid vehicle 20 as an embodiment of the present invention. In the hybrid vehicle 20 of the embodiment, as shown in the figure, a carrier is connected to an engine 32 that uses gasoline or light oil as fuel, an engine electronic control unit 36 that drives and controls the engine 32, and a crankshaft 34 of the engine 32. And a planetary gear 38 having a ring gear connected to a drive shaft 22 connected to the drive wheels 26a and 26b via a differential gear 24, and a motor having a rotor connected to the sun gear of the planetary gear 38, for example, as a synchronous generator motor. 41, for example, a motor 42 configured as a synchronous generator motor and having a rotor connected to the drive shaft 22, inverters 43 and 44 for driving the motors 41 and 42, and data regarding the states of the motors 41 and 42 are input. In addition, the inverters 43 and 44 are not switched on. A motor electronic control unit 46 that drives and controls the motors 41 and 42 by switching the elements, a battery 50 that is configured as a secondary battery and is chargeable / dischargeable, an ignition signal from the ignition switch 61, and a shift lever Shift position SP from the shift position sensor 62 that detects the position, accelerator opening Acc from the accelerator pedal position sensor 64 that detects the amount of depression of the accelerator pedal, and brake from the brake pedal position sensor 66 that detects the amount of depression of the brake pedal A hybrid electronic control unit that inputs the pedal position BP, the vehicle speed V from the vehicle speed sensor 68 and the like and communicates with the engine electronic control unit 36 and the motor electronic control unit 46 to control the entire vehicle. Including 0 and, the. Here, the shift position SP of the shift lever includes a parking position (P position) used during parking, a reverse position for reverse travel (R position), a neutral position for neutral (N position), and a drive position for forward travel (D Position). The engine electronic control unit 36 calculates the rotational speed of the crankshaft 34, that is, the rotational speed Ne of the engine 32 based on a crank position from a crank position sensor (not shown) attached to the crankshaft 34, and the motor The electronic control unit 46 calculates the rotational speeds of the motors 41 and 42 based on signals from rotational position detection sensors (not shown) that detect the rotational positions of the rotors of the motors 41 and 42, respectively.

  The hybrid vehicle 20 of the embodiment basically travels by drive control described below that is executed by the hybrid electronic control unit 60. In the hybrid electronic control unit 60, first, the required torque Tr * required for the drive shaft 22 for traveling is set according to the accelerator opening Acc from the accelerator pedal position sensor 64 and the vehicle speed V from the vehicle speed sensor 68. Then, the required torque Tr * is multiplied by the rotational speed of the drive shaft 22 (for example, the rotational speed obtained by multiplying the rotational speed of the motor 42 or the vehicle speed V by a conversion factor) to calculate the traveling power Pd * required for traveling. The correction power for charging / discharging the battery 50 obtained according to the charge capacity ratio (SOC) of the battery 50 from the calculated traveling power Pd * is reduced (a positive value when discharging from the battery 50). Engine command power Pe * as power to be output from the engine 32 (in the basic state where the correction power is 0, it is equal to the power Pd * for traveling) Setting the power). Then, the engine command power Pe * is compared with a start / stop threshold for starting and stopping the engine 32, and the engine command power Pe * becomes equal to or greater than the start / stop threshold when the operation of the engine 32 is stopped. If the engine command power Pe * falls below the start / stop threshold while the engine 32 is operating, the operation of the engine 32 is stopped. When the operation of the engine 32 is continued or after the engine 32 is started, the engine command power Pe * can be efficiently output from the engine 32. For example, the target rotational speed and target torque of the engine 32 are set using a fuel efficiency optimum operation line), and the rotational speed Ne of the engine 32 is within a range of input / output restriction as the maximum power that can charge and discharge the battery 50. A torque command as a torque to be output from the motor 41 is set by the rotation speed feedback control so that the motor 41 is driven by the torque command from the required torque Tr *. The torque obtained by reducing the torque acting on the drive shaft 22 through the motor 42 is set as the torque command of the motor 42. To. The set target rotational speed and target torque of the engine 32 are transmitted to the engine electronic control unit 36, and torque commands for the motors 41 and 42 are transmitted to the motor electronic control unit 46. The engine electronic control unit 36 that has received the target rotational speed and the target torque executes intake air amount control, fuel injection control, ignition control, etc. of the engine 32 so that the engine 32 is operated by the target rotational speed and the target torque. The motor electronic control unit 46 that has received the torque commands of the motors 41 and 42 performs switching control of the switching elements of the inverters 43 and 44 so that the motors 41 and 42 are driven by the torque commands. Thus, basically, the traveling power Pd * corresponding to the accelerator opening Acc can be output from the engine 32 to travel with the required torque Tr * (hereinafter referred to as hybrid traveling). On the other hand, when the operation stop of the engine 32 is continued or after the operation of the engine 32 is stopped, a value 0 is set in the torque command of the motor 41 and the required torque Tr * within the range of the input / output limit of the battery 50 Is set to the torque command of the motor 42, and the set torque commands of the motors 41 and 42 are transmitted to the motor electronic control unit 46. The motor electronic control unit 46 that has received the torque commands of the motors 41 and 42 performs switching control of the switching elements of the inverters 43 and 44 so that the motors 41 and 42 are driven by the torque commands. As a result, the operation of the engine 32 is stopped and the vehicle can travel with the required torque Tr * using only the power from the motor 42 (hereinafter referred to as motor travel). With this control, the hybrid vehicle 20 according to the embodiment generates the traveling power Pd * corresponding to the accelerator opening Acc while charging / discharging the battery 50 within the range of the input / output limitation of the battery 50 with intermittent operation of the engine 32. It outputs to the drive shaft 22 and travels.

  Further, the engine 32 is basically started by start control described below, which is executed by the hybrid electronic control unit 60. In the hybrid electronic control unit 60, first, based on the torque map at the time of start set in advance so that the engine 32 can be started by motoring of the motor 41, and the elapsed time from the start of the start of the engine 32, the motor is driven. In addition to setting the torque command 41, the set torque command is transmitted to the motor electronic control unit 46, and the engine 32 rotational speed Ne input from the engine electronic control unit 36 and the ignition start rotation for starting fuel injection and ignition. Compare the number. The motor electronic control unit 46 that has received the torque command performs switching control of the inverter 43 so that the motor 41 is driven by the torque command. When the rotational speed Ne of the engine 32 reaches the ignition start rotational speed or more, an instruction signal is transmitted to the engine electronic control unit 36 so as to start the fuel injection control and ignition control of the engine 32, and the engine 32 completes explosion. The process after setting the torque command of the motor 41 is repeatedly executed until the starting control is finished. At this time, in the above-described drive control executed by the hybrid electronic control unit 60, the torque acting on the drive shaft 22 via the planetary gear mechanism 38 when the motor 41 is driven by the torque command is subtracted from the required torque Tr *. The torque command of the motor 42 as a torque obtained in this way is set and transmitted to the motor electronic control unit 46. The motor electronic control unit 46 also performs switching control of the inverter 44 so that the motor 42 is driven by the received torque command. Is doing. In the hybrid vehicle 20 of the embodiment, the engine 32 is started by driving the motor 41 while traveling with the required torque Tr *.

  Next, the operation of the hybrid vehicle 20 of the embodiment thus configured, particularly the operation when overcoming a step due to unevenness such as a depression on the road surface will be described. FIG. 2 is a flowchart showing an example of a control process for overcoming a step executed by the hybrid electronic control unit 60. This routine is repeatedly executed in parallel with the drive control described above.

  When the step over step control routine is executed, the CPU (not shown) of the hybrid electronic control unit 60 first executes a process of determining whether or not the driver has an intention to get over the step (step S100). In this embodiment, in this embodiment, the torque is output from the engine 32 and the motors 41 and 42 to the drive shaft 22 in the vehicle traveling direction (forward direction or backward direction) and the vehicle is stopped from the accelerator opening. Judgment was made based on whether or not Acc increased. For the torque output to the drive shaft 22, is the required torque Tr * set by the drive control routine in a cycle several times a predetermined cycle as an execution interval of a drive control routine (not shown) equal to or greater than 0? Or when the motor 32 is running while the operation of the engine 32 is stopped, similarly, it is checked whether or not the torque command of the motor 42 set in the drive control routine is a value of 0 or more. It can be determined by doing. The stop of the vehicle can be determined by examining whether or not the vehicle speed V from the vehicle speed sensor 68 is zero. As for the increase in the amount of depression of the accelerator pedal, an opening degree difference ΔAref determined in advance by experiments or the like as an amount by which it can be determined that the accelerator opening amount Acc from the accelerator pedal position sensor 64 is larger than the value 0. Thus, it can be determined by examining whether or not it has increased at the execution interval of this routine. When overcoming the step, since the vehicle speed V is close to the value 0 and the engine command power Pe * is basically less than the start / stop threshold value, the motor travels, so the opening degree difference ΔAref in the embodiment is In the drive control routine (not shown), the engine command power Pe * is increased during the motor travel when overcoming the step, and the step is determined in advance within a range not exceeding the start / stop threshold. Depending on the magnitude of the vehicle speed V when attempting to get over, it is conceivable that the engine command power Pe * becomes equal to or higher than the start / stop threshold value and the motor travel is shifted to the hybrid travel. When it is determined in step S100 that the driver does not intend to get over the step, this routine is finished.

  When it is determined that the driver intends to climb over the step, and the motor is running while the operation of the engine 32 is stopped (when the engine command power Pe * is less than the start / stop threshold), the engine The torque command of the motor 41 and the instruction signal of the engine 32 are generated so as to be started, and are transmitted to the motor electronic control unit 46 and the engine electronic control unit 36, respectively (step S110). The motor electronic control unit 46 that has received the torque command performs switching control of the inverter 43 so that the motor 41 is driven by the torque command, and the engine electronic control unit 36 that has received the instruction signal receives the engine 32 according to the instruction signal. The fuel injection control and ignition control are started. Here, when it is determined that there is an intention to get over the step, during hybrid running in which the engine 32 is under load operation (when the engine command power Pe * is equal to or greater than the start / stop threshold value), driving (not shown) This routine is ended in order to continue the operation control of the engine 32 and the drive control of the motors 41 and 42 so as to travel with the required torque Tr * with the load operation of the engine 32 by the control routine.

  When the engine 32 is started in this way, the independent target rotational speed is set and set so as to increase as the accelerator opening Acc from the accelerator pedal position sensor 64 increases (for example, a proportional tendency or a tendency to increase in a curve). An instruction signal is transmitted to the engine electronic control unit 36 so that the engine 32 operates independently at the self-sustained target rotational speed (step S120). The engine electronic control unit 36 that has received the instruction signal performs operation control such as fuel injection control and ignition control of the engine 32 so that the engine 32 is independently operated in accordance with the instruction signal. Here, the engine 32 is independently operated at a rotational speed corresponding to the accelerator opening Acc because the driving force for traveling reflecting the accelerator operation of the driver is output to the drive shaft 22 by the engine sound or the like. This is for directing. In the embodiment, the independent target rotational speed is set to a positive lower limit rotational speed (for example, 800 rpm, 1000 rpm, etc.) when the accelerator opening Acc is 0% or more so that the autonomous operation of the engine 32 is continued even when the accelerator is temporarily off. ) It was assumed that it was set as above. Furthermore, the self-sustained target rotational speed is the speed at which the engine 32 was autonomously operated immediately before when the charge capacity ratio (SOC) of the battery 50 is less than the threshold due to power consumption of the motor 42 and the like and the engine 32 is loaded. In order to prevent the fuel efficiency from deteriorating beyond the allowable range even when driving at a driving point that does not need to be changed from the number (for example, to avoid driving at a driving point that deviates greatly from the fuel efficiency optimal operation line) In addition, the motor 41 is set to be equal to or lower than the upper limit rotational speed determined so that the motor 41 can be driven at a rotational speed and torque suitable for charging the battery 50.

  When the engine 32 is independently operated in this way, it is determined whether or not the driver has no intention to get over the step (step S130). In this embodiment, this processing is performed based on a value determined that the vehicle speed V from the vehicle speed sensor 68 has started running (a value that is simply determined to start moving so that the engine 32 is not frequently started or stopped). (Large value) is equal to or higher than a predetermined vehicle speed Vref determined in advance by experiments, the shift position SP from the shift position sensor 62 is a parking position (P position), or the vehicle speed V from the vehicle speed sensor 68 is predetermined. When at least one of a predetermined time determined in advance through experiments or the like has passed as a time when it may be determined that the vehicle has started running at a low vehicle speed state lower than the vehicle speed Vref, It was decided that the driver had no intention to get over the step because he gave up on getting over. If it is not determined that the driver has no intention to overcome the step while the engine 32 is being operated autonomously, the process returns to step S120 to wait until it is determined that the intention has disappeared, and the driver is stepped. When it is determined that the intention to get over is lost, an instruction signal is transmitted to the engine electronic control unit 36 to end the operation control for autonomously operating the engine 32 (step S140), and this routine is ended. The engine electronic control unit 36 that has received the instruction signal ends the operation control for the autonomous operation of the engine 32. Then, operation control of the engine 32 and drive control of the motors 41 and 42 are performed in a drive control routine (not shown). Therefore, this routine is executed when the engine command power Pe * is less than the start / stop threshold and the operation of the engine 32 is stopped, and there is an intention to overcome the step within the range where the engine command power Pe * is less than the start / stop threshold. When it is determined that there is no intention to climb over the step after it is determined that there is a self-sustained operation of the engine 32, the operation of the engine 32 is stopped and drive control for motor travel is performed.

  According to the hybrid vehicle 20 of the embodiment described above, it is determined that the driver intends to overcome the step while the operation of the engine 32 is stopped within the range where the engine command power Pe * is less than the start / stop threshold. When it is determined that the engine 32 is started and the engine 32 is independently operated at a self-sustained target rotational speed that tends to increase as the accelerator opening Acc increases, and then it is determined that the driver has no intention to overcome the step. The operation of the engine 32 is stopped. As a result, the driver feels uncomfortable when the engine 32 is started due to an increase in the accelerator opening Acc when the vehicle gets over the step (for example, the torque to the drive shaft 22 suddenly increases). Such as uncomfortable feeling caused by a change in torque while a relatively large torque is being output from the motor 42 to the drive shaft 22). Further, since the engine 32 is independently operated at the independent target rotational speed that changes in accordance with the accelerator opening Acc, it is possible to give the driver a more appropriate feeling for the accelerator operation when overcoming the step. As a result, it is possible to suppress the driver from feeling uncomfortable with respect to the accelerator operation at the time of overcoming the step, and to give the driver an appropriate feeling. In addition, even if the driving force for driving is output from the engine 32 or the motors 41 and 42 to the drive shaft 22, the driver has an intention to overcome the step when the accelerator opening Acc increases while the vehicle is stopped. After that, when the vehicle speed V becomes equal to or higher than the predetermined vehicle speed Vref, the shift position SP becomes the parking position, or the predetermined time has elapsed even when the vehicle speed V is less than the predetermined vehicle speed Vref, the step is overcome. Since it is determined that the intention has disappeared, it is possible to more reliably determine whether or not the driver intends to overcome the step. Of course, the traveling power Pd * corresponding to the accelerator opening Acc can be output to the drive shaft 22 even when it is determined that there is an intention to overcome the step or when such intention is lost.

  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 32 corresponds to the “engine”, the motor 41 corresponds to the “first motor”, the motor 42 corresponds to the “second motor”, the planetary gear 38 corresponds to the “planetary gear mechanism”, The battery 50 corresponds to a “battery”, and it is determined whether or not there is an intention to overcome the step by torque to the drive shaft 22, stop of the vehicle, and increase of the accelerator opening Acc, and the vehicle speed V, the shift position SP, and the vehicle speed. The hybrid electronic control unit 60 that executes the processing of steps S100 and S130 of the step overstep control routine of FIG. 2 for determining whether or not the intention to get over the step is lost according to V and a predetermined time corresponds to “determination means”. The traveling power Pd * corresponding to the required torque Tr * corresponding to the accelerator opening Acc is output to the drive shaft 22 to travel. In this way, the target rotational speed and target torque of the engine 32 and the torque command of the motors 41 and 42 are set and the drive control is transmitted to the engine electronic control unit 36 and the motor electronic control unit 46. When it is determined that there is an intention to get over, the engine 32 is started and independently operated at an independent target rotational speed corresponding to the accelerator opening degree. 2 are transmitted to the engine electronic control unit 36 and the motor electronic control unit 36, respectively, and the processes of steps S110, S120, and S140 of the step overcoming control routine of FIG. Engine for controlling operation of hybrid electronic control unit 60 and engine 32 The combination of the use electronic control unit 36 and the motor electronic control unit 46 for driving and controlling the motors 41 and 42 corresponds to the "control means". 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 same as that of the embodiment described in the column of means for solving the problem. Therefore, the elements of the invention described in the column of means for solving the problems are not limited. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problems. It is only a specific example.

  As mentioned above, although the form for implementing this invention was demonstrated using the Example, this invention is not limited at all to such an Example, In the range which does not deviate from the summary of this invention, it is with various forms. Of course, it can be implemented.

  The present invention can be used in the manufacturing industry of hybrid vehicles.

  20 hybrid vehicle, 22 drive shaft, 24 differential gear, 26a, 26b drive wheel, 32 engine, 34 crankshaft, 36 engine electronic control unit, 38 planetary gear, 41, 42 motor, 42a temperature sensor, 43, 44 inverter, 46 Electronic control unit for motor, 50 battery, 60 electronic control unit for hybrid, 61 ignition switch, 62 shift position sensor, 64 accelerator pedal position sensor, 66 brake pedal position sensor, 68 vehicle speed sensor.

Claims (1)

A planet in which three rotating elements are connected to three axes: an engine, a first motor capable of inputting / outputting power, an output shaft of the engine, a rotating shaft of the first motor, and a driving shaft coupled to driving wheels. A gear mechanism, a second motor capable of inputting / outputting power to / from the drive shaft, a battery capable of exchanging electric power with the first motor and the second motor, and the drive shaft depending on the accelerator opening. When the requested power is less than a threshold, the requested power is output to the drive shaft in a state where the operation of the engine is stopped, and when the requested power is equal to or greater than the threshold, the request is performed while the engine is under load operation. In a hybrid vehicle comprising: control means for controlling the engine, the first motor, and the second motor so that power is output to the drive shaft;
It has a judgment means to judge the presence or absence of the driver's intention to overcome the step,
When the determination means determines that the determination means has an intention to get over the step while the operation of the engine is stopped within the range where the required power is less than the threshold, the engine is started and the accelerator is Self-sustained operation for controlling the engine, the first motor, and the second motor so that the engine operates independently at a rotational speed that tends to increase as the opening degree increases and the required power is output to the drive shaft. The engine is stopped and the requested power is driven when the determination means determines that there is no intention to get over the step during the drive control. Means for controlling the engine, the first motor and the second motor to be output to a shaft;
A hybrid vehicle characterized by that.

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