JPH0638305A - Hybrid vehicle - Google Patents

Abstract

PURPOSE:To prevent instable traveling even if switching is made between engine drive mode and motor drive mode during turning. CONSTITUTION:The hybrid vehicle comprises an engine 11, a motor 15, an engine controller 42 controlling engine torque, a motor controller 46 controlling motor torque, and a mode switching means 7. The hybrid vehicle further comprises a travel condition detecting means 3 and means 4 for selecting mode depending on travel conditions. If a selected mode is different from a current mode, the selected mode is switched and if a turning amount detecting means 5 detects turning, a switching decision means 6 prohibits switching otherwise allows switching. Switching of mode may cause fluctuation of output torque and may produce impact, but turning is not carried out at that time thus preventing instable traveling at the time of turning.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hybrid vehicle.

[0002]

2. Description of the Related Art Conventionally, hybrid type vehicles using both an engine and a motor have been provided. For example, as an example of a hybrid type vehicle, a first
A second clutch is provided between the motor and the transmission, the first clutch and the second clutch are engaged in the engine drive mode to stop the motor, and the engine is stopped in the motor drive mode to stop the first clutch.
The clutch is released and the second clutch is engaged (see Japanese Patent Laid-Open No. 60-55803).

Therefore, for example, it is possible to travel in the motor drive mode during low speed travel or medium speed travel, and in the engine drive mode during high speed travel.

[0004]

However, in the conventional hybrid vehicle described above, traveling is unstable if the motor drive mode is switched to the engine drive mode or the engine drive mode is switched to the motor drive mode during turning. Become. 2 is a time chart when switching from the motor drive mode to the engine drive mode, FIG. 3 is a time chart when the engine torque synchronization is slow, and FIG. 4 is a time chart when the engine torque synchronization is fast.

As shown in FIG. 2, when the motor drive mode is switched to the engine drive mode, the motor current is decreased to gradually reduce the motor torque, and the throttle opening is increased to gradually increase the engine torque. To be done. At this time, if the engine torques are correctly synchronized, the sum of the engine torque and the motor torque, that is, the output torque slightly changes at the start point and the end point of the switching. However, when the engine torque is slow in synchronization, the motor torque becomes small before the engine torque becomes sufficiently large, and a shock due to a drop in the output torque occurs as shown in FIG.

Further, when the engine torque is synchronized quickly, the engine torque increases before the motor torque becomes sufficiently small, so that a shock due to an increase in output torque occurs as shown in FIG. If this switching is performed while the hybrid vehicle is turning, the output torque fluctuations and shocks are transmitted to the drive wheels to change the propulsion force and cornering force, resulting in an oversteer state and an understeer state. And the driving becomes unstable.

The present invention solves the above-mentioned problems of the conventional hybrid type vehicle, and makes traveling unstable even when the mode is switched between the engine drive mode and the motor drive mode during turning. It is an object of the present invention to provide a hybrid type vehicle that does not have a vehicle.

[0008]

Therefore, in the hybrid vehicle of the present invention, an engine, a motor, and
An engine controller for controlling the engine torque and a motor controller for controlling the motor torque are provided, and the mode switching means issues an engine command value to the engine controller and a motor command value to the motor controller, and at least The mode is switched between the engine drive mode and the motor drive mode.

Further, there are provided a traveling condition detecting means for detecting a traveling condition of the hybrid type vehicle, a mode selecting means for selecting a mode according to the traveling condition, and a turning amount detecting means for detecting a turning amount. Then, the switching determination means determines whether to prohibit or permit switching to the selected mode based on the turning amount.

Further, in a hybrid vehicle equipped with a motor and an engine and driven by at least one driving force, at least a clutch for connecting the engine and the driving wheels and a first driving mode for driving only the motor are provided. Mode selecting means for selecting a second drive mode for driving the engine, and releasing the clutch when the first drive mode is selected, and the clutch when the second drive mode is selected The clutch control means for engaging the clutch, the turning amount detecting means for detecting the turning amount, and the clutch by the clutch control means when the turning amount detected by the turning amount detecting means exceeds a preset value. It is possible to have a prohibition means for prohibiting the change of the engagement / disengagement state of.

[0011]

According to the present invention, as described above, the engine, the motor, the engine controller for controlling the engine torque, and the motor controller for controlling the motor torque are provided, and the mode switching means is provided. An engine command value is issued to the engine controller and a motor command value is issued to the motor controller to switch modes at least between the engine drive mode and the motor drive mode.

Further, a traveling condition detecting means for detecting a traveling condition of the hybrid type vehicle and a mode selecting means are provided.
The mode is selected according to the traveling condition. Then, when the selected mode is different from the current mode, the mode is switched, but at this time, the output torque, which is the sum of the engine torque and the motor torque, may fluctuate or a shock may occur. is there. Therefore, the turning amount of the hybrid vehicle is detected by the turning amount detecting means, the switching is prohibited by the switching determining means when the hybrid vehicle is turning, and the switching is permitted when the hybrid vehicle is not turning. Therefore, it is possible to prevent the traveling from becoming unstable during turning.

Further, in a hybrid vehicle equipped with a motor and an engine and driven by at least one driving force, at least a clutch for connecting the engine and the driving wheels and a first drive mode for driving only the motor are provided. Mode selecting means for selecting a second drive mode for driving the engine, and releasing the clutch when the first drive mode is selected, and the clutch when the second drive mode is selected The clutch control means for engaging the clutch, the turning amount detecting means for detecting the turning amount, and the clutch by the clutch control means when the turning amount detected by the turning amount detecting means exceeds a preset value. It is possible to have a prohibition means for prohibiting the change of the engagement / disengagement state of.

Therefore, when the second drive mode is selected while traveling in the first drive mode, or when the first drive mode is selected while traveling in the second drive mode, the hybrid type is selected. When the vehicle is turning, the disengaged state of the clutch connecting the engine and the drive wheels is not changed. Therefore, for example, since the propulsive force and the cornering force do not change due to the engagement of the clutch during turning, the vehicle can travel stably even during turning.

[0015]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a functional block diagram of a hybrid vehicle of the present invention. In the figure, 11 is an engine, and 15 is a motor. The engine torque generated by the engine 11 is controlled by the engine controller 42, and the motor torque generated by the motor 15 is controlled by the motor controller 46.

Reference numeral 7 is a mode switching means for instructing the engine controller 42 with an engine command value and instructing the motor controller 46 with a motor command value. The mode switching means 7 switches modes at least between the engine drive mode and the motor drive mode. Reference numeral 3 denotes a traveling condition detecting means for detecting traveling conditions such as an accelerator opening degree and a vehicle speed, and the mode selecting means 4 selects a mode according to the traveling condition detected by the traveling condition detecting means 3.

Numeral 5 is a turning amount detecting means for detecting the turning amount of the hybrid type vehicle, and the switching judging means 6 is prohibited from switching to a mode selected by the turning amount detected by the turning amount detecting means 5. Determine whether to do or allow.
FIG. 5 is a conceptual diagram of a hybrid vehicle showing the first embodiment of the present invention. In the figure, 11 is an engine (E /
G), 12 are output shafts of the engine 11, C is the output shaft 1
2 is a clutch arranged. The output shaft 12 is arranged on the drive side of the clutch C.

Further, 14 is a transmission shaft disposed on the driven side of the clutch C, 15 is a motor, and 16 is the motor 15
Is an output shaft, 19 is a differential device, and 20 is a drive wheel. The output shaft 16 rotates integrally with the transmission shaft 14. A CPU 35 controls the entire hybrid vehicle. The CPU 35 includes a RAM and a ROM
Etc. memory is included. Reference numeral 36 denotes an accelerator sensor that detects an accelerator opening degree Θ corresponding to an accelerator pedal depression amount of an accelerator pedal (not shown), 37 is a brake sensor that detects a brake pedal depression amount b of a brake pedal (not shown), and 38 is a rotation speed of the output shaft 16. A vehicle speed sensor for detecting the motor speed and a vehicle speed v, and a steering angle sensor 39 for detecting a steering angle ψ for turning the hybrid vehicle. Each of these sensors 3
6 to 39, the accelerator opening Θ, the brake depression amount b, the vehicle speed v and the steering steering angle ψ are
Sent to U35.

An engine controller (throttle actuator) 42 receives an engine command value from the CPU 35 and controls an amount corresponding to the engine load of the engine 11, that is, a throttle opening θ. The throttle opening degree θ is the opening degree of a throttle valve (not shown) of the engine 11, and normally changes corresponding to the accelerator opening degree Θ. In this embodiment, the throttle valve is opened and closed by a predetermined motor (not shown), and the throttle opening θ changes without corresponding to the accelerator opening Θ. If necessary, two throttle valves can be provided in series and the operation of the throttle valve by the driver can be canceled by the CPU 35.

Reference numeral 44 is a clutch controller for engaging and disengaging the clutch C, and 46 is a motor controller. The motor controller 46 receives a command of the motor command value I _M from the CPU 35 and supplies a motor current to the motor 15. In the hybrid vehicle having the above structure, in an engine drive mode in which only the engine 11 is driven, no motor current is supplied to the motor 15 and only the engine 11 is operated. In this case, the rotation of the engine 11 is transmitted to the clutch C via the output shaft 12. Then, when the clutch C is engaged, the rotation transmitted to the output shaft 16 is transmitted to the drive wheels 20.

Next, in the motor drive mode in which the engine 11 is stopped and only the motor 15 is driven, the motor 1 is driven.
5 generates motor torque. The rotation of the motor 15 is
It is output to the output shaft 16. Also, the clutch C is released during the motor drive mode. Further, in the engine / motor drive mode in which the engine 11 is operated and the clutch C is engaged to drive the motor 15, the hybrid vehicle is operated by the engine 11 and the motor 15.
Run by. Therefore, even if the motor 15 or the motor controller 46 fails, the engine 11 can start and run.

As described above, in the hybrid vehicle having the above structure, the engine drive mode, the motor drive mode, and the engine / motor drive mode are switched by the CPU 35, the vehicle speed v is low, and the load (accelerator opening Θ) is small. When the vehicle speed v is high, the vehicle is driven in the engine drive mode, and when the vehicle speed v is low and the load is large, the vehicle is driven in the engine / motor drive mode.

By the way, when the clutch C is engaged or released at the time of switching from the motor drive mode to the engine drive mode or at the time of switching from the engine drive mode to the motor drive mode, the engine 11 becomes a load of the motor 15. As a result, the output torque that is transmitted fluctuates or a shock occurs. In this way, the mode switching involves engagement or disengagement of the clutch C, and
As will be described later, there is a problem of synchronization between the motor torque and the engine torque (change of torque sharing between the motor 15 and the engine 11).

If the switching is performed while the hybrid vehicle is turning, the output torque fluctuation and shock are transmitted to the driving wheels, the propulsive force and the cornering force are changed, and the oversteer state and the understeer state are changed. It occurs and the driving becomes unstable. Therefore, when the hybrid vehicle is turning, the mode switching is not performed.

Therefore, when the hybrid vehicle is started, first, the accelerator sensor 36, the brake sensor 37 and the vehicle speed sensor 38 detect the accelerator opening Θ, the brake depression amount b and the vehicle speed v, and based on the detected values. The motor command value I _M is calculated by
To be ordered. The motor controller 46 is a CPU
When the motor command value I _M is received from 35, the motor current is supplied to the motor 15 by the motor command value I _M , and the hybrid vehicle runs in the motor drive mode.

During traveling in the motor drive mode, a mode selected next from the accelerator opening Θ and the vehicle speed v (hereinafter,
It is called "next mode". ) Is calculated. Then, it is determined whether or not the next mode is the same as the currently selected mode (hereinafter referred to as "previous mode"). Then, when the mode is switched, it is determined whether the mode switching is permitted or prohibited depending on the turning amount of the hybrid vehicle.

In this case, the turning amount of the hybrid type vehicle is determined by the steering snake angle ψ detected by the steering snake angle sensor 39 (FIG. 5). Therefore, when the hybrid type vehicle is turning with a turning amount smaller than the preset turning amount, mode switching is permitted, the hybrid vehicle runs in the next mode, and turns with a turning amount larger than the preset turning amount. If so, mode switching is prohibited and the vehicle continues to run in the same mode.

Next, the operation of the hybrid vehicle of the present invention will be described. 6 is a first flow chart showing the operation of the hybrid vehicle in the first embodiment of the present invention, FIG. 7 is a second flow chart showing the operation of the hybrid vehicle in the first embodiment of the present invention, FIG. Is a flow chart showing the operation of the motor command value calculation processing in the first embodiment of the present invention, FIG. 9 is a diagram showing a motor command value map in the first embodiment of the present invention, and FIG. 10 is the first embodiment of the present invention. FIG. 11 is a flow chart showing the operation of the mode determination process in the embodiment, FIG. 11 is a diagram showing the mode switching map in the first embodiment of the present invention, and FIG. 12 is the switching determination process according to the turning amount in the first embodiment of the present invention. FIG. 13 is a flow chart showing the operation, FIG. 13 is a diagram showing a switching determination processing map according to the turning amount in the first embodiment of the present invention, and FIG. 14 is an engine starter in the first embodiment. Jin startup time chart, FIG. 15 is a time chart at the time of starting the engine by the clutch in the first embodiment, FIG. 16 is first
17 is a flowchart showing the operation of engine command value calculation processing in the embodiment of FIG. 17, FIG. 17 is a flowchart showing the operation of engine / motor command value calculation processing in the first embodiment, and FIG. 18 is a motor command value map in the first embodiment. FIG. 19 is a diagram showing a throttle opening map in the first embodiment. Step S1 Initial setting is performed. Step S2: A motor command value calculation process is performed based on the accelerator opening Θ, the brake depression amount b, and the vehicle speed v. In step S3, the motor command value I _M calculated by the motor command value calculation process is commanded to the motor controller 46 (FIG. 5). Step S4: A mode determining process is performed based on the accelerator opening Θ and the vehicle speed v. Then, the next mode and the previous mode are compared, the turning amount of the hybrid vehicle is obtained when the mode is switched, and it is determined whether or not the mode may be switched when the hybrid vehicle is turning with the turning amount. When switching is prohibited, the vehicle runs in the previous mode, and when it is allowed, the vehicle travels in the next mode. Step S5: It is judged whether the mode selected in step S4 is the motor drive mode (A), the engine drive mode (B) or the engine / motor drive mode (C). And
In the motor drive mode, the process returns to step S2. In the engine drive mode, the process proceeds to step S6.
In the motor drive mode, the process proceeds to step S12. Step S6 If the engine drive mode is selected,
The engine 11 is started. In step S7, the engine command value calculation process is performed to make the throttle opening θ as the engine command value equal to the accelerator opening Θ. In step S8, the engine command value, that is, the throttle opening θ is commanded to the engine controller 42, and the vehicle runs in the engine drive mode. In step S9, mode determination processing is performed based on the accelerator opening Θ and the vehicle speed v. Then, the next mode and the previous mode are compared, the turning amount of the hybrid vehicle is obtained when the mode is switched, and it is determined whether or not the mode may be switched when the hybrid vehicle is turning with the turning amount. When switching is prohibited, the vehicle runs in the previous mode, and when it is allowed, the vehicle travels in the next mode. Step S10 It is judged whether the mode selected in step S9 is the motor drive mode (A), the engine drive mode (B) or the engine / motor drive mode (C). Then, in the case of the motor drive mode, the process proceeds to step S11,
In the engine drive mode, the process returns to step S7, and in the engine / motor drive mode, the process proceeds to step S13. Step S11 If the motor drive mode is selected,
The engine 11 is stopped. Step S12 If the engine / motor drive mode is selected in step S5, the engine 11 is started. In step S13, the engine / motor command value calculation process is performed to calculate the motor command value I _M and the throttle opening θ based on the accelerator opening Θ and the vehicle speed v. In step S14, the throttle opening θ is commanded to the engine controller 42. In step S15, the motor command value I _M is commanded to the motor controller 46. In step S16, the mode determination process is performed based on the accelerator opening Θ and the vehicle speed v. Then, the next mode and the previous mode are compared, the turning amount of the hybrid vehicle is obtained when the mode is switched, and it is determined whether or not the mode may be switched when the hybrid vehicle is turning with the turning amount. When switching is prohibited, the vehicle runs in the previous mode, and when it is allowed, the vehicle travels in the next mode. In step S17, it is determined whether the mode selected in step S16 is the motor drive mode (A), the engine drive mode (B) or the engine / motor drive mode (C). Then, in the case of the motor drive mode, the process proceeds to step S18,
In the engine drive mode, the process returns to step S7, and in the engine / motor drive mode, the process proceeds to step S13. Step S18 If the motor drive mode is selected,
The engine 11 is stopped and the process returns to step S2.

Next, the motor command value calculation processing in step S2 will be described with reference to FIG. In step S21, the accelerator opening Θ detected by the accelerator sensor 36 (FIG. 5) is read. In step S22, the brake depression amount b detected by the brake sensor 37 is read. In step S23, the vehicle speed v detected by the vehicle speed sensor 38 is read. Step S24 The motor command value I _M is calculated with reference to the motor command value map of FIG. 9 based on the read accelerator opening Θ, brake depression amount b and vehicle speed v.

Next, based on FIG. 10, steps S4 and S
The mode determination processing in S9 and S16 will be described. In step S31, the accelerator opening Θ detected by the accelerator sensor 36 (FIG. 5) is read. In step S32, the vehicle speed v detected by the vehicle speed sensor 38 is read. Step S33 The read accelerator opening Θ and vehicle speed v
Based on the above, the next mode calculation processing is performed with reference to the mode switching map of FIG. As shown in FIG. 11, when the vehicle speed v is lower than the switching vehicle speed v ₁ and the accelerator opening Θ is smaller than the switching accelerator opening Θ ₁ , the vehicle speed v is set in the motor drive mode.
Is lower than the switching vehicle speed v ₁ and the accelerator opening Θ is in the switching accelerator opening Θ ₁ or more in the engine / motor drive mode, and in the area where the vehicle speed v is the switching vehicle speed v ₁ or more in the engine drive mode, the hybrid vehicle runs. To do. In step S34, it is determined whether the next mode is the same as the previous mode. If the next mode is the same as the previous mode, step S
Step 38, if the next mode is different from the previous mode, step S
Proceed to 35. In step S35, switching determination processing is performed based on the turning amount. In step S36, it is determined whether or not the mode switching is prohibited. If the mode switching is prohibited, the process proceeds to step S38.
If not prohibited, the process proceeds to step S37. In step S37, the mode is switched and the next mode is selected. Step S38 Select the previous mode.

Next, a case will be described with reference to FIGS. 12 and 13 in which the switching determination in the switching determination processing based on the turning amount in step S35 is performed by the steering snake angle ψ. Step S41 Steering angle sensor 39 (Fig. 5)
The steering steering angle ψ detected by is read. In step S42, the vehicle speed v detected by the vehicle speed sensor 38 is read. Step S43 Based on the read steering steering angle ψ and vehicle speed v, referring to the switching determination processing map of FIG. 13, a switching permission calculation process is performed to determine whether to prohibit or permit mode switching.

Next, the engine starting process in steps S6 and S12 will be described with reference to FIGS. FIG. 14 shows a time chart when the engine 11 (FIG. 5) is started by a starter (not shown). As shown in the figure, if there is a determination to switch from the motor drive mode to the engine drive mode at point a,
An ignition switch and a starter (not shown) are turned on. Then, as indicated by the point b, the engine speed N
_{When E} becomes larger than the set value N _E1 , the starter is turned off.

Then, as shown by the point c, the starter is turned off.
After that, time T₁Engine speed again when
N_ETo confirm. Then, as shown by the point d, the throttle
Opening θ is the set value θ₁The time T₂Just after holding the engine
Rotation speed N_EIs the value N in the preset range_E2In
Set value θ₁Adjust. Also, the starter
Time T after being turned off₁Shifts when
Time T₃Engine speed N_EIs set in advance
Value N in the specified range_E2Then, as shown by point e,
Engage switch C. And after the clutch C is engaged
Interval T_FourWhen the time elapses, a predetermined time T_Five
Motor command value I _MTo 0 and slot
The throttle opening θ to the accelerator opening Θ.

Further, in FIG. 15, the clutch C (see FIG.
Timechart when starting the engine 11 by 5)
Is showing As shown in the figure, at point g
When the switch C is engaged, the engine 11 causes the motor 15 to rotate.
It receives and begins to rotate gradually. Engine as indicated by point h
Number of revolutions N _EIs the set value N_E3When it gets bigger,
Switch is turned on and throttle opening θ is set
Value θ₁become.

When the engine speed N _E reaches a value N _E2 within a preset range after the throttle opening θ holds the set value θ ₁ for a predetermined time, as shown by a point i, the throttle opening θ To the accelerator opening Θ,
The motor command value I _{M is set} to 0 as indicated by the point j. next,
The engine command value calculation process will be described with reference to FIG. Here, the accelerator opening Θ is used as it is as the throttle opening θ. In step S44, the accelerator opening Θ detected by the accelerator sensor 36 is read. Step S45 The throttle opening θ is made equal to the accelerator opening Θ.

Next, the engine / motor command value calculation process in the engine / motor drive mode will be described with reference to FIG. In step S46, the accelerator opening Θ detected by the accelerator sensor 36 is read. In step S47, the vehicle speed v detected by the vehicle speed sensor 38 is read. Step S48 The read accelerator opening Θ and vehicle speed v
Based on the above, the motor command value I _M is calculated with reference to the motor command value map of FIG. Step S49 Based on the read accelerator opening Θ, the throttle opening Θ is calculated with reference to the throttle opening map of FIG.

FIG. 20 is a conceptual diagram of a hybrid type vehicle showing a second embodiment of the present invention. In the figure, 11 is an engine, 12 is an output shaft of the engine 11, and C is a clutch arranged on the output shaft 12. Further, 14 is a transmission shaft, 15 is a motor, 16 is an output shaft of the motor 15, and 19 is an output shaft.
Is a differential device, and 20 is a drive wheel. The output shaft 16 rotates integrally with the transmission shaft 14.

Reference numeral 35 is a CPU for controlling the entire hybrid vehicle, 36 is an accelerator sensor for detecting an accelerator opening Θ, 37 is a brake sensor for detecting a brake depression amount b of a brake pedal (not shown), and 38 is a vehicle speed v. A vehicle speed sensor for detecting 40 is a lateral acceleration sensor for detecting lateral acceleration α as the turning amount of the hybrid vehicle. The accelerator opening Θ, the brake depression amount b, the vehicle speed v, and the lateral acceleration α detected by these sensors 36 to 38, 40 are sent to the CPU 35.

Reference numeral 42 is an engine controller for controlling the throttle opening θ, 44 is a clutch controller, and 46 is a motor controller. FIG. 21 is a flow chart showing the operation of the switching determination processing based on the turning amount in the second embodiment of the present invention. Next, a case will be described with reference to FIG. 21 in which the switching determination in the switching determination processing based on the turning amount in step S35 is performed by the lateral acceleration α. In step S50, the lateral acceleration α detected by the lateral acceleration sensor 40 (FIG. 20) is read. In step S51, it is determined whether the read lateral acceleration α is larger than the set value α ′. Steps S52 and S53: If the lateral acceleration α is larger than the set value α ', mode switching is prohibited, and if it is smaller, the mode switching is permitted.

FIG. 22 is a conceptual diagram of a hybrid type vehicle showing a third embodiment of the present invention. In the figure, 10 is a starter for starting the engine 11, 11 is the engine, 12 is the output shaft of the engine 11, and C is the output shaft 12.
The clutch 13 and the clutch 13 arranged in the above are transmission shafts. Also, 1
Reference numeral 5 is a motor, 16 is an output shaft of the motor 15, 19 is a differential device, and 20 is a drive wheel. In the case of the present embodiment, the front drive wheel 20 is driven by the engine 11 and the rear drive wheel 20 is driven by the motor 15.

Reference numeral 35 is a CPU for controlling the entire hybrid vehicle, 23 is a rotation speed sensor for detecting a left wheel rotation speed N _L of the left drive wheel 20 as a turning amount of the hybrid vehicle, and 24 is a rotation of the hybrid vehicle. As a quantity, a rotation speed sensor for detecting the right wheel rotation speed N _R of the right drive wheel 20, 36
Is an accelerator sensor that detects an accelerator opening degree Θ, 37 is a brake sensor that detects a brake depression amount b of a brake pedal (not shown), and 38 is a vehicle speed sensor that detects a vehicle speed v. The accelerator opening Θ, the brake depression amount b, the left wheel rotation speed _NL , the right wheel rotation speed _NR, and the vehicle speed v detected by these sensors 23, 24, 36 to 38 are the CPU 35.
Sent to.

Reference numeral 42 is an engine controller for controlling the throttle opening θ, 44 is a clutch controller, and 46 is a motor controller. FIG. 23 is a flow chart showing the operation of the switching determination processing based on the turning amount in the third embodiment of the present invention. Next, based on FIG. 23, the switching determination in the switching determination processing based on the turning amount in step S35 is performed by the difference ΔN between the left wheel rotational speed N _L of the left drive wheel 20 and the right wheel rotational speed N _R of the right drive wheel 20. The case of performing will be described. Step S54 The left wheel rotation speed N _L of the left drive wheel 20 detected by the rotation speed sensor 23 (FIG. 22) is read. Step S55 The right wheel rotational speed N _R of the right drive wheel 20 detected by the rotational speed sensor 24 is read. In step S56, the difference ΔN between the read left wheel rotational speed N _L of the left drive wheel 20 and right wheel rotational speed N _R of the right drive wheel 20 is calculated.

ΔN = | N _L −N _R | Step S57: It is determined whether the difference ΔN is larger than the set value ΔN '. Steps S58 and S59: If the difference ΔN is smaller than the set value ΔN ', the mode switching is permitted, and if it is larger, the mode switching is prohibited.

[Brief description of drawings]

FIG. 1 is a functional block diagram of a hybrid vehicle of the present invention.

FIG. 2 is a time chart when switching from a motor drive mode to an engine drive mode.

FIG. 3 is a time chart when the synchronization of engine torque is slow.

FIG. 4 is a time chart when the engine torque is synchronized quickly.

FIG. 5 is a conceptual diagram of a hybrid vehicle showing a first embodiment of the present invention.

FIG. 6 is a first flowchart showing an operation of the hybrid vehicle in the first embodiment of the present invention.

FIG. 7 is a second flowchart showing the operation of the hybrid vehicle according to the first embodiment of the present invention.

FIG. 8 is a flowchart showing an operation of motor command value calculation processing in the first embodiment of the present invention.

FIG. 9 is a diagram showing a motor command value map in the first embodiment of the present invention.

FIG. 10 is a flowchart showing an operation of a mode determination process in the first embodiment of the present invention.

FIG. 11 is a diagram showing a mode switching map in the first embodiment of the present invention.

FIG. 12 is a flowchart showing an operation of a switching determination process based on a turning amount in the first embodiment of the present invention.

FIG. 13 is a diagram showing a switching determination processing map according to a turning amount in the first embodiment of the present invention.

FIG. 14 is a time chart when the engine is started by the starter in the first embodiment.

FIG. 15 is a time chart when the engine is started by the clutch in the first embodiment.

FIG. 16 is a flowchart showing an operation of engine command value calculation processing in the first embodiment.

FIG. 17 is a flowchart showing an operation of engine / motor command value calculation processing in the first embodiment.

FIG. 18 is a diagram showing a motor command value map in the first embodiment.

FIG. 19 is a diagram showing a throttle opening map in the first embodiment.

FIG. 20 is a conceptual diagram of a hybrid vehicle showing a second embodiment of the present invention.

FIG. 21 is a flowchart showing an operation of a switching determination process based on a turning amount in the second embodiment of the present invention.

FIG. 22 is a conceptual diagram of a hybrid vehicle showing a third embodiment of the present invention.

FIG. 23 is a flowchart showing an operation of a switching determination process based on a turning amount in the third embodiment of the present invention.

[Explanation of symbols]

 3 traveling condition detecting means 4 mode selecting means 5 turning amount detecting means 6 switching determining means 7 mode switching means 11 engine 15 motor 42 engine controller 46 motor controller

Claims (2)

[Claims] 1. An engine, (b) a motor, (c) an engine controller for controlling engine torque, (d) a motor controller for controlling motor torque, and (e) an engine command to the engine controller. Mode switching means for commanding a value and commanding a motor command value to the motor controller, and for switching the mode at least between the engine drive mode and the motor drive mode; and (f) travel condition detection means for detecting travel conditions. (G) a mode selecting means for selecting a mode according to the traveling condition, (h) a turning amount detecting means for detecting a turning amount, and (i) whether to prohibit or allow switching to the selected mode. A hybrid vehicle having a switching determination means for determining a turning amount. 2. A hybrid vehicle including a motor and an engine, which is driven by at least one driving force, wherein: (a) a clutch that connects the engine and the drive wheels; and (b) only drives the motor. Mode selection means for selecting one drive mode and at least a second drive mode for driving the engine; and (c) releasing the clutch when the first drive mode is selected, and a second drive mode. When is selected, the clutch control means for engaging the clutch, (d) the turning amount detecting means for detecting the turning amount, and (e) the turning amount detected by the turning amount detecting means are preset. And a prohibition unit that prohibits the clutch control unit from changing the engagement / disengagement state of the clutch when the value exceeds the predetermined value.