Vehicle control device

Abstract

To provide a vehicular control apparatus capable of switching travel ranges appropriately without allowing increasing the number of times of operating an actuator of a parking lock mechanism in disengaging the parking lock mechanism from a state of parking on a sloped road.SOLUTION: When a shift operation position is switched from a parking position to another shift position, torque exerted in a rotating direction against a rolling direction of a wheel due to a road surface inclination θ is output from a motor, and until the rotation of the motor is detected, the torque output from the motor is increased so as to stop the vehicle on the inclined road, With this, a load exerted to an actuator is reduced even in the case of a load exerted between a parking gear and its meshing lock gear being large. Further, there is no need to determine whether the meshing between the parking gear and lock gear can be disengaged, preventing the number of operating the actuator from increasing, thus also reducing power consumption.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a technique for appropriately releasing a parking lock mechanism when a shift lever is switched from a parking position to another shift position on a slope. [Background technology]

[0002] When the vehicle is parked on a slope and the shift lever is switched from the parking position (P position) to another shift position (D position, R position, etc.) in order to switch the vehicle's shift range from the parking range (P range) to another range (D range, R range, etc.), the load on the parking lock mechanism increases, which may increase the load on the actuator that operates the parking lock mechanism or increase the shock caused by the torsion of the wheels. In response to this, Patent Document 1 describes that when the parking lock mechanism cannot be released by the actuator, the traction motor is driven to rotate the parking gear, thereby reducing the load on the actuator and releasing the parking lock mechanism. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2007-112409 A Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, when it is detected that the shift lever has been switched to a shift position other than the parking position, the actuator of the parking lock mechanism is driven, and if the parking lock mechanism cannot be released at this time, the traction motor is driven. As a result, the number of times the actuator that operates the parking lock mechanism is operated increases, which increases power consumption and raises concerns about a decrease in the durability of the actuator.

[0005] The present invention has been made against the background of the above circumstances, and an object of the present invention is to provide a vehicle control device that can release the parking lock mechanism when the vehicle is parked on a slope, without increasing the number of times the actuator of the parking lock mechanism is operated. [Means for solving the problem]

[0006] The gist of the first invention is that: (a) an electric motor that functions as a driving force source; and a parking lock mechanism that mechanically stops rotation of a power transmission path between the electric motor and a driving wheel; A brake pedal that is depressed to stop the vehicle; (b) the parking lock mechanism includes a parking gear provided on the power transmission path, lock teeth capable of meshing with the parking gear, and an actuator for switching a position of the lock teeth, and when a shift operation position is switched to a parking position, the actuator moves the lock teeth to a position where the lock teeth mesh with the parking gear, thereby switching to a parking lock state in which rotation of the parking gear is prevented, and (c) when the vehicle is stopped, Depression of the brake pedal When the shift operation position is switched from the parking position to another shift position in this state, a torque is output from the electric motor that acts in a rotation direction against the rotation direction of the drive wheels due to a road surface gradient, Then, the torque increased until the rotation of the motor is detected is maintained until the brake pedal is released. It is characterized by the above.

[0007] The gist of the second invention is that in the first invention, when rotation of the electric motor is detected, the actuator is driven to move the lock tooth to a position where it is disengaged from the parking gear.

[0008] The gist of the third invention is that in the first or second invention, a direction of a torque acting in a rotational direction against the rotational direction of the drive wheels is determined based on a direction of the road surface gradient, and during a transitional period in which the vehicle is parked, after the parking lock mechanism is switched to a parking lock state, The above The present invention is characterized in that the direction of the road surface gradient is determined based on a change in the rotation angle of the electric motor or a change in the rotation angle of the wheels that occurs when the brake pedal is released.

[0009] The gist of the fourth invention is that in the first invention, when the shift operation position is switched from a parking position to another shift position, it is determined whether or not the road surface is a slope, and if the road surface is a slope, a torque is output from the electric motor acting in a rotational direction that opposes the rotational direction of the drive wheels due to the road surface gradient. Effect of the Invention

[0010] According to the first aspect of the present invention, when the shift operation position is switched from the parking position to another shift position, a torque acting in a rotation direction against the rotation direction of the drive wheels due to the road gradient is output from the electric motor, and the torque output from the electric motor is increased until the rotation of the electric motor is detected. Then, the torque increased until the rotation of the motor is detected is maintained until the brake pedal is released.Therefore, even if the vehicle stops on a slope and the load between the parking gear and the lock teeth meshing with it is large, the torque output from the electric motor increases until the rotation of the electric motor is detected, thereby reducing the load between the parking gear and the lock teeth, and at the time when the rotation of the electric motor is detected, the load between the parking gear and the lock teeth becomes zero or approximately zero. In this state, the parking gear of the parking lock mechanism is released from the lock teeth, thereby reducing the load on the actuator. In addition, when the electric motor rotates, the torsion generated in the power transmission path between the parking gear and the drive wheels is eliminated, thereby suppressing the shock caused by the torsion of the power transmission path when starting the vehicle. In addition, in this control, the actuator is not driven to determine whether the mesh between the parking gear and the lock teeth can be released, so the number of times the actuator is operated does not increase and power consumption is reduced. In addition, the load on the actuator is also reduced, thereby suppressing a decrease in the durability of the actuator.

[0011] According to the second aspect of the present invention, when rotation of the electric motor is detected, the actuator is driven to release the engagement between the parking gear and the lock teeth of the parking lock mechanism, thereby reducing the load on the actuator and suppressing a decrease in the durability of the actuator.

[0012] According to the third aspect of the present invention, during the transitional period when the vehicle is stopped on a slope, the direction of the road gradient can be accurately determined based on the change in the rotation angle of the electric motor or the change in the rotation angle of the wheels that occurs when the brake pedal is released after the parking lock mechanism is switched to the parking lock state.

[0013] According to the fourth invention, when the shift operation position is switched from the parking position to another shift position, a determination is made as to whether or not the road surface is a slope. If the road surface is a slope, a torque is output from the electric motor that acts in a rotational direction that opposes the rotational direction of the drive wheels due to the road surface gradient. Therefore, if the road surface is determined to be flat, output of torque from the electric motor is avoided, thereby reducing power consumption.

[0014] Here, the direction of the road surface gradient can also be determined based on the road surface gradient detected by the gradient sensor. The direction of the road surface gradient can also be determined based on the angular acceleration of the electric motor or the angular acceleration of the wheels relative to the accelerator opening while the vehicle is traveling on a road surface where the vehicle is stopped. The direction of the road surface gradient can also be determined based on the angular acceleration of the electric motor or the angular acceleration of the wheels relative to the brake operation amount while the vehicle is traveling on a road surface where the vehicle is stopped. The direction of the road surface gradient can also be determined based on the oil level of oil stored in an oil pan provided under the power transmission device. The direction of the road surface gradient can also be determined based on changes in the stroke amount (displacement amount) of a front axle suspension that supports the front axle and the stroke amount (displacement amount) of a rear axle suspension that supports the rear axle. [Brief description of the drawings]

[0015] [Figure 1] 1 is a diagram showing a simplified structure of a drive system of a vehicle to which the present invention is applied; [Diagram 2] FIG. 2 is a diagram showing an overall configuration of the parking lock mechanism shown in FIG. [Diagram 3] 3 is a cross-sectional view showing the internal structure of a cam mechanism shown in FIG. 2, which will be described later. [Figure 4] FIG. 2 is a functional block diagram for explaining various vehicle information input to the electronic control device and for explaining the control functions of the electronic control device. [Diagram 5] 5 is a time chart showing the behavior of a vehicle when the vehicle is parked on a slope. [Figure 6] 4 is a time chart showing the behavior of a vehicle when the vehicle is traveling on an uphill road. [Figure 7] 5 is a time chart showing the vehicle behavior when the vehicle is stopped on an uphill road. [Figure 8] FIG. 2 is a diagram showing a state in which the vehicle is stopped on an uphill road. [Figure 9]FIG. 11 is a diagram showing the relationship between the stroke amount of a front axle suspension and the throttle amount of a rear axle suspension and the road surface condition. [Figure 10] 4 is a diagram showing the state of oil stored in the oil pan when the vehicle is on a flat road. FIG. [Figure 11] FIG. 4 is a diagram showing the state of oil stored in the oil pan when the vehicle is traveling uphill. [Figure 12] 4 is a time chart showing vehicle behavior based on control operations of an electronic control device. [Figure 13] 4 is a flowchart for explaining a main part of a control operation of the electronic control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that in the following embodiments, the drawings are appropriately simplified or modified, and the dimensional ratios and shapes of the various parts are not necessarily drawn accurately. EXAMPLES

[0017] 1 is a diagram showing a simplified structure of a drive system of a vehicle 10 to which the present invention is applied. The vehicle 10 is equipped with an electric motor MG that functions as a driving force source for traveling, driving wheels 12, and a power transmission device 14 provided between the electric motor MG and the driving wheels 12. Thus, the vehicle 10 is an electric vehicle that uses the electric motor MG as a driving force source.

[0018] The electric motor MG is a motor generator that functions as a motor that generates mechanical power using power supplied from the battery 16, and as a generator that generates electric power from the mechanical power. Note that the power is synonymous with torque and force unless otherwise specified.

[0019] The electric motor MG is connected to the battery 16 via an inverter 18. The inverter 18 is controlled by an electronic control device 20, whereby the MG torque Tm output from the electric motor MG is controlled. For example, when the rotation direction of the electric motor MG is the same as the traveling direction of the vehicle 10, the positive torque on the acceleration side of the MG torque Tm is a powering torque, and the negative torque on the deceleration side is a regenerative torque.

[0020] The electric motor MG generates power for traveling using electric power supplied from the battery 16 via the inverter 18. The electric motor MG is also configured to be able to generate electric power using a driven force input from the drive wheels 12. The electric power generated by the electric motor MG is stored in the battery 16 via the inverter 18.

[0021] The inverter 18 converts the DC current from the battery 16 into an AC current (three-phase AC current) and supplies it to the electric motor MG, and also converts the AC current generated by the electric motor MG into a DC current and stores it in the battery 16.

[0022] The power transmission device 14 constitutes a power transmission path between the electric motor MG and the drive wheels 12. The power transmission device 14 includes, for example, a stepped or continuously variable transmission, a differential gear device, a drive shaft, etc., and transmits the MG torque Tm output from the electric motor MG to the drive wheels 12 side.

[0023] The power transmission device 14 also includes a parking lock mechanism 22 that is activated when the shift range of the vehicle 10 is switched to a parking range (hereinafter, P range), which is a parking range.

[0024] Fig. 2 is a diagram showing the overall configuration of the parking lock mechanism 22 in Fig. 1. Fig. 3 is a cross-sectional view showing the internal structure of a cam mechanism 36 described later in Fig. 2. The parking lock mechanism 22 includes a parking gear 28 provided integrally with the drive gear 26, a parking pole 32 on which lock teeth 30 capable of meshing with the parking gear 28 are formed, a cam mechanism 36 having a cam 34 (see Fig. 3) in contact with the parking pole 32 and rotating the parking pole 32 by moving the cam 34 parallel to a rotation axis CL (hereinafter, axis CL) of the parking gear 28, and an actuator 38 that drives the cam mechanism 36.

[0025] The parking gear 28 is provided on a power transmission path between the electric motor MG and the drive wheels 12. The parking gear 28 is formed with a plurality of meshing teeth 28a at equal angular intervals in the circumferential direction for meshing with the lock teeth 30 of the parking pole 32. When the meshing teeth 28a mesh with the lock teeth 30, the parking gear 28 and the drive gear 26 are stopped from rotating, and the drive wheels 12, which are mechanically connected to the drive gear 26, are also stopped from rotating.

[0026] The parking pole 32 is a plate-like member extending in a longitudinal direction, on which the locking teeth 30 that can mesh with the meshing teeth 28a of the parking gear 28 are formed. The parking pole 32 is configured to be rotatable about a rotation axis 40 that is parallel to the axis line CL, and when the parking pole 32 rotates in the direction of the arrow A shown in FIG. 2, the locking teeth 30 and the meshing teeth 28a mesh with each other, and the parking pole 32 is switched to a locked state. On the other hand, when the parking pole 32 rotates in the direction of the arrow B, the parking pole 32 is switched to an unlocked state in which the meshing between the locking teeth 30 and the meshing teeth 28a is released. In this way, the parking pole 32 has a function of switching between a locked state in which the locking teeth 30 and the meshing teeth 28a of the parking gear 28 mesh with each other, and an unlocked state in which the meshing between the locking teeth 30 and the meshing teeth 28a of the parking gear 28 is released, by being rotated.

[0027] Next, the structure of the cam mechanism 36 will be described. Fig. 3 is a cross-sectional view showing the internal structure of the cam mechanism 36. Fig. 3 shows a state in which the lock teeth 30 of the parking pole 32 and the meshing teeth 28a of the parking gear 28 are meshed with each other (meshed state, locked state) in the parking lock mechanism 22.

[0028] The cam mechanism 36 includes a cam 34 that contacts the parking pole 32, a parking rod 42 to which the cam 34 is attached at its tip and which moves parallel to the axis CL, thereby moving the cam 34, a cover 44 that houses the parking rod 42, a parking sleeve 46 that guides the cam 34, a plate 48 that holds the parking sleeve 46, and a cam spring 52 that applies a biasing force to the cam 34.

[0029] The cam 34 is an annular member on which a conical tapered surface 50 is formed, and is attached to the tip side of the parking rod 42. Specifically, the cam 34 is inserted into the parking rod 42 in a state in which it can move relative to the parking rod 42 in the axial direction. The cam spring 52 is made of a coil spring, and the parking rod 42 passes through the inside of the cam spring 52. The cam spring 52 is interposed between the cam 34 and a ring 53 fixed immovably to the parking rod 42, and biases the cam 34 toward the tip side of the parking rod 42. In addition, a large diameter portion 54 that restricts the movement of the cam 34 in the axial direction is formed at the tip of the parking rod 42. As a result, the cam 34 is biased toward the tip side of the parking rod 42 by the cam spring 52, and in a normal state, the cam 34 is brought into contact with the large diameter portion 54 formed at the tip side of the parking rod 42, as shown in FIG. 3.

[0030] The parking rod 42 can be moved in directions C and D (i.e., the axial direction of the parking rod 42) indicated by the arrows in Figures 2 and 3 via the actuator 38. Note that Figure 3 shows a state in which the parking rod 42 has moved in the direction of arrow C (i.e., toward the plate 48). A guide groove 56 is formed in the parking sleeve 46 to guide the cam 34 when the cam 34 moves together with the parking rod 42. The cam 34 is moved along this guide groove 56.

[0031] The plate 48 is formed with a hole 60 through which the parking sleeve 46 passes. The plate 48 is also provided with a support shaft 64 that supports a return spring 62. The return spring 62 abuts against the parking pole 32 and constantly urges the parking pole 32 toward the unlocked side where the lock teeth 30 of the parking pole 32 and the meshing teeth 28a of the parking gear 28 are released from meshing. Therefore, when the parking lock mechanism 22 switches from the locked state to the unlocked state, the parking pole 32 is quickly rotated toward the unlocked side by the return spring 62. In addition, the parking lock mechanism 22 is prevented from switching to the locked state unintentionally by the driver.

[0032] The actuator 38 moves the parking rod 42 in the axial direction by rotating the rotary shaft 66. The rotary shaft 66 is connected to the shaft end of the parking rod 42 on the opposite side to the attachment position of the cam 34 via an intermediate member 68. Therefore, when the rotary shaft 66 rotates, the position of a connecting portion 70 between the intermediate member 68 and the parking rod 42 changes, and the parking rod 42 and the cam 34 move in the axial direction according to the position of this connecting portion 70.

[0033] The rotating shaft 66 is provided with a detent mechanism 72. The detent mechanism 72 includes a detent plate 74 that moves with the rotating shaft 66, and a detent spring 78 whose tip is pressed against a wavy surface 76 (described later) formed on the detent plate 74. The detent plate 74 is formed with a wavy surface 76 in which peaks and valleys are alternately formed in succession. The tip of the detent spring 78 is pressed against this wavy surface 76, and when the rotating shaft 66 reaches a rotational position corresponding to a predetermined shift position, the tip of the detent spring 78 is moved to the position of the valley of the wavy surface 76 that corresponds to the predetermined shift position.

[0034] When the shift operation position Psh of the shift lever 104 (see FIG. 4) is switched to a parking position (hereinafter, P position), the actuator 38 rotates the parking pole 32 counterclockwise about the rotating shaft 40, moving the lock teeth 30 to a position where it meshes with the parking gear 28, and the parking gear 28 and the lock teeth 30 mesh with each other. At this time, since the parking gear 28 is mechanically connected to the drive wheels 12, the parking gear 28 and the drive wheels 12 are prevented from rotating when the parking gear 28 and the lock teeth 30 mesh with each other. Therefore, the parking lock mechanism 22 is switched to a parking lock state (parking lock ON) in which the rotation of the drive wheels 12 is prevented, and the shift range becomes the P range.

[0035] Furthermore, when the shift operation position Psh is switched to a shift position other than the P position from a state in which the parking lock mechanism 22 is switched to the parking lock state, the actuator 38 rotates the parking pole 32 clockwise about the rotating shaft 40, thereby releasing the meshing between the parking gear 28 and the lock teeth 30. At this time, rotation of the parking gear 28 is permitted, the parking lock mechanism 22 is switched to a non-parking lock state (parking lock OFF), and the shift range is switched from the P range to another shift range.

[0036] As described above, the parking pole 32 is rotated around the rotation shaft 40 by the actuator 38. The actuator 38 is composed of, for example, an electric motor, and is driven by a command signal Spark output from the electronic control device 20. For example, when a command signal Spark for switching the parking lock mechanism 22 to the parking lock is output from the electronic control device 20, the parking pole 32 is rotated in the direction of arrow A in Fig. 2 via the actuator 38. At this time, the parking gear 28 and the lock teeth 30 are engaged with each other, thereby preventing the rotation of the parking gear 28 and the drive wheels 12.

[0037] On the other hand, when the electronic control device 20 outputs a command signal Spark to release the parking lock of the parking lock mechanism 22, the parking pole 32 is rotated in the direction of arrow B in Fig. 2 via the actuator 38. At this time, the parking gear 28 and the lock teeth 30 are disengaged from each other, and the parking gear 28 and the drive wheels 12 are allowed to rotate.

[0038] The electronic control device 20 executes various types of control such as driving control, etc. For example, the electronic control device 20 controls the MG torque Tm of the electric motor MG based on the MG rotation angle θm, the MG rotation speed Nm, etc. of the electric motor MG.

[0039] The electronic control device 20 includes a so-called microcomputer equipped with, for example, a CPU, RAM, ROM, an input / output interface, etc., and the CPU executes various controls of the vehicle 10 by performing signal processing according to programs previously stored in the ROM while utilizing the temporary storage function of the RAM. The electronic control device 20 is composed of multiple control devices such as for motor control and braking control, as necessary.

[0040] Various types of vehicle information are input to the electronic control unit 20 from various sensors, etc. Fig. 4 is a functional block diagram for specifically explaining the various types of vehicle information input to the electronic control unit 20 from the various sensors and for explaining the control functions of the electronic control unit 20.

[0041] The electronic control device 20 receives various signals (e.g., MG rotation angle θm [deg] and MG rotation speed Nm [rpm] of the electric motor MG, wheel rotation angle θr [deg] and wheel rotation speed Nr [rpm] of each wheel (including the driving wheels 12), a shift lever 104 that is an operating position thereof, a shift position sensor 82, a shift position sensor 84, an accelerator opening sensor 86, an MG torque sensor 88, a master cylinder oil pressure sensor 90, a wheel cylinder oil pressure sensor 92, a front wheel axle suspension stroke sensor 94, a rear wheel axle suspension stroke sensor 96, an oil level sensor 98, a brake stroke sensor 100, a gradient sensor 102, etc.) based on detection values ​​of various sensors provided in the vehicle 10. The following information is respectively supplied to the control unit 101: front wheel axle operation position Psh, accelerator opening θacc [%] which is the amount of operation of accelerator pedal 106, MG torque Tm [Nm] of electric motor MG, master oil pressure Pm [Pa] of brake master cylinder, wheel oil pressure Pwl [Pa] of brake wheel cylinder which adjusts the braking force of the brake provided on each wheel, stroke amount STf [mm] of front wheel axle suspension, stroke amount STr [mm] of rear wheel axle suspension, oil level Lo [mm] which is the height of the oil level stored in oil pan 152 of power transmission device 14 (see Figures 10 and 11), stroke amount STbrk [mm] of brake pedal 108, road surface gradient θ [deg] and the direction of road surface gradient θ, etc.

[0042] The electronic control device 20 outputs various command signals (e.g., a command signal Sm for controlling the electric motor MG, a command signal Spark for driving the actuator 38, etc.) to each device (e.g., an inverter 18, an actuator 38, etc.) provided in the vehicle 10.

[0043] In the vehicle 10 configured as described above, when the shift lever 104 is operated to the parking position (P position) on a slope and then the brake pedal 108 is released without applying the parking brake, the rotating member (drive shaft, etc.) constituting the power transmission path between the parking gear 28 and the driving wheels 12 is twisted according to the road gradient θ, and a torsional torque Ttw is generated due to the twisting of the rotating member. When the shift lever 104 is switched from the state in which the brake pedal 108 is depressed to the driving position (D position or R position) in order to start the vehicle 10 from this state, the resistance force generated between the parking gear 28 and the lock teeth 30 of the parking pole 32 is large, so the load on the actuator 38 becomes large. In addition, when the actuator 38 is driven to release the meshing between the parking gear 28 and the lock teeth 30, a shock may occur due to the release of the torsional torque Ttw.

[0044] In response to this, when the shift operation position Psh is switched from the P position to another shift position while the vehicle 10 is stopped in order to start the vehicle 10 from a parked state, the electronic control device 20 determines whether the road surface on which the vehicle 10 is parked is a slope or not, and if the road surface is a slope, outputs from the electric motor MG an MG torque Tm that acts in a rotational direction against the rotational direction of the drive wheels 12 due to the road surface gradient θ, and increases the MG torque Tm of the electric motor MG until rotation of the electric motor MG is detected. Hereinafter, the start control of the vehicle 10 from a state in which the vehicle 10 is parked on a slope will be described.

[0045] The electronic control device 20 functionally comprises a shift lever switching determination unit 120 as a shift lever switching determination means, a slope determination unit 122 as a slope determination means, a starting MG torque control unit 124 as a starting MG torque control means, an MG rotation determination unit 126 as an MG rotation determination means, and an actuator control unit 128 as an actuator control means, which are executed when the vehicle 10 is started from a parked state.

[0046] The shift lever switching determination unit 120 determines whether the driver has switched the shift lever 104 from a P position, which is a vehicle parking position, to a D position or an R position, which is a driving position. When the shift lever switching determination unit 120 detects that the shift operation position Psh of the shift lever 104, detected by the shift position sensor 84, has been switched from the P position to the D position or the R position, it determines that the shift lever has been switched from the P position to the D position or the R position.

[0047] When it is determined that the shift operation position Psh has been switched from the P position to the D position or the R position, the slope determination unit 122 determines whether or not the road surface on which the vehicle 10 is parked is a slope. If the road surface is a slope, the slope determination unit 122 determines the direction of the road surface gradient θ. Here, the direction of the road surface gradient θ corresponds to the direction of change in the road surface relative to the traveling direction of the vehicle 10. For example, if the road is an uphill road, the road surface gradient θ is a positive direction, and if the road is a downhill road, the road surface gradient θ is a negative direction. In other words, determining the direction of the road surface gradient θ is the same as determining whether the road surface is an uphill road or a downhill road.

[0048] The slope determination unit 122 determines whether or not the road surface is a slope and the direction of the road surface gradient θ, for example, from the sliding of the vehicle 10 that occurs during the transitional period when the vehicle 10 is parked. The slope determination unit 122 determines whether or not the road surface is a slope and the direction of the road surface gradient θ (i.e., whether the road surface is an uphill road or a downhill road) based on a change in the MG rotation angle θm of the electric motor MG that occurs when the brake pedal 108 is released after the parking lock mechanism 22 is switched to the parking lock state during the transitional period when the vehicle 10 is parked.

[0049] When parking the vehicle 10, the driver usually depresses the brake pedal 108 to stop the vehicle 10, and then the driver operates the shift lever 104 to the P position, which switches the parking lock mechanism 22 to the parking lock state. After that, the driver releases the brake pedal 108. At this time, if the vehicle 10 is on a slope, the vehicle 10 will slide down until the parking gear 28 and the lock teeth 30 of the parking pole 32 mesh with each other.

[0050] Therefore, when a change in the MG rotation angle θm due to the vehicle 10 rolling down is detected after the driver releases the brake pedal 108, the slope determination unit 122 determines that the road surface is a slope. At this time, the slope determination unit 122 determines the direction of the road surface gradient θ based on the rotational change direction of the MG rotation angle θm when the vehicle 10 rolls down. For example, if the road is an uphill road, the MG rotation angle θm changes in the reverse rotation direction, and if the road is a downhill road, the MG rotation angle θm changes in the forward rotation direction. Therefore, the slope determination unit 122 determines that the road is an uphill road when the MG rotation angle θm changes in the reverse rotation direction, and determines that the road is a downhill road when the MG rotation angle θm changes in the forward rotation direction.

[0051] Moreover, the slope determination unit 122 can determine whether or not the road surface is a slope and the direction of the road surface gradient θ based on the wheel rotation angle θr of the wheels detected by the wheel rotation angle sensor 82, instead of the MG rotation angle θm of the electric motor MG. The wheel rotation angle θr can be not only the wheel rotation angle θr of the driving wheels 12, but also the wheel rotation angle θr of a driven wheel provided separately from the driving wheels 12. Note that the specific determination method is the same as the determination based on the MG rotation angle θm described above, and therefore description thereof will be omitted.

[0052] Fig. 5 is a time chart showing the vehicle behavior when the vehicle 10 is parked on a slope. In Fig. 5, the horizontal axis indicates time t [sec], and the vertical axis indicates the shift operation position Psh, whether the brake pedal 108 is depressed, the operation state of the parking lock mechanism 22, the MG rotation angle θm [deg] of the electric motor MG or the wheel rotation angle θr [deg], and the torsional torque Ttw [Nm]. Note that the torsional torque Ttw corresponds to the torque accumulated in a rotating member (such as a drive shaft) that constitutes the power transmission path between the parking gear 28 and the drive wheels 12 due to the torsion of the rotating member.

[0053] At time t1 in FIG. 5, the brake pedal 108 is depressed to stop the vehicle 10 (brake pedal ON). At time t2, a predetermined time after time t1, the vehicle 10 has stopped, and the shift operation position Psh of the shift lever 104 is switched from the D position or the R position to the P position to park the vehicle 10. Accordingly, the parking lock mechanism 22 is switched from a non-parking lock state (parking lock OFF) to a parking lock state (parking lock ON). At time t3, the parking lock mechanism 22 has switched to the parking lock state, and the brake pedal 108 is released (brake pedal OFF). At this time, the vehicle 10 is on a slope, and the vehicle 10 slides down until the parking gear 28 constituting the parking lock mechanism 22 and the lock teeth 30 of the parking pole 32 mesh with each other, causing changes in the MG rotation angle θm and the wheel rotation angle θr. By detecting the change in the MG rotation angle θm or the wheel rotation angle θr, it is determined whether the road is on a slope. Also, the direction of the road surface gradient θ, i.e., whether the road is an uphill road or a downhill road, is determined from the direction of change in the MG rotation angle θm and the direction of change in the wheel rotation angle θr. Also, when the vehicle 10 is on a slope, the rotating elements (such as the drive shaft) that constitute the power transmission path from the parking gear 28 to the drive wheels 12 are twisted, and a torsional torque Ttw is generated due to this twisting.

[0054] It is also possible to determine whether the road surface is a slope and the direction of the road surface gradient θ based on other determination methods. Hereinafter, a description will be given of other determination methods other than the above-mentioned determination methods.

[0055] For example, while the vehicle 10 is traveling on a road surface on which it is parked, it is possible to determine whether the road is a slope and the direction of the road surface gradient θ from the gradient of change in the MG rotational speed Nm, i.e., the MG angular acceleration αm, or the gradient of change in the wheel rotational speed Nr, i.e., the wheel angular acceleration αr, relative to the accelerator opening θacc, which is the amount of operation of the accelerator pedal 106.

[0056] When the MG angular acceleration αm of the electric motor MG or the wheel angular acceleration αr of the wheels at a given accelerator opening θacc while the vehicle 10 is traveling on a flat road is defined as a reference angular acceleration αst, while traveling on an uphill road, the MG angular acceleration αm of the electric motor MG and the wheel angular acceleration αr of the wheels at the same given accelerator opening θacc are lower than the reference angular acceleration αst. On the other hand, while traveling on a downhill road, the MG angular acceleration αm of the electric motor MG and the wheel angular acceleration αr of the wheels at the same given accelerator opening θacc are higher than the reference angular acceleration αst.

[0057] Therefore, the slope determination unit 122 calculates the MG angular acceleration αm of the electric motor MG from the change in the MG rotation speed Nm while traveling, and determines that the road surface is a slope if the MG angular acceleration αm deviates by a predetermined value or more from a reference angular acceleration αst when traveling on a flat road, which is specified for each accelerator opening θacc. At this time, the slope determination unit 122 determines that the slope is an uphill road if the MG angular acceleration αm is lower than the reference angular acceleration αst, and determines that the slope is a downhill road if the MG angular acceleration αm is higher than the reference angular acceleration αst.

[0058] Alternatively, the slope determination unit 122 calculates the wheel angular acceleration αr of the wheel from the change in the wheel rotation speed Nr during driving, and determines that the road surface is a slope if the wheel angular acceleration αr deviates by a predetermined value or more from the reference angular acceleration αst when driving on a flat road, which is specified for each accelerator opening θacc. At this time, the slope determination unit 122 determines that the slope is an uphill road if the wheel angular acceleration αr is lower than the reference angular acceleration αst, and determines that the slope is a downhill road if the wheel angular acceleration αr is higher than the reference angular acceleration αst. Here, the reference angular acceleration αst for each accelerator opening θacc when driving on a flat road is obtained in advance experimentally or by design, and is stored as a relationship map of the reference angular acceleration αst with the accelerator opening θacc as a parameter. The above determination method can be used, for example, when the accelerator is operated while driving on a road surface on which the vehicle 10 is parked, specifically, when the accelerator is operated immediately before the vehicle 10 is stopped.

[0059] Fig. 6 is a time chart showing the vehicle behavior when the vehicle 10 is traveling on an uphill road. In Fig. 6, the horizontal axis shows time t [sec], and the vertical axis shows the shift operation position Psh, the accelerator opening θacc [%], the MG rotation speed Nm [rpm] of the electric motor MG, or the wheel rotation speed Nr [rpm] of the wheels.

[0060] At time t1 in Fig. 6, the accelerator pedal 106 is depressed to increase the accelerator opening θacc, and after a predetermined time has elapsed from time t1, the accelerator opening θacc is maintained at a predetermined value K1. At this time, the MG rotation speed Nm or the wheel rotation speed Nr shown by the solid line increases with the increase in the accelerator opening θacc. The MG rotation speed Nm or the wheel rotation speed Nr shown by the dashed line indicates the MG rotation speed Nm or the wheel rotation speed Nr based on the reference angular acceleration αst, that is, the MG rotation speed Nm or the wheel rotation speed Nr when the accelerator is operated on a flat road. In the time chart of Fig. 6, the vehicle is traveling on an uphill road, and the MG angular acceleration αm and the wheel angular acceleration αr are lower than the reference angular acceleration αst, so that as time t elapses, the deviation between the MG rotation speed Nm or the wheel rotation speed Nr shown by the solid line and the MG rotation speed Nm or the wheel rotation speed Nr shown by the dashed line increases. Although not shown, when the road surface is a downhill road, the MG angular acceleration αm and the wheel angular acceleration αr are higher than the reference angular acceleration αst, so the MG rotational speed Nm or wheel rotational speed Nr shown by the solid line will be higher than the reference speed Nst shown by the dashed line.

[0061] In addition, it is possible to determine whether the road surface is a slope and the direction of the road surface gradient θ from the MG angular acceleration αm of the electric motor MG or the wheel angular acceleration αr of the wheels in response to the operation amount of the brake pedal 108. When the brakes are applied, both the MG angular acceleration αm of the electric motor MG and the wheel angular acceleration αr of the wheels become negative values.

[0062] When the MG angular acceleration αm of the electric motor MG or the wheel angular acceleration αr of the wheels at a predetermined amount of brake pedal 108 operation while the vehicle 10 is traveling on a flat road is set as a reference angular acceleration αst, while traveling on an uphill road, the MG angular acceleration αm of the electric motor MG and the wheel angular acceleration αr of the wheels at the same predetermined amount of brake operation become more negative than the reference angular acceleration αst. That is, the absolute values ​​of the MG angular acceleration αm and the wheel angular acceleration αr become more negative than the reference angular acceleration αst. On the other hand, while traveling on a downhill road, the MG angular acceleration αm of the electric motor MG and the wheel angular acceleration αr of the wheels at the same predetermined amount of brake operation become less negative than the reference angular acceleration αst. That is, the absolute values ​​of the MG angular acceleration αm and the wheel angular acceleration αr become less than the absolute value of the reference angular acceleration αst.

[0063] Therefore, the slope judgment unit 122 calculates the MG angular acceleration αm of the electric motor MG from the change in the MG rotation speed Nm while traveling, and judges that the road surface is a slope if the absolute value of the MG angular acceleration αm deviates by a predetermined value or more from the absolute value of the reference angular acceleration αst determined based on the brake operation amount at that time. At this time, the slope judgment unit 122 judges that the slope is an uphill road if the absolute value of the MG angular acceleration αm is greater than the absolute value of the reference angular acceleration αst, and judges that the slope is a downhill road if the MG angular acceleration αm is smaller than the reference angular acceleration αst.

[0064] Alternatively, the slope determination unit 122 calculates the wheel angular acceleration αr of the wheel from the change in the wheel rotation speed Nr during travel, and determines that the road surface is a slope if the absolute value of the wheel angular acceleration αr deviates by a predetermined value or more from the absolute value of the reference angular acceleration αst determined based on the brake operation amount at that time. At this time, the slope determination unit 122 determines that the slope is an uphill road if the absolute value of the wheel angular acceleration αr during travel is greater than the absolute value of the reference angular acceleration αst, and determines that the slope is a downhill road if the absolute value of the wheel angular acceleration αr is smaller than the absolute value of the reference angular acceleration αst. The reference angular acceleration αst for each brake operation amount during travel on a flat road is obtained in advance experimentally or by design, and is stored as a relationship map of the reference angular acceleration αst with the brake operation amount as a parameter. For example, the stroke amount STbrk of the brake pedal 108, the master hydraulic pressure Pm of the brake master cylinder, the wheel hydraulic pressure Pwl of the wheel cylinder, etc. are applied as the brake operation amount. These are all values ​​related to the amount of brake operation. The above-mentioned determination method can be used, for example, when the brake operation is performed while the vehicle 10 is traveling on a road surface on which the vehicle 10 is to be parked, specifically, when the brake operation is performed immediately before the vehicle 10 is to be stopped.

[0065] Fig. 7 is a time chart showing the vehicle behavior when the vehicle 10 is stopped on an uphill road. In Fig. 7, the horizontal axis shows time t [sec], and the vertical axis shows the shift operation position Psh, the brake oil pressure Pbrk [Pa], the MG rotation speed Nm [rpm] of the electric motor MG, or the wheel rotation speed Nr [rpm].

[0066] At time t1 in FIG. 7, the brake pedal 108 is depressed, and the brake hydraulic pressure Pbrk (for example, the master hydraulic pressure Pm of the brake master cylinder) corresponding to the brake operation amount is increased, and when a predetermined time has passed from time t1, the brake hydraulic pressure Pbrk is maintained at the hydraulic pressure K2. At this time, the MG rotation speed Nm or the wheel rotation speed Nr shown by the solid line is decreasing with the increase in the brake hydraulic pressure Pbrk. Also, the MG rotation speed Nm or the wheel rotation speed Nr shown by the dashed line indicates the MG rotation speed Nm or the wheel rotation speed Nr based on the reference angular acceleration αst, that is, the MG rotation speed Nm or the wheel rotation speed Nr when the brake is operated on a flat road. In the time chart of FIG. 7, the vehicle is traveling on an uphill road, and the absolute values ​​of the negative side of the MG angular acceleration αm and the wheel angular acceleration αr are larger than the absolute value of the reference angular acceleration αst, so the MG rotation speed Nm or the wheel rotation speed Nr has a larger deceleration gradient than the MG rotation speed Nm or the wheel rotation speed Nr shown by the dashed line. Although not shown, when the road surface is a downhill road, the absolute values ​​of the MG angular acceleration αm and the wheel angular acceleration αr are smaller than the absolute value of the reference angular acceleration αst, so the deceleration gradient of the MG rotational speed Nm or the wheel rotational speed Nr is smaller than that of the MG rotational speed Nm or the wheel rotational speed Nr shown by the dashed lines.

[0067] It is also possible to directly determine whether or not the road surface is a slope and the direction of the road surface gradient θ based on the road surface gradient θ and the direction of the road surface gradient θ detected by the gradient sensor 102. In other words, when the vehicle 10 stops, the slope determination unit 122 determines whether or not the road surface is a slope and the direction of the road surface gradient θ based on the road surface gradient θ detected by the gradient sensor 102.

[0068] In addition, whether the road surface is a slope and the direction of the road surface gradient θ can also be determined based on the stroke amount STf of the front axle suspension 144 and the stroke amount STr of the rear axle suspension 150 detected by the front axle suspension stroke sensor 94 (hereinafter, front wheel stroke sensor 94) and the rear axle suspension stroke sensor 96 (hereinafter, rear wheel stroke sensor 96).

[0069] 8 shows a state in which the vehicle 10 is stopped, for example, on an uphill road. The front wheel axle 142 of the front wheels 140 (wheels) is supported by a front wheel axle suspension 144 shown by a dashed line. A front wheel stroke sensor 94 is attached to the front wheel axle suspension 144, which detects a stroke amount STf, which is a displacement amount of the front wheel axle suspension 144. In addition, the rear wheel axle 148 of the rear wheels 146 (wheels) is supported by a rear wheel axle suspension 150 shown by a dashed line. A rear wheel stroke sensor 96 is attached to the rear wheel axle suspension 150, which detects a stroke amount STf, which is a displacement amount of the rear wheel axle suspension 150. At least one of the front wheels 140 (wheels) and the rear wheels 146 (wheels) functions as the drive wheels 12.

[0070] When the vehicle 10 is stopped on an uphill road as shown in FIG. 8, the weight moves from the front axle 142 side to the rear axle 148 side by the weight Wmv calculated by the following formula (1). In formula (1), W indicates the weight of the entire vehicle, H indicates the height from the road surface to the center of gravity of the vehicle 10, and θ indicates the road surface gradient. When the vehicle 10 is stopped on an uphill road, the weight applied to the front axle 142 moves to the rear axle 148 side by the weight Wmv calculated by formula (1), so that the amount of compression of the front axle suspension 144 decreases while the amount of compression of the rear axle suspension 150 increases. On the other hand, when the vehicle 10 is stopped on a downhill road, the weight applied to the rear axle 148 moves to the front axle 142 side by the weight Wmv calculated by formula (1). At this time, the compression amount of the front axle suspension 144 increases, while the compression amount of the rear axle suspension 150 decreases. Wmv = (W × H × tan θ) / L (1)

[0071] Taking the above into consideration, it is possible to determine whether the road surface is a slope and the direction of the road surface gradient θ based on the stroke amount STf of the front axle suspension 144 (hereinafter referred to as the front wheel suspension 144) and the stroke amount STr of the rear axle suspension 150 (hereinafter referred to as the rear wheel suspension 150).

[0072] 9 shows the relationship between the stroke amount STf of the front wheel suspension 144 and the stroke amount STr of the rear wheel suspension 150 and the state of the road surface. In FIG. 9, the state in which the vehicle 10 is on a flat road is defined as the reference state. Specifically, the stroke amount STf of the front wheel suspension 144 and the stroke amount STr of the rear wheel suspension 150 when the vehicle 10 is on a flat road are defined in advance as reference values. When the vehicle 10 is on an uphill road, the weight applied to the front wheel suspension 144 decreases compared to a flat road, and the weight applied to the rear wheel suspension 150 increases compared to a flat road, so that the stroke amount STf of the front wheel suspension 144 changes to the extension side with respect to the reference value, and the stroke amount STr of the rear wheel suspension 150 changes to the contraction side with respect to the reference value. In addition, when the vehicle 10 is on a downhill road, the weight on the front wheel suspension 144 increases compared to a flat road and the weight on the rear wheel suspension 150 decreases compared to a flat road, so that the stroke amount STf of the front wheel suspension 144 changes to the compression side relative to the reference value and the stroke amount STr of the rear wheel suspension 150 changes to the extension side relative to the reference value.

[0073] Thus, when the stroke amount STf of the front wheel suspension 144 changes to the extension side with respect to the reference value and the stroke amount STr of the rear wheel suspension 150 changes to the compression side with respect to the reference value, the slope determination unit 122 determines that the road surface is a slope and that the slope is an uphill road. Also, when the stroke amount STf of the front wheel suspension 144 changes to the compression side with respect to the reference value and the stroke amount STr of the rear wheel suspension 150 changes to the extension side with respect to the reference value, the slope determination unit 122 determines that the road surface is a slope and that the slope is a downhill road. In this way, when the change direction of the stroke amount STf of the front wheel suspension 144 and the change direction of the stroke amount STr of the rear wheel suspension 150 are different, it is determined that the vehicle 10 is on a slope. Also, depending on the change direction of the stroke amount STf of the front wheel suspension 144 and the change direction of the stroke amount STr of the rear wheel suspension 150, it is determined that the slope is an uphill road or a downhill road.

[0074] When a person gets on the vehicle 10 or when luggage is loaded onto the vehicle 10, the stroke amount STf of the front wheel suspension 144 changes to the contraction side compared to the reference value, and the stroke amount STr of the rear wheel suspension 150 changes to the contraction side compared to the reference value. When a person gets off the vehicle 10 or luggage is carried out of the vehicle 10, the stroke amount STf of the front wheel suspension 144 changes to the extension side compared to the reference value, and the stroke amount STr of the rear wheel suspension 150 changes to the extension side compared to the reference value. In this way, when the direction of change in the stroke amount STf of the front wheel suspension 144 and the direction of change in the stroke amount STr of the rear wheel suspension 150 are the same, it is determined that a weight change due to a person, luggage, etc. has occurred.

[0075] In addition, whether the road surface is a slope and the direction of the road surface gradient θ can also be determined based on the oil level Lo, which is the height of the oil level stored in the oil pan 152 of the power transmission device 14, detected by the oil level sensor 98.

[0076] Fig. 10 shows the state of oil stored in the oil pan 152 located below the power transmission device 14 when the vehicle 10 is on a flat road. Fig. 11 shows the state of oil stored in the oil pan 152 located below the power transmission device 14 when the vehicle 10 is on an uphill road.

[0077] The oil level Lo when the vehicle 10 shown in Fig. 10 is on a flat road is predefined as the reference oil level Lst. When the vehicle 10 stops on an uphill road, the oil pan 152 tilts together with the vehicle 10, as shown in Fig. 11, causing the oil level Lo to change. Specifically, when the vehicle 10 is on an uphill road, the oil level Lo becomes higher than the reference oil level Lst, as shown in Fig. 11. On the other hand, although not shown, when the vehicle 10 is on a downhill road, the oil level Lo becomes lower than the reference oil level Lst.

[0078] Therefore, the slope determination unit 122 determines that the vehicle 10 is on a slope when the oil level Lo detected by the oil level sensor 98 deviates from the reference oil level Lst by a predetermined value or more. At this time, the slope determination unit 122 determines that the road surface is an uphill road when the oil level Lo is higher than the reference oil level Lst, and determines that the road surface is a downhill road when the oil level Lo is lower than the reference oil level Lst.

[0079] The slope judgment unit 122 executes the judgment of a slope road by combining one or more of the above-mentioned judgment methods. For example, the priority of the judgment methods is predefined, and judgment is performed according to the priority. Specifically, when it is difficult to execute the judgment method with the highest priority, the judgment method with the second highest priority is executed, and when it is difficult to execute the judgment method with the second highest priority, the judgment direction with the third highest priority is executed. In this way, the judgment methods are executed in order from the highest priority. The priority is determined in consideration of high reliability of the judgment, no dedicated sensor, etc. is required to execute the judgment, and so on. For example, the judgment method that judges based on the sliding of the vehicle 10 when the vehicle 10 is parked is set to the highest priority because it is less likely to cause erroneous detection of the direction of the road surface gradient θ and does not require a dedicated sensor.

[0080] When it is determined that the road surface is a slope, the starting MG torque control unit 124 causes the electric motor MG to output the MG torque Tm according to the direction of the road surface gradient θ. That is, when the road surface is a slope, the starting MG torque control unit 124 determines the rotation direction of the electric motor MG that opposes the rotation direction of the drive wheels 12 due to the road surface gradient θ based on the direction of the road surface gradient θ. Next, the starting MG torque control unit 124 causes the electric motor MG to output the MG torque Tm in the rotation direction that opposes the rotation direction of the drive wheels 12. For example, when the road surface is an uphill road, the drive wheels 12 rotate in the reverse rotation direction, so that the MG torque Tm in the forward rotation direction is output from the electric motor MG to oppose this reverse rotation. Also, when the road surface is a downhill road, the drive wheels 12 rotate in the forward rotation direction, so that the MG torque Tm in the reverse rotation direction is output from the electric motor MG to oppose this forward rotation. When the start-up MG torque control unit 124 outputs the MG torque Tm from the electric motor MG, it increases the torque amount of the MG torque Tm of the electric motor MG until the rotation of the electric motor MG is detected.

[0081] When the MG torque Tm is output from the electric motor MG, the MG rotation determination unit 126 determines whether the electric motor MG has rotated. When the amount of change in the MG rotation angle θm based on the time point when the MG torque Tm is output becomes equal to or greater than a preset threshold value θx, the MG rotation determination unit 126 determines that the electric motor MG has rotated. The threshold value θx is determined in advance experimentally or by design, and is set to a value at which it can be determined that the electric motor MG has rotated. Note that since the parking lock mechanism 22 is in a parking lock state (parking lock ON), the electric motor MG can only rotate by a rotation angle corresponding to a gap (backlash) formed between the parking gear 28 of the parking lock mechanism 22 and the lock teeth 30 of the parking pole 32. Therefore, the threshold value θx is set to an extremely small value smaller than the rotation angle corresponding to the above-mentioned gap.

[0082] When the rotation of the electric motor MG is detected, the actuator control unit 128 drives the actuator 38 to switch the parking lock mechanism 22 to a non-parking lock state (parking lock OFF). That is, the actuator 38 is driven to rotate the parking pole 32, thereby moving the lock teeth 30 to a position where the meshing with the parking gear 28 is released. At this time, when the actuator 38 starts to be driven, the parking gear 28 rotates due to the MG torque Tm of the electric motor MG, and the load acting between the tooth surface of the parking gear 28 and the lock teeth 30 of the parking pole 32 is zero or close to zero, so that the parking lock mechanism 22 can be switched to the non-parking state (parking lock OFF) without increasing the load on the actuator 38. In relation to this, the output required for the actuator 38 is reduced, so that the actuator 38 can be reduced in output and size.

[0083] In addition, in this embodiment, the process of driving the actuator 38 and determining whether it is difficult to switch the parking lock mechanism 22 to the non-parking lock state as in the conventional technology is not required, so the number of times the actuator 38 is operated does not increase and power consumption is reduced. Furthermore, the load on the actuator 38 is reduced, so a decrease in durability of the actuator 38 is also suppressed. In addition, since the torsional torque Ttw is released when the parking gear 28 rotates, a shock caused by the release of the torsional torque Ttw when the meshing between the parking gear 28 and the lock teeth 30 is released is suppressed.

[0084] In addition, when the MG torque Tm is output from the electric motor MG, the MG torque Tm is only increased until the rotation of the electric motor MG is detected, so that precise control of the MG torque Tm is not required. When the MG torque Tm is precisely controlled, for example, the road surface gradient θ is required, and it becomes necessary to accurately detect the road surface gradient θ. On the other hand, the road surface gradient θ cannot be accurately obtained by the above-mentioned hill road determination method. In contrast, in this embodiment, it is only necessary to grasp the direction of the road surface gradient θ, so that the control is simplified and the load on the electronic control device 20 is reduced. After the parking lock mechanism 22 is switched to the non-parking lock state, the vehicle driving range is switched to a forward driving range (D range) or a reverse driving range (R range) according to the shift operation position Psh of the shift lever 104.

[0085] Fig. 12 is a time chart showing the vehicle behavior based on the control operation of the electronic control device 20. Fig. 12 shows a time chart from parking the vehicle 10 on a slope to starting the vehicle 10 thereafter. In Fig. 12, the horizontal axis shows time t [sec], and the vertical axis shows, from the top, the shift operation position Psh, the operation state of the brake pedal 108, the brake oil pressure Pbrk [Pa], the operation state of the parking lock mechanism 22, the operation load Fac [N] of the actuator 38, the MG torque Tm [Nm] of the electric motor MG, the MG rotation angle θm of the electric motor MG, and the torsional torque Ttw [Nm]. The brake oil pressure Pbrk specifically corresponds to the master oil pressure Pm of the brake master cylinder or the wheel oil pressure Pwl of the brake wheel cylinder.

[0086] At time t1 in FIG. 12, the brake pedal 108 is depressed to stop the vehicle 10, and the brake hydraulic pressure Pbrk increases at time t1. At time t2, the vehicle 10 is stopped, and the shift operation position Psh is switched from the D position or the R position to the P position. Accordingly, at time t2, the actuator 38 is driven and the parking lock mechanism 22 is switched to the parking lock state (parking lock ON). At time t3, the parking lock mechanism 22 is switched to the parking lock state at time t2, and the brake pedal 108 is released, and the brake hydraulic pressure Pbrk decreases. At this time, the rotation of the drive wheels 12 is permitted, and the drive wheels 12 rotate according to the road surface gradient θ, and a rotating member (such as a drive shaft) constituting a power transmission path between the parking gear 28 and the drive wheels 12 is twisted, generating a torsional torque Ttw.

[0087] At time t4, the brake pedal 108 is depressed to start the vehicle 10, and the brake hydraulic pressure Pbrk increases accordingly. At time t5, a predetermined time after time t4, the shift operation position Psh is switched from the P position to the D position or the R position. At this time, since the road surface on which the vehicle 10 is stopped is a slope, the electric motor MG outputs the MG torque Tm acting in a rotation direction against the rotation direction of the drive wheels 12 due to the road surface gradient θ. In addition, the torsion torque Ttw decreases in accordance with the output of the MG torque Tm. When the MG torque Tm increases and the torsion torque Ttw becomes equal to or less than a predetermined value, the electric motor MG starts to rotate at time t6, and the MG rotation angle θm increases. At this time, the rotation of the electric motor MG is detected, and the increase in the MG torque Tm stops. Furthermore, as the rotation of the electric motor MG is detected, the actuator 38 of the parking lock mechanism 22 is driven at time t7, and the parking lock mechanism 22 is switched to the non-parking lock state (parking lock OFF). Here, since the torsional torque Ttw is eliminated at time t7, the shock caused by the release of the torsional torque Ttw, which occurs when the meshing between the parking gear 28 and the lock teeth 30 is released, is suppressed. The torsional torque Ttw shown by the broken line indicates the vehicle behavior when the MG torque Tm is not applied. When the MG torque Tm is not applied, the operation load Fac of the actuator 38 becomes large as shown by the broken line. Furthermore, since the torsional torque Ttw is maintained in a high state, when the meshing between the parking gear 28 and the lock teeth 30 is released, the torsional torque Ttw is released as shown by the broken line, causing a shock. Furthermore, at time t8, the brake pedal 108 is released, and the brake hydraulic pressure Pbrk is reduced accordingly. Furthermore, at time t8, the application of the MG torque Tm ends.

[0088] 13 is a flowchart for explaining the main control operations of the electronic control device 20, and is a flowchart for explaining the control operations that can appropriately switch the parking lock mechanism 22 to the non-parking lock state (parking lock OFF) when starting the vehicle 10 on a slope. This flowchart is executed when the vehicle 10 starts.

[0089] First, in step S10 (hereinafter, step is omitted) corresponding to the control function of the shift lever switching determination unit 120, it is determined whether or not the shift operation position Psh of the shift lever 104 has been switched from the P position to the D position or the R position. If the determination in S10 is negative, the process returns to S10 again, and is repeatedly executed until the determination in S10 is positive. If the determination in S10 is positive, it is determined in S20 corresponding to the control function of the slope determination unit 122 whether or not the road surface on which the vehicle 10 is stopped is a slope. If the determination in S20 is negative, in S70 corresponding to the control function of the actuator control unit 128, the actuator 38 is driven to switch the parking lock mechanism 22 to a non-parking lock state (parking lock OFF). If the determination in S20 is positive, in S30 corresponding to the control function of the slope determination unit 122, the direction of the MG torque Tm output from the electric motor MG is determined according to the direction of the road surface gradient θ. That is, the rotation direction that opposes the rotation direction of the drive wheels 12 due to the road surface gradient θ is determined. Next, in S40, which corresponds to the control function of the start-up MG torque control unit 124, the MG torque Tm in the direction determined in S30 is output. In S50, which corresponds to the control function of the MG rotation determination unit 126, it is determined whether the electric motor MG has rotated. If the determination in S50 is negative, the value of the MG torque Tm is increased in S60, which corresponds to the control function of the start-up MG torque control unit 124. On the other hand, if the determination in S50 is positive, in S70, which corresponds to the control function of the actuator control unit 128, the actuator 38 is driven to switch the parking lock mechanism 22 to a non-parking lock state (parking lock OFF).

[0090] As described above, according to this embodiment, when the shift operation position Psh is switched from the P position to the D position or the R position, the MG torque Tm acting in a rotation direction against the rotation direction of the drive wheels 12 due to the road surface gradient θ is output from the electric motor MG, and the MG torque Tm of the electric motor MG is increased until the rotation of the electric motor MG is detected, so that even if the load applied between the parking gear 28 and the lock teeth 30 is large due to the vehicle 10 being stopped on a slope, the MG torque Tm output from the electric motor MG increases until the rotation of the electric motor MG is detected, thereby reducing the load between the parking gear 28 and the lock teeth 30, and at the time when the rotation of the electric motor MG is detected, the load applied between the parking gear 28 and the lock teeth 30 becomes zero or approximately zero. In this state, the parking gear 28 of the parking lock mechanism 22 is disengaged from the lock teeth 30, thereby reducing the load applied to the actuator 38. In addition, when the electric motor MG rotates, the torsional torque Ttw generated in the power transmission path between the parking gear 28 and the drive wheels 12 is eliminated, thereby suppressing the shock caused by the torsional torque Ttw generated when starting the vehicle 10. In addition, in this embodiment, since it is not necessary to drive the actuator 38 and determine whether the meshing between the parking gear 28 and the lock teeth 30 can be released, the number of times the actuator 38 is operated does not increase, and power consumption is also reduced. In addition, the load on the actuator 38 is reduced, and deterioration in the durability of the actuator 38 is also suppressed.

[0091] According to this embodiment, during a transitional period in which the vehicle 10 is stopped on a slope, it is possible to accurately determine whether the road surface is a slope and the direction of the road surface gradient θ based on a change in the MG rotation angle θm of the electric motor MG or a change in the wheel rotation angle θr of the wheels, which occurs when the brake pedal 108 is released after the parking lock mechanism 22 is switched to the parking lock state. Also, when the shift operation position Psh is switched from the D position to the D position or the R position, it is determined whether the road surface is a slope, and if the road surface is a slope, the electric motor MG outputs the MG torque Tm acting in a rotation direction against the rotation direction of the drive wheels 12 due to the road surface gradient θ. Therefore, when the road surface is determined to be a flat road, the output of the MG torque Tm from the electric motor MG is avoided, thereby reducing power consumption.

[0092] Although the embodiment of the present invention has been described in detail above with reference to the drawings, the present invention can be applied to other embodiments.

[0093] For example, in the above-mentioned embodiment, the vehicle 10 is an electric vehicle using the electric motor MG as a driving force source for running, but the present invention is not necessarily limited to this. Specifically, the present invention can be applied to a hybrid vehicle using an engine and an electric motor as a driving force source for running. If the vehicle is equipped with an engine, an engine oil level sensor that detects the height of the oil level in the engine oil pan can be provided, and the direction of the road surface gradient θ can be determined from the engine oil level detected by the sensor.

[0094] In the above embodiment, the MG angular acceleration αm of the electric motor MG is calculated from changes in the MG rotation speed Nm detected at any time, but an angular acceleration sensor may be provided in the electric motor MG and the MG angular acceleration αm may be directly detected by the angular acceleration sensor. Similarly, in the above embodiment, the wheel angular acceleration αr of the wheels is calculated from changes in the wheel rotation speed Nr of the wheels detected at any time, but an angular acceleration sensor may be provided in the wheels and the wheel angular acceleration αr may be directly detected by the angular acceleration sensor.

[0095] In addition, in the above-described embodiment, while the vehicle 10 is traveling on a road surface on which it is parked, a determination is made as to whether or not the road surface is a slope and the direction of the road surface gradient θ based on the MG angular acceleration αm of the electric motor MG or the wheel angular acceleration αr of the wheels relative to the accelerator opening θacc. However, it is also possible to determine whether or not the road surface is a slope and the direction of the road surface gradient θ based on the MG torque Tm of the electric motor MG detected by the MG torque sensor 88 instead of the accelerator opening θacc.

[0096] In addition, in the above-described embodiment, a case was described in which the shift operation position Psh was switched from the P position to a driving position, such as the D position or the R position. However, this is not necessarily limited to a driving position, and the present invention can also be applied to a case in which the shift operation position Psh is switched to another shift position, such as the N position.

[0097] In the above embodiment, when the actuator 38 is driven, the parking pole 32 is rotated via the cam mechanism 36 or the like, thereby switching the parking lock mechanism 22 to the parking lock state, but the present invention is not necessarily limited to the above embodiment. For example, the actuator 38 and the parking pole 32 may be directly connected. In short, the present invention can be applied as appropriate as long as the parking lock mechanism 22 is structured so that the parking pole 32 is rotated by the actuator 38, thereby switching the parking lock mechanism 22 to the parking lock state.

[0098] It should be noted that the above is merely one embodiment, and the present invention can be embodied in various modified and improved forms based on the knowledge of those skilled in the art. [Explanation of symbols]

[0099] 10: Vehicle 12: Drive wheels (wheels) 20: Electronic control device (control device) 22: Parking lock mechanism 28: Parking gear 30: Locking teeth 38: Actuator 108: Brake pedal MG: Electric motor

Claims

1. The vehicle is provided with an electric motor that functions as a driving force source, a parking lock mechanism that mechanically stops rotation of a power transmission path between the electric motor and driving wheels, and a brake pedal that is depressed to stop the vehicle, The parking lock mechanism includes a parking gear provided on the power transmission path, lock teeth capable of meshing with the parking gear, and an actuator that switches a position of the lock teeth, and when a shift operation position is switched to a parking position, the actuator moves the lock teeth to a position where the lock teeth mesh with the parking gear, thereby switching to a parking lock state in which rotation of the parking gear is prevented. When the shift operation position is switched from the parking position to another shift position with the vehicle stopped and the brake pedal depressed, a torque acting in a rotational direction against the rotational direction of the drive wheels due to the road gradient is output from the electric motor, and the torque output from the electric motor is increased until the rotation of the electric motor is detected, and the torque increased until the rotation of the electric motor is detected is maintained until the depression of the brake pedal is released. A vehicle control device comprising:

2. When the rotation of the electric motor is detected, the actuator is driven to move the lock teeth to a position where the lock teeth are disengaged from the parking gear.

2. The vehicle control device according to claim 1.

3. determining a direction of a torque acting in a rotational direction against the rotational direction of the drive wheels based on a direction of the road surface gradient; During a transitional period in which the vehicle is parked, the direction of the road surface gradient is determined based on a change in the rotation angle of the electric motor or a change in the rotation angle of the wheels that occurs when the brake pedal is released after the parking lock mechanism is switched to the parking lock state.

3. The vehicle control device according to claim 1 or 2.

4. When the shift operation position is switched from the parking position to another shift position, it is determined whether or not the road surface is a slope; When the road surface is a slope, the electric motor outputs a torque acting in a rotation direction against the rotation direction of the drive wheels due to the gradient of the road surface.

2. The vehicle control device according to claim 1.

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