Control device, program and control method

Abstract

A control device (21) is applied to a moving body (10) which uses a rotary electric machine (13) as a power source for travelling, calculates a rotary electric machine requested torque on the basis of operation information indicating an operation situation of the moving body, calculates a rotary electric machine command torque while applying first gradual change processing to the rotary electric machine requested torque to limit a change in the rotary electric machine requested torque, and executes torque control for the rotary electric machine on the basis of the rotary electric machine command torque. The control device is provided with: a torque-for-monitoring calculation unit which calculates a torque for monitoring of the rotary electric machine on the basis of the operation information; a unit which is for gradual change processing for monitoring and which applies second gradual change processing different from the first gradual change processing to the torque for monitoring; and a monitoring unit which compares the rotary electric machine command torque and the torque for monitoring after the second gradual change processing with each other and monitors the torque control for the rotary electric machine on the bases of a result of the comparison.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Japanese Application No. 2022-101838 filed on June 24, 2022, the contents of which are incorporated herein by reference. [Technical Field]

[0002] The present disclosure relates to a control device 、 program and control method Regarding. [Background technology]

[0003] Conventionally, as described in Patent Document 1, there is known an electronic control device that includes a microcomputer that controls an actuator and a monitoring unit that monitors whether an abnormality occurs in the microcomputer. This control device executes a fail-safe for the actuator when an abnormality occurs inside the microcomputer. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-147585 Summary of the Invention

[0005] In an electric vehicle that runs on a rotating electric machine as a power source, for example, the required torque of the rotating electric machine is calculated based on vehicle operation information, and torque control of the rotating electric machine is performed based on the required torque of the rotating electric machine. In this case, the required torque of the rotating electric machine is subjected to gradual change processing such as smoothing, and the output torque of the rotating electric machine is controlled based on the required torque after the gradual change processing, thereby suppressing the occurrence of torque shock during transient periods when the vehicle operating conditions change.

[0006] Another possible technology for monitoring torque control of a vehicle is to calculate a monitoring torque based on vehicle operation information, similar to the rotating electric machine required torque, and determine whether the rotating electric machine required torque is appropriate based on a comparison result between the rotating electric machine required torque (required torque after gradual change processing) and the monitoring torque. In this case, it is determined that an abnormality has occurred in the calculation process of the rotating electric machine required torque based on a deviation between the rotating electric machine required torque and the monitoring torque.

[0007] However, when the gradual change process is performed on the torque required by the rotating electrical machine as described above, there is a concern that a deviation will occur between the torque required by the rotating electrical machine and the monitoring torque, leading to a false determination that an abnormality has occurred.

[0008] The present disclosure has been made in view of the above-mentioned problems, and its main object is to provide a control device that can appropriately monitor torque control. 、 program and control method The purpose is to provide

[0009] The present disclosure is a control device that is applicable to a moving body that can move using a rotating electric machine as a power source, calculates a rotating electric machine required torque based on operating information that indicates the operating status of the moving body, and performs a first gradual change processing on the rotating electric machine required torque to calculate a rotating electric machine command torque while limiting changes in the rotating electric machine required torque, and performs torque control of the rotating electric machine based on the rotating electric machine command torque, and includes: a monitoring torque calculation unit that calculates a monitoring torque of the rotating electric machine based on the operating information; a monitoring gradual change processing unit that performs a second gradual change processing on the monitoring torque that is different from the first gradual change processing; and a monitoring unit that compares the rotating electric machine command torque with the monitoring torque after the second gradual change processing and monitors the torque control of the rotating electric machine based on the result.

[0010] In a mobile body having a rotating electric machine as a power source, when torque control of the rotating electric machine is performed based on operation information of the mobile body, a gradual change process (first gradual change process) such as smoothing is performed on the rotating electric machine required torque, and torque control of the rotating electric machine is performed using the rotating electric machine command torque after the gradual change process, thereby reducing torque shock during transients, etc. However, when torque monitoring is performed based on the rotating electric machine command torque, there is a concern that the rotating electric machine command torque and the monitoring torque may diverge even during normal operation, resulting in an erroneous determination of a torque control abnormality.

[0011] In this regard, in the present disclosure, a second gradual change process separate from the gradual change process (first gradual change process) of the rotating electric machine required torque is performed on the monitoring torque, and the rotating electric machine required torque is monitored based on the result of comparison between the rotating electric machine command torque and the monitoring torque after the second gradual change process. This prevents erroneous determination of a torque control abnormality during normal operation, and ultimately enables appropriate monitoring of the rotating electric machine required torque. [Brief explanation of the drawings]

[0012] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: [Figure 1] FIG. 1 is a schematic diagram showing a hybrid vehicle; [Figure 2] FIG. 2 is a functional block diagram showing the processing of the engine control device and the rotating electrical machine control device; [Figure 3] FIG. 3 is a time chart showing an example of low-pass filter processing. [Figure 4] FIG. 4 is a time chart showing an example of a change rate limiting process. [Figure 5] FIG. 5 is a flowchart showing a procedure for torque control. [Figure 6] FIG. 6 is a time chart showing an example of torque control. [Figure 7] FIG. 7 is a flowchart of torque monitoring control. [Figure 8] FIG. 8 is a flowchart showing the procedure of the second gradual change process; [Figure 9] FIG. 9 is a flowchart of a process for determining the reliability of the estimated engine torque; [Figure 10] FIG. 10 is a flowchart of a process for determining the validity of the engine torque correction value; [Figure 11] FIG. 11 is a flowchart of the abnormality determination control. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A control device according to an embodiment of the present disclosure will now be described with reference to the accompanying drawings. The control device according to the present embodiment is mounted on a hybrid vehicle including an engine and a rotating electric machine.

[0014] As shown in FIG. 1, a hybrid vehicle 10 includes an engine 11, a transmission 12, a rotating electric machine 13, a differential gear 14, and drive wheels 15. The engine 11 is an engine that uses, for example, gasoline as fuel and generates driving force by burning the fuel. An output shaft of the engine 11 is connected to an input shaft of the transmission 12. The transmission 12 is a CVT (continuously variable transmission), a stepped AT, or the like. An output shaft of the transmission 12 is connected to the drive wheels 15 via the rotating electric machine 13 and the differential gear 14. In other words, the engine 11 serves as a power source for driving the hybrid vehicle 10.

[0015] The rotating electric machine 13 has a three-phase stator winding and a rotor, and is, for example, a permanent magnet type synchronous machine. The output shaft of the rotating electric machine 13 is connected to the drive wheels 15 via a differential gear 14. In other words, the rotating electric machine 13 serves as a power source for driving the hybrid vehicle 10.

[0016] The hybrid vehicle 10 includes an inverter 17 and a storage battery 18. The inverter 17 is a three-phase inverter having upper and lower arm switches. The upper and lower arm switches for each phase are electrically connected to the stator windings of the rotating electric machine 13 for each phase. The inverter 17 is electrically connected to the storage battery 18 via a cutoff switch 19. The storage battery 18 is a battery pack formed of a series connection of multiple cells, and is, for example, a secondary battery such as a lithium-ion battery or a nickel-metal hydride battery. When the cutoff switch 19 is turned on, power can be supplied from the storage battery 18 to the inverter 17, and when the cutoff switch 19 is turned off, power supply from the storage battery 18 to the inverter 17 is stopped. The cutoff switch 19 is, for example, a mechanical relay or a semiconductor switching element.

[0017] The hybrid vehicle 10 includes an engine control device 20, a rotating electrical machine control device 21, and various sensors 30 to 36. The accelerator sensor 30 detects an accelerator operation amount Ac, which is the amount of depression of an accelerator pedal, which serves as an accelerator operation member, by the driver. The vehicle speed sensor 31 detects a vehicle speed Vs, which is the traveling speed of the hybrid vehicle 10. The throttle sensor 32 detects a throttle opening TA of a throttle valve provided in an intake path of the engine 11. The air flow meter 33 detects an intake air amount GA of the engine 11. The engine rotation speed sensor 34 detects a rotation speed NE of a crankshaft of the engine 11.

[0018] The shift position sensor 35 detects a shift position Sp, which is the position of the shift lever of the transmission 12. The shift lever of the transmission 12 is operated by the driver. The shift positions Sp in this embodiment include a parking range (P range) used when parking the hybrid vehicle 10, a reverse range (R range) that instructs the hybrid vehicle 10 to move backward, a neutral range (N range) that cuts off power transmission between the rotor and the drive wheels 15, and a drive range (D range) that instructs the hybrid vehicle 10 to move forward.

[0019] The driving mode switch 36 is a switch for setting the torque output characteristics of the rotating electric machine 13 and is operated by the driver. The driving mode of the hybrid vehicle 10 is set by operating the driving mode switch 36. In this embodiment, the driving modes include economy, normal, and sport. The economy mode is a mode that prioritizes the energy efficiency of the hybrid vehicle 10, i.e., power consumption over power output. The sport mode is a mode that prioritizes the driving performance of the hybrid vehicle 10, i.e., power output over power consumption, and the normal mode is an intermediate mode between the economy mode and the sport mode.

[0020] The hybrid vehicle 10 is equipped with a temperature sensor 37 for the rotating electric machine 13. The temperature sensor 37 detects the temperature Tr of the rotating electric machine 13. The temperature of the rotating electric machine 13 is, for example, the temperature of the stator winding of each phase. The detected values ​​of the sensors 30 to 35, 37 and a running mode signal Mo indicating the operating state of the running mode switch 36 are input to the engine control device 20.

[0021] The hybrid vehicle 10 is equipped with a battery monitoring unit 38. The battery monitoring unit 38 detects the current flowing through the storage battery 18, the terminal voltage and temperature of each battery cell that constitutes the storage battery 18, and the like, and monitors the state of the storage battery 18. In this embodiment, the battery monitoring unit 38 is capable of communicating with the engine control device 20. The detected values ​​of the battery monitoring unit 38 are input to the engine control device 20.

[0022] The hybrid vehicle 10 is provided with a gear sensor 39 that detects the gear ratio (for example, the gear position of the transmission gear) of the transmission 12. The detected value of the gear sensor 39 is input to the engine control device 20.

[0023] Among the output signals of the sensors 30 to 39 input to the engine control device 20, the accelerator operation amount Ac, vehicle speed Vs, throttle opening TA, intake air amount GA, rotation speed NE of the engine 11, shift position Sp, and gear ratio are redundant signals. The redundant signals are signals input to the engine control device 20 from redundant sensors, or signals input to the engine control device 20 from sensors via redundant signal lines. On the other hand, the driving mode signal Mo, the detection value of the battery monitoring unit 38, and the temperature Tr of the rotating electrical machine 13 are non-redundant signals. The non-redundant signals are signals input to the engine control device 20 from non-redundant sensors, or signals input to the engine control device 20 from sensors via a single signal line.

[0024] In this embodiment, the redundancy of the sensor can be realized, for example, by duplicating the detection element, signal processing circuit, and output unit that constitute the sensor, or by using a single detection element and duplicating the signal processing circuit and output unit. Furthermore, the redundancy of the signal line can be realized, for example, by connecting the sensor and the engine control device 20 with two or more signal lines.

[0025] On the other hand, in this embodiment, a non-redundant sensor refers to a sensor that includes a single detection element, signal processing circuit, and output section. Furthermore, non-redundant signal lines refer to, for example, a mode in which the sensor and the engine control device 20 are connected by a single signal line. It can also be said that redundant signals are highly reliable, and non-redundant signals are less reliable than redundant signals.

[0026] The engine control device 20 is mainly configured with a microcomputer 20a (corresponding to a "computer"), and the rotating electrical machine control device 21 is mainly configured with a microcomputer 21a (corresponding to a "computer"). In this embodiment, of the control devices 20 and 21, the engine control device 20 is the higher-level control device. Each microcomputer 20a, 21a has a CPU. The functions provided by each microcomputer 20a, 21a can be provided by software recorded in a physical memory device and a computer that executes the software, software alone, hardware alone, or a combination thereof. For example, when each microcomputer 20a, 21a is provided by an electronic circuit, which is hardware, the electronic circuit can be a digital circuit including multiple logic circuits or an analog circuit. For example, each microcomputer 20a, 21a executes a program stored in a non-transitory tangible storage medium that serves as a storage unit provided therein. The program includes, for example, programs for the processes shown in FIGS. 5, 7 to 11, etc. Execution of the program results in the execution of a method corresponding to the program. The storage unit is, for example, a non-volatile memory. The programs stored in the storage unit can be updated via a network such as the Internet.

[0027] The rotating electric machine control device 21 performs torque control of the rotating electric machine 13. In this embodiment, the rotating electric machine control device 21 performs various controls in cooperation with the engine control device 20. Specifically, the engine control device 20 and the rotating electric machine control device 21 are connected via a communication line such as a CAN bus and are capable of communicating with each other, and perform various controls while transmitting and receiving information between the respective control devices 20, 21. Below, the controls performed by the engine control device 20 and the rotating electric machine control device 21 will be described with reference to FIG. 2. FIG. 2 shows a configuration for controlling the torque of the rotating electric machine 13 and monitoring the torque control.

[0028] The engine control device 20 includes a vehicle required torque calculation unit 40 and an estimation unit 41. The vehicle required torque calculation unit 40 calculates the vehicle required torque Tv based on driving information indicating the driving status of the hybrid vehicle 10. The vehicle required torque Tv is torque that is required to be output to the drive wheels 15. The vehicle required torque calculation unit 40 outputs the calculated vehicle required torque Tv to the rotating electrical machine control device 21. In this embodiment, the driving information includes the accelerator operation amount Ac, the vehicle speed Vs, and the shift position Sp.

[0029] The estimation unit 41 estimates the engine torque Te based on engine information including engine load information. The estimation unit 41 may estimate the engine torque Te using correspondence information (e.g., map information or mathematical formula information) in which the engine torque Te is previously associated with operating information. The estimation unit 41 outputs the estimated engine torque Te to the rotating electrical machine control device 21. In this embodiment, the engine information includes engine load information such as the throttle opening TA and the intake air amount GA, and the rotation speed NE of the engine 11.

[0030] The engine control device 20 calculates the engine required torque, which is the torque required of the engine 11, out of the vehicle required torque Tv. The engine control device 20 executes controls such as electronic throttle control and ignition timing control so that the estimated engine torque Te coincides with the engine required torque. For example, as electronic throttle control, the engine control device 20 calculates a required intake air volume through feedback calculation of the engine required torque and the estimated engine torque Te, and calculates a target throttle opening based on the required intake air volume. The engine control device 20 controls a throttle valve so that the throttle opening TA becomes the target throttle opening. Furthermore, for example, as ignition timing control, the engine control device 20 calculates ignition timing based on the rotation speed NE of the engine 11 and the required intake air volume, and controls the spark plugs provided for each cylinder in the cylinder head of the engine 11 so that ignition is performed at the calculated ignition timing.

[0031] The rotating electric machine control device 21 includes an MG required torque calculation unit 42 and a first gradual change processing unit 43. The MG required torque calculation unit 42 calculates a rotating electric machine required torque Tm1, which is a torque required of the rotating electric machine 13, so that the vehicle required torque Tv is realized by the total torque of the output torque of the engine 11 and the output torque of the rotating electric machine 13. Specifically, the MG required torque calculation unit 42 calculates the differential torque between the vehicle required torque Tv and the estimated engine torque Te as the rotating electric machine required torque Tm1. As a result, the vehicle required torque Tv is distributed to the engine required torque and the rotating electric machine required torque Tm1.

[0032] The first gradual-change processing unit 43 performs a first gradual-change process on the rotating electric machine required torque Tm1 calculated by the MG required torque calculation unit 42. The first gradual-change process is a process that limits changes in the rotating electric machine required torque Tm1 for the purposes of improving the drivability of the hybrid vehicle 10, improving exhaust emissions, and improving fuel economy. The first gradual-change processing unit 43 receives detection values ​​from the sensors 30 to 39 as setting parameters. The first gradual-change processing unit 43 variably sets the degree of gradual change in the first gradual-change process depending on the driving situation of the hybrid vehicle 10. The driving situation of the hybrid vehicle 10 can be grasped based on the detection values ​​from the sensors 30 to 39. In this embodiment, the first gradual-change processing unit 43 performs low-pass filtering and change rate limiting as the first gradual-change process.

[0033] FIG. 3 shows an example of a case where low-pass filtering is performed on a stepwise increasing required torque, and FIG. 4 shows an example of a case where change rate limiting processing is performed on a stepwise increasing required torque. In low-pass filtering, the amount of change in target torque per unit time gradually decreases, whereas in change rate limiting processing, the amount of change in target torque per unit time is kept constant. In other words, in low-pass filtering, the slope of change gradually changes, whereas in change rate limiting processing, the slope of change is kept constant. In low-pass filtering, the larger the filter time constant, the more the change in required torque is limited. In change rate limiting processing, the larger the change rate limit value, the more the change in required torque is limited. The first gradual change processing unit 43 variably sets the filter time constant of the low-pass filtering and the change rate limit value of the change rate limiting processing according to the operating conditions of the hybrid vehicle 10.

[0034] In addition to the first gradual-change processing, the first gradual-change processing unit 43 also performs a correction process for the rotary electric machine required torque Tm1. In the correction process, an engine torque correction value ΔTc corresponding to the difference between the current engine load and the engine load corresponding to the best fuel economy point is calculated and used to correct the rotary electric machine required torque Tm1. At the same time, the engine torque correction value ΔTc is input to the engine control device 20, and the engine torque correction value ΔTc is used to correct the engine required torque.

[0035] More specifically, the first gradual-change processing unit 43 determines the current engine operating point based on map information in which the accelerator operation amount Ac and the rotation speed NE of the engine 11 are previously associated with fuel economy characteristics. The engine operating point is an operating point determined by the engine load calculated based on the accelerator operation amount Ac and the rotation speed NE of the engine 11. The first gradual-change processing unit 43 calculates an engine torque correction value ΔTc corresponding to the difference between the engine load at the current engine operating point and the engine load at the maximum fuel economy point in the fuel economy characteristics.

[0036] Note that, instead of calculating the engine torque correction value ΔTc so that the engine operating point becomes the maximum fuel efficiency point, the first gradual-change processing unit 43 may calculate an engine torque correction value ΔTc corresponding to the difference between the current engine load and the engine load at a point near the maximum fuel efficiency point. For example, the map information of the fuel efficiency characteristics may define a high fuel efficiency region as a region including the maximum fuel efficiency point, and the engine torque correction value ΔTc may be calculated so that the engine operating point becomes within that high fuel efficiency region.

[0037] The first gradual-change processing unit 43 corrects the rotary electric machine required torque Tm1 based on the calculated engine torque correction value ΔTc. Specifically, the value obtained by subtracting the engine torque correction value ΔTc from the rotary electric machine required torque Tm1 becomes the corrected rotary electric machine required torque Tm1. The first gradual-change processing unit 43 outputs the calculated engine torque correction value ΔTc to the engine control device 20. The engine control device 20 corrects the engine required torque based on the input engine torque correction value ΔTc. Specifically, the value obtained by adding the engine torque correction value ΔTc to the engine required torque becomes the corrected engine required torque.

[0038] 2, the first gradual-change processing unit 43 calculates a rotating electric machine command torque Tm1_F by performing first gradual-change processing on the rotating electric machine required torque Tm1. The rotating electric machine control device 21 controls the torque of the rotating electric machine 13 based on the rotating electric machine command torque Tm1_F. Specifically, the rotating electric machine control device 21 alternately turns on the switches of the upper and lower arms of each phase of the inverter 17 based on the rotating electric machine required torque Tm1.

[0039] The procedure for torque control is shown in Fig. 5. This control is repeatedly executed by the rotary electric machine control device 21, for example, at a predetermined control period.

[0040] In step S10, the rotary electric machine required torque Tm1 is calculated. In this embodiment, the vehicle required torque Tv and the estimated engine torque Te are acquired from the engine control device 20, and the differential torque between these torques is calculated as the rotary electric machine required torque Tm1.

[0041] In step S11, a filter time constant for low-pass filtering is set. For example, the filter time constant for low-pass filtering is set based on setting parameters such as accelerator operation amount Ac, vehicle speed Vs, shift position Sp, and driving mode signal Mo, taking into account acceleration / deceleration response. Specifically, for a given accelerator operation amount Ac, when the vehicle speed Vs is low (e.g., 30 km / m) the filter time constant is set smaller than when the vehicle speed Vs is high (e.g., 80 km / h), thereby improving acceleration / deceleration response. Furthermore, when a driving mode signal Mo indicating a sport mode is input, the filter time constant is set smaller than when a driving mode signal Mo indicating an economy mode or normal mode is input, thereby improving acceleration / deceleration response.

[0042] In step S12, a change rate limit value for the change rate limiting process is set. For example, the change rate limit value for the change rate limiting process is set based on setting parameters such as accelerator operation amount Ac, vehicle speed Vs, shift position Sp, and gear ratio, taking into account torque shock during gear shifting. Specifically, if the vehicle speed Vs is gradually increasing at the same rate, when the range of change in the gear ratio during gear shifting is large, the change rate limit value is set larger than when the range of change in the gear ratio during gear shifting is small, thereby reducing torque shock during gear shifting.

[0043] In step S13, an engine torque correction value ΔTc is calculated, which corresponds to the difference between the current engine load and the engine load at the best fuel efficiency point. The current engine load can be calculated using the accelerator operation amount Ac detected by the accelerator sensor 30 and the rotation speed NE of the engine 11 detected by the engine rotation speed sensor 34. Alternatively, an engine torque correction value ΔTc may be calculated, which corresponds to the difference between the current engine load and the engine load at a point near the best fuel efficiency point.

[0044] In step S14, the rotating electric machine required torque Tm1 is corrected. In this embodiment, the value obtained by subtracting the engine torque correction value ΔTc from the rotating electric machine required torque Tm1 is set to the corrected rotating electric machine required torque Tm1. At this time, taking into consideration that the rotating electric machine required torque Tm1 has been corrected, the change rate limit value in the change rate limiting process may be changed from the value set in step S12. The process of step S14 corresponds to a "torque correction unit."

[0045] In addition to correcting the rotary electric machine required torque Tm1, it is preferable to output an engine torque correction value ΔTc to the engine control device 20. The engine control device 20 performs a process of adding the engine torque correction value ΔTc to the engine required torque. As a result, the engine 11 is controlled so that the engine operating point coincides with the maximum fuel efficiency point.

[0046] In step S15, battery protection control is performed. The battery protection control is control for limiting the torque Tm1 required by the rotating electric machine in order to protect the storage battery 18. For example, if the temperature of the storage battery 18 is higher than a predetermined temperature, processing is performed to limit the upper limit of the torque Tm1 required by the rotating electric machine. Also, for example, if the terminal voltage of the storage battery 18 is lower than a predetermined voltage, processing is performed to limit the upper limit of the torque Tm1 required by the rotating electric machine. At this time, the settings of the filter time constant and the change rate limit value may be changed in consideration of the fact that the upper limit of the torque Tm1 required by the rotating electric machine has been limited.

[0047] The temperature and terminal voltage of the storage battery 18 may be determined using values ​​detected by the battery monitoring unit 38. If the SOC of the storage battery 18 is higher than a predetermined SOC, instead of the terminal voltage of the storage battery 18, a process may be performed to limit the upper limit of the rotating electrical machine required torque Tm1. The SOC of the storage battery 18 may be calculated from the value detected by the battery monitoring unit 38.

[0048] In step S16, rotating electric machine protection control is performed. The rotating electric machine protection control is control for limiting the rotating electric machine required torque Tm1 in order to prevent the rotating electric machine 13 from overheating abnormally. For example, if the temperature of the rotating electric machine 13 is higher than a predetermined temperature, processing is performed to limit the upper limit of the rotating electric machine required torque Tm1. At this time, the settings of the filter time constant and the rate of change limit value may be changed in consideration of the fact that the upper limit of the rotating electric machine required torque Tm1 has been limited. Note that the temperature of the rotating electric machine 13 may be determined using the value detected by the temperature sensor 37. In this embodiment, steps S11, S12, and S14 to S16 correspond to a "setting unit."

[0049] In step S17, the rotating electric machine command torque Tm1_F is calculated. The rotating electric machine command torque Tm1_F is calculated by performing a first gradual-change process on the rotating electric machine required torque Tm1. This reduces the occurrence of torque shock during a transient period when the driving condition of the hybrid vehicle 10 changes, improves acceleration / deceleration response, and protects the rotating electric machine 13 and the storage battery 18.

[0050] As the first gradual change processing, either low-pass filtering or change rate limiting processing may be performed, or a combination of low-pass filtering and change rate limiting processing may be performed. In this embodiment, low-pass filtering is performed as the first gradual change processing. When low-pass filtering is performed, a filter time constant set in accordance with the processing of steps S11, S14 to S16 is used. The filter time constant is set within a range defined by a predetermined minimum value KT1 and maximum value KT2. The minimum value KT1 of the filter time constant is, for example, 0 [ms] to 30 [ms], and the maximum value KT2 of the filter time constant is, for example, 200 [ms]. When change rate limiting processing is used, the change rate limit value set in the processing of steps S12, S14 to S16 is used.

[0051] Incidentally, one possible technique for monitoring the torque control of the rotating electric machine control device 21 is to calculate a monitoring torque, which is the difference between the vehicle required torque Tv and the estimated engine torque Te, similar to the rotating electric machine required torque Tm1, and to determine the appropriateness of the torque control based on a comparison result between the rotating electric machine command torque Tm1_F and the monitoring torque. In this case, it is determined that an abnormality has occurred in the torque control based on a deviation between the rotating electric machine command torque Tm1_F and the monitoring torque. In this way, the torque control of the rotating electric machine control device 21 is monitored.

[0052] However, when the first gradual change processing is performed on the rotating machine required torque Tm1 as described above and the rotating machine command torque Tm1_F is calculated, there is a concern that a deviation will occur between the rotating machine command torque Tm1_F and the differential torque, and that an abnormality may be erroneously determined to have occurred.

[0053] A case where it is erroneously determined that an abnormality has occurred in torque control will be described in detail with reference to Fig. 6. In Fig. 6, (a) shows the change in accelerator operation amount Ac, (b) shows the change in vehicle required torque Tv and estimated engine torque Te, and (c) shows the change in rotating electric machine required torque Tm1, which corresponds to the differential torque between vehicle required torque Tv and estimated engine torque Te, and the change in rotating electric machine command torque Tm1_F.

[0054] When the vehicle required torque Tv increases with an increase in accelerator operation amount Ac, the output torque of the engine 11 gradually increases to realize the vehicle required torque Tv. At this time, the estimated engine torque Te gradually increases. In this case, the differential torque between the vehicle required torque Tv and the estimated engine torque Te is basically set as the rotating electrical machine required torque Tm1. Therefore, the rotating electrical machine required torque Tm1 increases in a stepwise manner and then gradually decreases.

[0055] However, in order to respond to the various requirements for torque control of the rotating electric machine 13 described above, a first gradual-change process is performed on the rotating electric machine required torque Tm1. As a result, the rotating electric machine command torque Tm1_F after the first gradual-change process has a more limited change than the rotating electric machine required torque Tm1. In this case, the rotating electric machine required torque Tm1 is a torque corresponding to the monitoring torque, and during a period in which the rotating electric machine command torque Tm1_F is gradually decreasing, the rotating electric machine command torque Tm1_F becomes higher than the rotating electric machine required torque Tm1. In other words, there is a period in which the rotating electric machine command torque Tm1_F may be determined to be excessive. During this period, if the deviation value between the rotating electric machine command torque Tm1_F and the rotating electric machine required torque Tm1 becomes large, it may be erroneously determined that an abnormality has occurred.

[0056] Therefore, in this embodiment, the following configuration is provided to properly monitor the torque control.

[0057] Returning to the explanation of FIG. 2, the rotary electric machine control device 21 includes a monitoring torque calculation unit 44 and a second gradual change processing unit 45. The vehicle required torque Tv and the estimated engine torque Te are input to the monitoring torque calculation unit 44. The monitoring torque calculation unit 44 calculates the differential torque between the vehicle required torque Tv and the estimated engine torque Te as the monitoring torque Tm2. The monitoring torque Tm2 is input to the second gradual change processing unit 45.

[0058] The second gradual-change processing unit 45 performs a second gradual-change processing, which is different from the first gradual-change processing, on the monitoring torque Tm2 calculated by the monitoring torque calculation unit 44. The second gradual-change processing is a processing that limits changes in the monitoring torque Tm2 for the purpose of properly monitoring torque control. The second gradual-change processing unit 45 performs the second gradual-change processing on the monitoring torque Tm2 and outputs the monitoring torque Tm2_F after the second gradual-change processing. The processing content of the second gradual-change processing will be described later.

[0059] The rotating electric machine control device 21 includes a torque deviation calculation unit 46, an abnormality determination unit 47, and a fail-safe processing unit 48. The rotating electric machine command torque Tm1_F and the monitoring torque Tm2_F after the second gradual change processing are input to the torque deviation calculation unit 46. The torque deviation calculation unit 46 calculates a torque deviation ΔTm between the rotating electric machine command torque Tm1_F and the monitoring torque Tm2_F after the second gradual change processing. The torque deviation ΔTm is input to the abnormality determination unit 47.

[0060] The abnormality determination unit 47 determines whether the torque deviation ΔTm is greater than the abnormality determination value Ts. If the abnormality determination unit 47 determines that the torque deviation ΔTm is greater than the abnormality determination value Ts, it turns on the torque control abnormality flag FM. The torque control abnormality flag FM is a signal that indicates that torque control is being performed normally when it is off, and that an abnormality has occurred in torque control when it is on. The abnormality determination unit 47 outputs the torque control abnormality flag FM to the fail-safe processing unit 48. When the abnormality flag FM input by the abnormality determination unit 47 is switched on, the fail-safe processing unit 48 executes fail-safe processing. In this embodiment, the fail-safe processing unit 48 turns off the cut-off switch 19. This stops the driving of the rotating electric machine 13.

[0061] 7 shows a procedure for torque monitoring control for monitoring torque control. This control is repeatedly executed by the rotary electric machine control device 21 at a predetermined control period, for example.

[0062] In step S20, a monitoring torque Tm2 is calculated. The monitoring torque Tm2 is a differential torque between the vehicle required torque Tv and the estimated engine torque Te. In step S21, a second gradual change process is performed on the monitoring torque Tm2. As a result, a monitoring torque Tm2_F after the second gradual change process is calculated.

[0063] In step S22, the torque deviation ΔTm is calculated. The torque deviation ΔTm is a value obtained by subtracting the monitoring torque Tm2_F after the second gradual change process from the rotating electrical machine command torque Tm1_F. In step S23, it is determined whether the torque deviation ΔTm is higher than the abnormality determination value Ts. If it is determined that the torque deviation ΔTm is equal to or lower than the abnormality determination value Ts, this process ends. On the other hand, if it is determined that the torque deviation ΔTm is higher than the abnormality determination value Ts, the process proceeds to step S24. In step S24, the torque control abnormality flag FM is turned on. Note that the torque control abnormality flag FM is set to off when the torque monitoring control is started.

[0064] Here, the abnormality determination value Ts is preferably set to a positive value. In this case, it is determined that an abnormality has occurred in torque control based on the fact that the rotating electrical machine command torque Tm1_F is higher than the monitoring torque Tm2_F after the second gradual change process and the deviation value between the rotating electrical machine command torque Tm1_F and the monitoring torque Tm2_F is larger than the abnormality determination value Ts.

[0065] In torque control of the rotary electric machine 13, the degree of gradual change in the first gradual change process (i.e., the filter time constant and the change rate limit value) affects torque shock reduction during transients, acceleration / deceleration response, power consumption, etc. For example, increasing the degree of gradual change is effective in reducing torque shock, while decreasing the degree of gradual change is effective in improving acceleration / deceleration response. Taking this into consideration, as described above with reference to FIG. 5, the degree of gradual change in the first gradual change process is changed as appropriate depending on the vehicle driving situation at each time. However, the second gradual change process does not require complex gradual change processing like the first gradual change process.

[0066] As with the degree of gradual change in the first gradual-change process, it is conceivable to change the degree of gradual change in the second gradual-change process as appropriate in response to various conditions. However, if the degree of gradual change in the second gradual-change process is set using a non-redundant signal with low reliability, there is a concern that the reliability of torque control monitoring may decrease. Therefore, as described below, the degree of gradual change in the second gradual-change process is set in a manner that simplifies the configuration while ensuring the reliability of torque control monitoring.

[0067] Fig. 8 shows the processing procedure of the second gradual change processing. The second gradual change processing is the processing of step S21 in Fig. 7. Here, a case where low-pass filter processing is performed as the second gradual change processing will be described.

[0068] In step S30, it is determined whether or not a request for torque increase of the rotating electric machine 13 is occurring. In this embodiment, if it is determined that the value obtained by subtracting the monitoring torque Tm2 in the previous control cycle from the monitoring torque Tm2 in the current control cycle (i.e., the rotating electric machine required torque Tm1) is equal to or greater than an increase determination value, it is determined that a request for torque increase of the rotating electric machine 13 is occurring. The increase determination value is preferably set to a positive value. If a negative determination is made in step S30, the process proceeds to step S31. On the other hand, if a positive determination is made in step S30, the process proceeds to step S32.

[0069] In step S31, it is determined whether or not a request for torque reduction of the rotating electric machine 13 has occurred. In this embodiment, if it is determined that the value obtained by subtracting the monitoring torque Tm2 in the previous control cycle from the monitoring torque Tm2 in the current control cycle is equal to or less than a reduction determination value, it is determined that a request for torque reduction of the rotating electric machine 13 has occurred. The reduction determination value may be set to a negative value. If a positive determination is made in step S31, the process proceeds to step S33. On the other hand, if a negative determination is made in step S31, the process proceeds to step S34. In this embodiment, steps S30 and S31 correspond to a "torque request determination unit."

[0070] The rotating electric machine control device 21 determines that an abnormality has occurred when the rotating electric machine command torque Tm1_F is higher than the monitoring torque Tm2_F after the second gradual change process and the torque deviation ΔTm therebetween is larger than the abnormality determination value Ts. This allows for proper determination of an abnormality in which the output torque of the hybrid vehicle 10 becomes excessive, i.e., an abnormality that may cause the vehicle speed to excessively increase. In this case, if the second gradual change process limits the decreasing change in the monitoring torque Tm2 during torque decrease, the monitoring torque Tm2_F after the second gradual change process is prevented from becoming too small compared to the rotating electric machine command torque Tm1_F, thereby preventing erroneous detection of torque control. On the other hand, if the second gradual change process limits the increasing change in the monitoring torque Tm2 during torque increase, the monitoring torque Tm2_F after the second gradual change process becomes lower than the rotating electric machine command torque Tm1_F, which may result in an erroneous determination of a torque abnormality. Therefore, in this embodiment, the following steps S32 and S33 are performed.

[0071] In the process of step S32, the filter time constant KT of the low-pass filter process in the second gradual change process is set to a smaller value than in the process of step S33. In this embodiment, in step S32, the filter time constant KT is set to a minimum value KT1. In addition, in step S33, the filter time constant KT is set to a maximum value KT2. After the processes of steps S32 and S33, the process proceeds to step S34. Note that if a negative determination is made in step S31, the filter time constant KT may use the value set in the previous control cycle as it is.

[0072] In step S34, as the second gradual-change processing, low-pass filtering is performed on the monitoring torque Tm2. In this case, either the minimum value KT1 or the maximum value KT2 of the low-pass filtering in the first gradual-change processing is used as the filter time constant KT of the low-pass filtering processing. As a result, the gradual-change degree of the second gradual-change processing is set according to the gradual-change degree of the first gradual-change processing.

[0073] In addition, when a change rate limiting process is performed in place of low-pass filtering in step S34, the change rate limiting value in step S32 is the change rate limiting value of the change rate limiting process as the first gradual change process, and is preferably set to the maximum change rate limiting value that can be set in that change rate limiting process. Also, in step S33, the change rate limiting value is the change rate limiting value of the change rate limiting process as the first gradual change process, and is preferably set to the minimum change rate limiting value that can be set in that change rate limiting process. In this embodiment, the process of S34 corresponds to the "monitoring gradual change processing unit."

[0074] In the hybrid vehicle 10, the rotary electric machine required torque Tm1 and the monitoring torque Tm2 are calculated based on the differential torque between the vehicle required torque Tv and the estimated engine torque Te. In this case, if an abnormality occurs in the engine torque estimation function of the engine control device 20, the reliability of torque monitoring may be reduced.

[0075] Furthermore, by calculating an engine torque correction value ΔTc corresponding to the difference between the current engine load and the engine load at the best fuel economy point, and correcting the rotary electric machine required torque Tm1 and the engine required torque based on the engine torque correction value ΔTc, it is possible to achieve high fuel efficiency operation on the engine side while suitably achieving the vehicle required torque Tv. However, if the engine torque correction value ΔTc becomes excessively large, the amount of correction of the rotary electric machine required torque Tm1 becomes large, which may reduce the reliability of torque monitoring.

[0076] In this embodiment, taking these points into consideration, a process for determining the reliability of the estimated engine torque Te and a process for determining the validity of the engine torque correction value ΔTc are performed.

[0077] First, the process of determining the reliability of the estimated engine torque Te will be described with reference to Fig. 9. Fig. 9 is a diagram showing the procedure of the process of determining the reliability of the estimated engine torque Te. This process is repeatedly executed by the engine control device 20, for example, at a predetermined control period.

[0078] In step S40, a first engine torque Te1 is estimated using the throttle opening TA as first load information, which is engine load information, and a second engine torque Te2 is estimated using the intake air amount GA as second load information, which is engine load information. In this embodiment, using correspondence information (e.g., map information or formula information) in which the engine torque, the throttle opening TA, and the rotation speed NE of the engine 11 are previously associated with each other, the first engine torque Te1 is estimated based on the throttle opening TA and the rotation speed NE of the engine 11. Also, using correspondence information (e.g., map information or formula information) in which the engine torque, the intake air amount GA, and the rotation speed NE of the engine 11 are previously associated with each other, the second engine torque Te2 is estimated based on the intake air amount GA and the rotation speed NE of the engine 11.

[0079] In step S41, the differential engine torque ΔTe is calculated. The differential engine torque ΔTe is the absolute value of the difference between the first engine torque Te1 and the second engine torque Te2. In step S42, it is determined whether the differential engine torque ΔTe is greater than a reliability determination value Tk. The reliability determination value Tk is preferably set to a positive value. If the determination in step S42 is affirmative, the engine torque estimation abnormality flag FE1 is turned on. The engine torque estimation abnormality flag FE1 is a signal that indicates, when it is off, that the estimated engine torque Te is reliable, and, when it is on, that the estimated engine torque Te is unreliable. On the other hand, if the determination in step S42 is negative, this process is terminated. Note that the engine torque estimation abnormality flag FE1 is set to off when the reliability determination process is started. In this embodiment, the processes in steps S40 to S42 correspond to a "reliability determination unit."

[0080] Next, a process for determining the validity of the engine torque correction value ΔTc will be described with reference to Fig. 10. Fig. 10 is a diagram showing the procedure of the process for determining the validity of the engine torque correction value ΔTc. This process is repeatedly executed by the rotating electrical machine control device 21, for example, at a predetermined control period.

[0081] In step S50, it is determined whether the engine torque correction value ΔTc is outside a predetermined range. The predetermined range is a range defined by a positive upper limit correction value and a negative lower limit correction value, and may be set, for example, according to the torque that can be output by the rotary electric machine 13. If the determination in step S50 is affirmative, the process proceeds to step S51. On the other hand, if the determination in step S50 is negative, the process proceeds to step S52. In this embodiment, the process in step S50 corresponds to a "correction torque determination unit."

[0082] In step S51, the abnormality flag FE2 of the engine torque correction value ΔTc is turned on. In step S52, the abnormality flag FE2 of the engine torque correction value ΔTc is turned off. The abnormality flag FE2 of the engine torque correction value ΔTc is a signal that indicates, when turned on, that the engine torque correction value ΔTc is excessively large, and, when turned off, that the engine torque correction value ΔTc is within an allowable range.

[0083] The rotating electrical machine control device 21 performs abnormality determination control to determine whether or not to execute fail-safe processing based on the abnormality flags FM, FE1, and FE2. The procedure for the abnormality determination control is shown in Fig. 11. This control is repeatedly executed by the rotating electrical machine control device 21, for example, at a predetermined control period.

[0084] In step S60, it is determined whether or not the torque control abnormality flag FM is on. If the determination in step S60 is affirmative, the process proceeds to step S61. If the determination in step S60 is negative, the process proceeds to step S62.

[0085] In step S61, a fail-safe process is performed. In this embodiment, the fail-safe process is performed by turning off the cutoff switch 19.

[0086] In step S62, it is determined whether at least one of the engine torque estimation abnormality flag FE1 and the engine torque correction value ΔTc abnormality flag FE2 is on. If the determination in step S62 is affirmative, the process proceeds to step S63.

[0087] In step S63, the engine torque correction value ΔTc is set to 0. As a result, the correction process using the engine torque correction value ΔTc is stopped. Then, the process proceeds to step S61. On the other hand, if a negative determination is made in step S62, the process ends. That is, in this embodiment, if it is determined in step S62 that the estimated engine torque Te is reliable and that the engine torque correction value ΔTc is within the predetermined range, torque control is monitored in the next control cycle as well.

[0088] According to the present embodiment described above in detail, the following effects can be obtained.

[0089] A second gradual-change process separate from the first gradual-change process is performed on the monitoring torque Tm2, ​​and torque control is monitored based on the result of comparison between the rotating electrical machine command torque Tm1_F and the monitoring torque Tm2_F after the second gradual-change process. This prevents the torque control from being erroneously determined to be abnormal when it is normal, and ultimately allows the torque control to be monitored appropriately.

[0090] It is determined whether a request for torque increase or a request for torque decrease of the rotating electric machine 13 is occurring, and when it is determined that a request for torque increase is occurring, the filter time constant KT of the low-pass filter process in the second gradual change process is set to be smaller than when it is determined that a request for torque decrease is occurring. This makes it possible to appropriately suppress erroneous determination of torque control abnormality whether the torque of the rotating electric machine 13 is decreasing or increasing.

[0091] In torque control of the rotating electric machine 13, the degree of gradual change in the first gradual-change process relative to the rotating electric machine required torque Tm1 affects torque shock reduction during transients, acceleration / deceleration response, power consumption, and the like. Therefore, it is desirable to appropriately change the degree of gradual change in the first gradual-change process depending on the vehicle driving situation at each time. However, the complex gradual-change process used in the first gradual-change process is not necessary for the second gradual-change process. In consideration of this, the degree of gradual change in the second gradual-change process is set according to the degree of gradual change in the first gradual-change process. This simplifies the configuration of the gradual-change processes while enabling the gradual-change degrees of each gradual-change process to be matched, thereby improving the accuracy of torque monitoring.

[0092] Specifically, when the torque of the rotary electric machine 13 is decreasing, the filter time constant KT of the low-pass filter process is set to the maximum value KT2 of the filter time constant in the low-pass filter process as the first gradual change process. This prevents the rotary electric machine command torque Tm1_F from becoming higher than the monitoring torque Tm2_F after the second gradual change process when the torque of the rotary electric machine 13 is decreasing. This effectively prevents erroneous determinations from occurring in torque monitoring.

[0093] Furthermore, when the torque of the rotary electric machine 13 increases, the filter time constant KT of the low-pass filter process is set to the minimum value KT1 of the filter time constant in the low-pass filter process as the first gradual change process. This prevents the rotary electric machine command torque Tm1_F from becoming higher than the monitoring torque Tm2_F after the second gradual change process when the torque of the rotary electric machine 13 increases. This effectively prevents erroneous determinations from occurring in torque monitoring.

[0094] The monitoring torque Tm2 is used to determine whether a request for torque increase or a request for torque decrease of the rotary electric machine 13 is occurring. The monitoring torque Tm2 is a value calculated based on redundant signals, namely, the accelerator operation amount Ac, the vehicle speed Vs, the shift position Sp, the throttle opening TA, the intake air amount GA, and the rotation speed NE of the engine 11. Therefore, the second gradual-change process is performed without using non-redundant signals. Furthermore, depending on the determination result of whether a request for torque increase or a request for torque decrease of the rotary electric machine 13 is occurring, a gradual-change degree of the second gradual-change process that is preset in accordance with the gradual-change degree of the first gradual-change process is selected. Therefore, it is possible to ensure reliability in monitoring torque control while simplifying the configuration of the second gradual-change process.

[0095] <Other embodiments> The above embodiment may be modified as follows, for example.

[0096] The engine 11 is not limited to a gasoline engine, but may be a diesel engine that uses diesel fuel or an engine that uses other fuels.

[0097] The vehicle required torque Tv may be calculated by the rotary electric machine control device 21 instead of by the engine control device 20. In this case, the rotary electric machine control device 21 corresponds to the higher-level control device.

[0098] The vehicle on which the control device is installed is not limited to the hybrid vehicle 10. For example, it may be an electric vehicle equipped with a rotating electric machine, among an engine and a rotating electric machine, as a driving power source. In this case, the hybrid vehicle 10 does not need to be equipped with the engine control device 20, and the detection values ​​of the sensors 30, 31, 35, and 37 and the driving mode signal Mo may be input to the rotating electric machine control device 21. Furthermore, the engine torque Te may not be estimated, and the rotating electric machine required torque Tm1 may be set to the vehicle required torque Tv. Accordingly, the process of determining the reliability of the estimated engine torque Te described above in FIG. 9 may not be performed. The process of determining the validity of the engine torque correction value ΔTc described above in FIG. 10 may not be performed. In the process of determining whether to perform fail-safe processing described above in FIG. 11, the processes of steps S62 and S63 may not be performed.

[0099] In the processing of steps S30 to S33, setting the degree of gradual change of the second gradual-change processing in accordance with the degree of gradual change of the first gradual-change processing is not limited to selecting either the minimum value KT1 or the maximum value KT2 of the predetermined filter time constant of the low-pass filter processing in the first gradual-change processing. For example, a process of acquiring the degree of gradual change of the first gradual-change processing may be performed, and the degree of gradual change of the second gradual-change processing may be set based on the acquired degree of gradual change. Specifically, a process of retaining the acquired degree of gradual change of the first gradual-change processing for a predetermined period may be performed, and in step S32, the minimum value of the retained degrees of gradual change may be set as the degree of gradual change of the second gradual-change processing, and in step S33, the maximum value of the retained degrees of gradual change may be set as the degree of gradual change of the second gradual-change processing. Alternatively, instead of performing the processes of steps S30 to S33, the process of acquiring the degree of gradual change of the first gradual-change process may be performed each time, and the process of changing the degree of gradual change of the second gradual-change process to the acquired degree of gradual-change of the first gradual-change process may be performed each time. According to this embodiment, the degrees of gradual change of the first and second gradual-change processes can be accurately matched.

[0100] The process of determining the reliability of the estimated engine torque Te may be performed by the rotating electrical machine control device 21 instead of by the engine control device 20. Furthermore, the process of determining the validity of the engine torque correction value ΔTc may be performed by the engine control device 20 instead of by the rotating electrical machine control device 21.

[0101] The mobile body on which the control device is mounted is not limited to a vehicle, but may be, for example, an aircraft or a ship.

[0102] The vehicle control device and method described herein may be implemented by a special-purpose computer configured with a processor and memory programmed to execute one or more functions embodied in a computer program. Alternatively, the vehicle control device and method described herein may be implemented by a special-purpose computer configured with a processor comprising one or more dedicated hardware logic circuits. Alternatively, the vehicle control device and method described herein may be implemented by one or more special-purpose computers configured with a combination of a processor and memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by the computer.

[0103] The following describes characteristic configurations extracted from the above-described embodiments. [Configuration 1] The present invention is applied to a moving body (10) that can move using a rotating electric machine (13) as a power source, a control device (21) that calculates a rotating electric machine required torque based on operation information indicating an operation state of the moving body, and calculates a rotating electric machine command torque while limiting a change in the rotating electric machine required torque by performing a first gradual change process on the rotating electric machine required torque, and performs torque control of the rotating electric machine based on the rotating electric machine command torque, a monitoring torque calculation unit that calculates a monitoring torque of the rotary electric machine based on the operation information; a monitoring gradual change processing unit that performs a second gradual change processing different from the first gradual change processing on the monitoring torque; a monitoring unit that compares the rotating electrical machine command torque with the monitoring torque after the second gradual change processing, and monitors torque control of the rotating electrical machine based on the result of the comparison. [Configuration 2] a setting unit that variably sets a degree of gradual change of the first gradual change processing according to a driving situation of the moving body; 2. The control device according to configuration 1, wherein a degree of gradual change in the second gradual change process is set according to a degree of gradual change in the first gradual change process. [Configuration 3] the monitoring unit determines that an abnormality has occurred in the torque control based on the fact that the rotating electric machine command torque is higher than the monitoring torque after the second gradual change process and a deviation value between the rotating electric machine command torque and the monitoring torque is larger than a threshold value, a torque request determination unit that determines whether a request for torque increase or a request for torque decrease of the rotating electric machine is occurring; The control device according to configuration 1 or 2, wherein the monitoring gradual change processing unit reduces the degree of gradual change of the second gradual change processing when it is determined that a request for torque increase is occurring compared to when it is determined that a request for torque decrease is occurring. [Configuration 4] a setting unit that variably sets a degree of gradual change of the first gradual change processing according to a driving situation of the moving body; The control device according to configuration 3, wherein the degree of gradual change of the second gradual change process when it is determined that a request for torque reduction of the rotating electric machine is occurring is set to the maximum value of the degree of gradual change of the first gradual change process. [Configuration 5] a setting unit that variably sets a degree of gradual change of the first gradual change processing according to a driving situation of the moving body; The control device according to configuration 3 or 4, wherein the degree of gradual change of the second gradual change process when it is determined that a demand for torque increase of the rotating electric machine is occurring is set to the minimum value of the degree of gradual change of the first gradual change process. [Configuration 6] the moving body is a hybrid vehicle (10) equipped with an engine (11) and the rotating electric machine as a driving power source, a control device that sets a differential torque between a vehicle required torque calculated based on the driving information and an estimated engine torque calculated based on engine information including engine load information as the rotary electric machine required torque, the monitoring torque calculation unit calculates a differential torque between the vehicle required torque and the estimated engine torque as the monitoring torque, a reliability determination unit that estimates engine torque using first load information as the engine load information, and estimates engine torque using second load information different from the first load information as the engine load information, and determines reliability of the estimated engine torque based on a degree of deviation between the estimated values, 6. The control device according to any one of configurations 1 to 5, wherein the monitoring unit monitors torque control of the rotating electrical machine when the reliability determining unit determines that the reliability of the estimated engine torque is high. [Configuration 7] the moving body is a hybrid vehicle (10) equipped with an engine (11) and the rotating electric machine as a driving power source, a control device that sets a differential torque between a vehicle required torque calculated based on the driving information and an estimated engine torque calculated based on engine information including engine load information as the rotary electric machine required torque, the monitoring torque calculation unit calculates, as the monitoring torque, a differential torque between the vehicle required torque calculated based on the driving information and the estimated engine torque, a torque correction unit that calculates an engine torque correction value corresponding to a difference between a current engine load and an engine load in a predetermined high fuel efficiency region including a maximum fuel efficiency point, and corrects the rotary electric machine command torque based on the engine torque correction value; a correction torque determination unit that determines whether the engine torque correction value is within a predetermined range, 6. The control device according to any one of configurations 1 to 5, wherein the monitoring unit monitors torque control of the rotating electrical machine when it is determined that the engine torque correction value is within the predetermined range.

[0104] Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also encompasses various modifications and equivalent modifications. In addition, various combinations and forms, including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure.

Claims

1. The present invention is applied to a moving body (10) that can move using a rotating electric machine (13) as a power source, a control device (21) that calculates a rotary electric machine required torque based on driving information indicating a driving state of the moving body, and calculates a rotary electric machine command torque while limiting a change in the rotary electric machine required torque by performing a first gradual change process on the rotary electric machine required torque, and performs torque control of the rotary electric machine based on the rotary electric machine command torque, a monitoring torque calculation unit that calculates a monitoring torque of the rotary electric machine based on the operation information; a monitoring gradual change processing unit that performs a second gradual change processing different from the first gradual change processing on the monitoring torque; a monitoring unit that compares the rotating electrical machine command torque with the monitoring torque after the second gradual change processing, and monitors torque control of the rotating electrical machine based on the comparison result, the monitoring unit determines that an abnormality has occurred in the torque control based on the fact that the rotating electric machine command torque is higher than the monitoring torque after the second gradual change process and a deviation value between the rotating electric machine command torque and the monitoring torque is larger than a threshold value, a torque request determination unit that determines whether a request for torque increase or a request for torque decrease of the rotating electric machine is occurring; A control device in which, when it is determined that a request for torque increase is occurring, the monitoring gradual change processing unit reduces the degree of gradual change of the second gradual change processing compared to when it is determined that a request for torque decrease is occurring.

2. a setting unit that variably sets a degree of gradual change of the first gradual change processing in accordance with a driving situation of the moving body; The control device according to claim 1 , wherein a degree of gradual change in the second gradual change process is set in accordance with a degree of gradual change in the first gradual change process.

3. a setting unit that variably sets a degree of gradual change of the first gradual change processing in accordance with a driving situation of the moving body; 2. The control device according to claim 1, wherein a degree of gradual change of the second gradual change process when it is determined that a request for torque reduction of the rotating electric machine is occurring is set to a maximum value of a degree of gradual change of the first gradual change process.

4. a setting unit that variably sets a degree of gradual change of the first gradual change processing in accordance with a driving situation of the moving body; The control device according to any one of claims 1 to 3, wherein the degree of gradual change of the second gradual change processing when it is determined that a request for torque increase of the rotating electric machine is occurring is set to the minimum value of the degree of gradual change of the first gradual change processing.

5. Applied to a hybrid vehicle (10) that can move using an engine (11) and a rotating electric machine (13) as a power source, a control device (21) that calculates a differential torque between a vehicle required torque calculated based on driving information indicating a driving state of the hybrid vehicle and an estimated engine torque calculated based on engine information including engine load information as a rotating electric machine required torque, and performs a first gradual change process on the rotating electric machine required torque to calculate a rotating electric machine command torque while limiting a change in the rotating electric machine required torque, and performs torque control of the rotating electric machine based on the rotating electric machine command torque, a monitor torque calculation unit that calculates a differential torque between the vehicle required torque and the estimated engine torque as a monitor torque of the rotary electric machine; a monitoring gradual change processing unit that performs a second gradual change processing different from the first gradual change processing on the monitoring torque; a monitoring unit that compares the rotating electrical machine command torque with the monitoring torque after the second gradual change processing, and monitors torque control of the rotating electrical machine based on the comparison result; a reliability determination unit that estimates engine torque using first load information as the engine load information, and that estimates engine torque using second load information different from the first load information as the engine load information, and determines reliability of the estimated engine torque based on a degree of deviation between the estimated values, The monitoring unit monitors torque control of the rotating electrical machine when the reliability determining unit determines that the reliability of the estimated engine torque is high.

6. Applied to a hybrid vehicle (10) that can move using an engine (11) and a rotating electric machine (13) as a power source, a control device (21) that calculates a differential torque between a vehicle required torque calculated based on driving information indicating a driving state of the hybrid vehicle and an estimated engine torque calculated based on engine information including engine load information as a rotating electric machine required torque, and performs a first gradual change process on the rotating electric machine required torque to calculate a rotating electric machine command torque while limiting a change in the rotating electric machine required torque, and performs torque control of the rotating electric machine based on the rotating electric machine command torque, a monitor torque calculation unit that calculates a differential torque between the vehicle required torque and the estimated engine torque as a monitor torque of the rotary electric machine; a monitoring gradual change processing unit that performs a second gradual change processing different from the first gradual change processing on the monitoring torque; a monitoring unit that compares the rotating electrical machine command torque with the monitoring torque after the second gradual change processing, and monitors torque control of the rotating electrical machine based on the comparison result; a torque correction unit that calculates an engine torque correction value corresponding to a difference between a current engine load and an engine load in a predetermined high fuel efficiency region including a maximum fuel efficiency point, and corrects the rotary electric machine command torque based on the engine torque correction value; a correction torque determination unit that determines whether the engine torque correction value is within a predetermined range, The control device wherein the monitoring unit monitors torque control of the rotating electrical machine when it is determined that the engine torque correction value is within the predetermined range.

7. The present invention is applied to a moving body (10) that can move using a rotating electric machine (13) as a power source, a program executed by a computer (21 a), which calculates a rotary electric machine required torque based on driving information indicating a driving state of the moving body, and performs a first gradual change process on the rotary electric machine required torque to calculate a rotary electric machine command torque while limiting a change in the rotary electric machine required torque, and performs torque control of the rotary electric machine based on the rotary electric machine command torque, a monitoring torque calculation step of calculating a monitoring torque of the rotary electric machine based on the operation information; a monitoring gradual-change processing step of performing a second gradual-change processing different from the first gradual-change processing on the monitoring torque; a monitoring step of comparing the rotating electrical machine command torque with the monitoring torque after the second gradual change processing, and monitoring torque control of the rotating electrical machine based on the result of the comparison; In the monitoring step, it is determined that an abnormality has occurred in the torque control based on the fact that the rotating electric machine command torque is higher than the monitoring torque after the second gradual change process and a deviation value between the rotating electric machine command torque and the monitoring torque is larger than a threshold value; causing the computer to execute a torque request determination step of determining whether a request for torque increase or a request for torque decrease of the rotating electric machine is occurring; In the monitoring gradual change processing step, when it is determined that a request for torque increase is occurring, the program reduces the degree of gradual change of the second gradual change processing compared to when it is determined that a request for torque decrease is occurring.

8. Applied to a hybrid vehicle (10) that can move using an engine (11) and a rotating electric machine (13) as a power source, a program executed by a computer (21 a), the program calculating a differential torque between a vehicle required torque calculated based on driving information indicating a driving state of the hybrid vehicle and an estimated engine torque calculated based on engine information including engine load information as a rotating electric machine required torque, and performing a first gradual change process on the rotating electric machine required torque to calculate a rotating electric machine command torque while limiting a change in the rotating electric machine required torque, and performing torque control of the rotating electric machine based on the rotating electric machine command torque, a monitor torque calculation step of calculating a differential torque between the vehicle required torque and the estimated engine torque as a monitor torque of the rotary electric machine; a monitoring gradual-change processing step of performing a second gradual-change processing different from the first gradual-change processing on the monitoring torque; a monitoring step of comparing the rotating electric machine command torque with the monitoring torque after the second gradual change processing, and monitoring torque control of the rotating electric machine based on the result of the comparison; a reliability determination step of estimating an engine torque using first load information as the engine load information, and estimating the engine torque using second load information different from the first load information as the engine load information, and determining the reliability of the estimated engine torque based on a degree of deviation between the estimated values, The monitoring step monitors torque control of the rotating electrical machine when it is determined in the reliability determination step that the reliability of the estimated engine torque is high.

9. Applied to a hybrid vehicle (10) that can move using an engine (11) and a rotating electric machine (13) as a power source, a program executed by a computer (21 a), the program calculating a differential torque between a vehicle required torque calculated based on driving information indicating a driving state of the hybrid vehicle and an estimated engine torque calculated based on engine information including engine load information as a rotating electric machine required torque, and performing a first gradual change process on the rotating electric machine required torque to calculate a rotating electric machine command torque while limiting a change in the rotating electric machine required torque, and performing torque control of the rotating electric machine based on the rotating electric machine command torque, a monitor torque calculation step of calculating a differential torque between the vehicle required torque and the estimated engine torque as a monitor torque of the rotary electric machine; a monitoring gradual-change processing step of performing a second gradual-change processing different from the first gradual-change processing on the monitoring torque; a monitoring step of comparing the rotating electric machine command torque with the monitoring torque after the second gradual change processing, and monitoring torque control of the rotating electric machine based on the result of the comparison; a torque correction step of calculating an engine torque correction value corresponding to a difference between a current engine load and an engine load in a predetermined high fuel efficiency region including the maximum fuel efficiency point, and correcting the rotary electric machine command torque based on the engine torque correction value; a correction torque determination step of determining whether the engine torque correction value is within a predetermined range, In the monitoring step, when it is determined that the engine torque correction value is within the predetermined range, the program monitors torque control of the rotating electrical machine.

10. The present invention is applied to a moving body (10) that can move using a rotating electric machine (13) as a power source, a control method for calculating a rotary electric machine required torque based on driving information indicating a driving state of the moving body, and calculating a rotary electric machine command torque while limiting a change in the rotary electric machine required torque by performing a first gradual change process on the rotary electric machine required torque, and performing torque control of the rotary electric machine based on the rotary electric machine command torque, a monitoring torque calculation step of calculating a monitoring torque of the rotary electric machine based on the operation information; a monitoring gradual-change processing step of performing a second gradual-change processing different from the first gradual-change processing on the monitoring torque; a monitoring step of comparing the rotating electric machine command torque with the monitoring torque after the second gradual change processing, and monitoring torque control of the rotating electric machine based on the result of the comparison, In the monitoring step, it is determined that an abnormality has occurred in the torque control based on the fact that the rotating electric machine command torque is higher than the monitoring torque after the second gradual change process and a deviation value between the rotating electric machine command torque and the monitoring torque is larger than a threshold value; a torque requirement determination step of determining whether a torque increase requirement or a torque decrease requirement of the rotary electric machine is occurring; In the monitoring gradual change processing step, when it is determined that a request for torque increase is occurring, the degree of gradual change of the second gradual change processing is reduced compared to when it is determined that a request for torque decrease is occurring.

11. The present invention is applied to a hybrid vehicle (10) that can move using an engine (11) and a rotating electric machine (13) as a power source, a control method for controlling a torque of the rotating electric machine based on the rotating electric machine command torque, the method comprising: calculating a differential torque between a vehicle demand torque calculated based on driving information indicating a driving state of the hybrid vehicle and an estimated engine torque calculated based on engine information including engine load information, as a rotating electric machine demand torque; performing a first gradual change process on the rotating electric machine demand torque to calculate a rotating electric machine command torque while limiting a change in the rotating electric machine demand torque; a monitor torque calculation step of calculating a differential torque between the vehicle required torque and the estimated engine torque as a monitor torque of the rotary electric machine; a monitoring gradual-change processing step of performing a second gradual-change processing different from the first gradual-change processing on the monitoring torque; a monitoring step of comparing the rotating electric machine command torque with the monitoring torque after the second gradual change processing, and monitoring torque control of the rotating electric machine based on the result of the comparison; a reliability determination step of estimating engine torque using first load information as the engine load information, and estimating engine torque using second load information different from the first load information as the engine load information, and determining reliability of the estimated engine torque based on a degree of deviation between the estimated values, In the monitoring step, if it is determined in the reliability determining step that the reliability of the estimated engine torque is high, the torque control of the rotating electrical machine is monitored.

12. The present invention is applied to a hybrid vehicle (10) that can move using an engine (11) and a rotating electric machine (13) as a power source, a control method for controlling a torque of the rotating electric machine based on the rotating electric machine command torque, the method comprising: calculating a differential torque between a vehicle demand torque calculated based on driving information indicating a driving state of the hybrid vehicle and an estimated engine torque calculated based on engine information including engine load information, as a rotating electric machine demand torque; performing a first gradual change process on the rotating electric machine demand torque to calculate a rotating electric machine command torque while limiting a change in the rotating electric machine demand torque; a monitor torque calculation step of calculating a differential torque between the vehicle required torque and the estimated engine torque as a monitor torque of the rotary electric machine; a monitoring gradual-change processing step of performing a second gradual-change processing different from the first gradual-change processing on the monitoring torque; a monitoring step of comparing the rotating electric machine command torque with the monitoring torque after the second gradual change processing, and monitoring torque control of the rotating electric machine based on the result of the comparison; a torque correction step of calculating an engine torque correction value corresponding to a difference between a current engine load and an engine load in a predetermined high fuel efficiency region including the maximum fuel efficiency point, and correcting the rotary electric machine command torque based on the engine torque correction value; a correction torque determination step of determining whether the engine torque correction value is within a predetermined range, In the monitoring step, if it is determined that the engine torque correction value is within the predetermined range, the torque control of the rotating electrical machine is monitored.

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