JP5428663B2 - Vehicle parking lock device - Google Patents

Description

  The present invention includes meshing left and right parking lock mechanisms for individually restraining rotation of the left and right wheels. The left and right parking lock mechanisms are parked by the individual actuators, and the parked state where the meshing is released. The present invention relates to a parking lock device for a vehicle that can be switched between an unlocked state and a locked state.

A general vehicle represented by a vehicle equipped with an internal combustion engine drives left and right wheels by a common transmission system via a transmission.
For this reason, the parking lock device of the vehicle is configured by providing a transmission output shaft forming a part of a common transmission system with a meshing parking lock mechanism common to left and right wheels for restricting the rotation of the transmission output shaft.

  This common parking lock mechanism for both left and right wheels is mechanical when the driver operates the transmission shift lever to the parking (P) range position or from the parking (P) range position to another range position. In response to this, the state can be switched between a park lock state in which the left and right wheels are rotationally constrained in a meshing type, and a park lock state in which the rotational restraint is released by releasing the mesh.

In other words, in order to put the left and right wheels into the park lock state or the park lock release state by the common meshing park lock mechanism provided in the drive system common to the left and right wheels,
The state switching from the park lock release state to the park lock state of the left and right wheels, as well as the state change from the park lock state to the park lock release state in the reverse direction, is completed at the same time for the left and right wheels.

By the way, in view of today's environmental problems, various electric vehicles have been proposed. Among electric vehicles, each drive wheel can be driven by an individual electric motor, that is, the left and right wheels can be driven by individual left and right power sources. For example, in an in-wheel motor vehicle that can travel,
Since there is no drive system common to the left and right wheels, the parking lock device configured as described above cannot be used, and the parking lock device of the vehicle is, for example, as proposed in Patent Document 1 as described below. With composition.

The parking lock device described in Patent Document 1 is provided with a left and right parking lock mechanism that individually restrains rotation of the left and right wheels,
These left and right park lock mechanisms can be switched between a park lock state and a park lock release state by individual actuators responding to a common parking command signal.

JP 2002-186115 A

However, in the proposed technology described in Patent Document 1, when each actuator that switches the left and right park lock mechanism between the park lock state and the park lock release state responds to a common parking command signal, this state switching is performed. Because it is to proceed under uncontrolled,
There is no compensation in which the state switching from the park lock state to the park lock release state is completed at the same time or within an allowable time difference, resulting in the following problems.

That is, in a general vehicle represented by a vehicle equipped with an internal combustion engine, a problem arises because the switching of the left and right wheels from the park lock state to the park lock release state is completed simultaneously as described above due to the configuration of the park lock device. Never
In a vehicle in which the parking lock device is configured as described in Patent Document 1, such as an in-wheel motor vehicle, and the left and right wheels are individually rotationally restricted by the left and right parking lock mechanisms, as described above, the parking lock can be parked from the parked state of the left and right wheels. There may be a large time difference when switching to the unlocked state,
At this time, for example, when parking lock is released from slope parking, there is a problem that unexpected driver behavior occurs.

  The present invention provides a vehicle having a parking lock device in which left and right wheels are individually rotationally restrained by a left and right parking lock mechanism. It is an object of the present invention to propose a park lock device that solves the above-mentioned problem by performing park lock cancellation under control so that both are completed within a time difference that does not occur.

For this purpose, the parking lock device for a vehicle according to the present invention is constituted as follows.
First, in order to explain the park lock device which is the basic premise of the gist configuration of the present invention,
The left and right parking lock mechanisms are provided with meshing left and right parking lock mechanisms for individually restraining rotation of the left and right wheels, and the left and right parking lock mechanisms are individually engaged by the park lock state and the park lock release state in which the engagement is released. The state can be switched between.

The present invention is directed to such a parking lock device.
To switch the state from the park lock state to the park lock release state of the left and right park lock mechanisms so that the time difference between the park lock state and the park lock release state between the left and right park lock mechanisms is within a predetermined time. It is characterized by a configuration in which park lock release control means for delaying the state switch from the park lock state to the park lock release state of the park lock mechanism with a short required time for switching the state is provided.

In the vehicle parking lock device according to the present invention,
Switching from the park lock state by the engagement of the left and right park lock mechanisms to the park lock release state by releasing the engagement (releasing the park lock of the left and right wheels) is not performed under uncontrolled conditions.
Of the left and right park lock mechanisms, the time required for switching the state from the park lock state to the park lock release state is short. The state switching from the park lock state to the park lock release state (control of the left and right wheels) is performed under the control to keep the time change completion timing time difference from the park lock state to the park lock release state between the left and right park lock mechanisms within a predetermined time. Park lock release) will be performed.

For this reason, it is possible to compensate that the state switching from the park lock state of the left and right park lock mechanism to the park lock release state (park lock release of the left and right wheels) is completed together within the predetermined time,
With the appropriate setting of the predetermined time, it is possible to avoid the above-described problem that the parking lock release completion timing of the left and right wheels is largely deviated and the vehicle behavior unexpected by the driver occurs.

1 is a schematic block diagram showing a vehicle wheel drive system to which a parking lock device of the present invention can be applied, and a control system thereof. FIG. 2 is an enlarged detail view showing a park lock mechanism provided on left and right rear wheels of the vehicle in FIG. 1 as viewed in the axial direction of a parking gear. FIG. 3 is an explanatory diagram showing a generation state of torque reaction forces α and β between a parking gear and a parking pole, showing a parking lock load of the parking lock mechanism in FIG. FIG. 3 is an explanatory diagram showing a generation state of a load stress γ to the parking pole, which represents a parking lock load of the parking lock mechanism in FIG. 2 is a flowchart showing a first embodiment of a park lock cancellation control program executed by a controller in FIG. FIG. 5 is an operation explanatory diagram of the park lock release control by the control program of FIG. 5, (a) is an explanatory diagram showing the relationship between the park lock load and the park lock release required time, and (b) is the control program of FIG. It is an operation | movement time chart of park lock cancellation | release control. 7 is a flowchart showing a second embodiment of the park lock cancellation control program executed by the controller in FIG. 1; FIG. 7 is an operation explanatory diagram of the park lock release control by the control program of FIG. 7, (a) is an explanatory diagram showing the relationship between the park lock load and the park lock release required time, and (b) is the control program of FIG. It is an operation | movement time chart of park lock cancellation | release control. 7 is a flowchart showing a third embodiment of the park lock cancellation control program executed by the controller in FIG. FIG. 12 is an explanatory diagram showing a relationship between a park lock load and a park lock release time used for explaining the operation of the park lock release control by the control program of FIGS. 7 is a flowchart showing a fourth embodiment of the park lock cancellation control program executed by the controller in FIG. 10 is a flowchart showing a fifth embodiment of the park lock cancellation control program executed by the controller in FIG. 1; FIG. 13 is an explanatory diagram showing a relationship between a park lock load and a park lock release required time used for explaining the operation of the park lock release control by the control program of FIG. FIG. 10 is an explanatory diagram showing a relationship between a park lock load and a park lock release required time used for explaining the operation of the park lock release control according to the sixth embodiment of the present invention. 18 is an operation time chart of park lock release control according to a seventh embodiment of the present invention. FIG. 10 is a flowchart showing an eighth embodiment of the park lock cancellation control program executed by the controller in FIG. 1; FIG. 17 is an operation explanatory diagram of park lock release control by the control program of FIG. 16;

Hereinafter, embodiments of the present invention will be described in detail based on examples shown in the drawings.
<Configuration common to each embodiment>
FIG. 1 is a schematic block diagram showing a vehicle wheel drive system to which a park lock device according to each embodiment of the present invention can be applied, and a control system thereof.

In FIG. 1, the vehicle is an in-wheel motor vehicle and includes left and right front wheels 1 and 2 and left and right rear wheels 3 and 4.
In this vehicle, the left and right front wheels 1 and 2 are steered by the steering wheel 5 via the steering gear 6 and can be steered.

The left and right front wheels 1 and 2 are drivingly coupled to the individual motors 11 and 12 (power source) via reduction gears (not shown), and the left and right rear wheels 3 and 4 are also connected via reduction gears (not shown). Drive-coupled to the individual motors 13 and 14,
The motors 11 to 14 are driven by the electric power supplied from the battery 15, and the corresponding wheels are individually rotated, so that the vehicle can travel.

Each of the motors 11 to 14 is an AC motor that enables a three-phase synchronous motor, a three-phase induction motor, and the like, and is capable of a power running operation during acceleration and a regenerative operation during deceleration. Lithium ion battery.
The inverters 16 to 19 for the motors 11 to 14 convert the direct current from the battery 15 during power running operation into alternating current and drive the motors 11 to 14, and the alternating current generated by the motors 11 to 14 during regenerative operation Is converted into a direct current and the battery 15 is charged.
The inverters 16 to 19 respectively control the rotation direction of the motors 11 to 14 corresponding to the power conversion, the driving force during the power running operation, and the regenerative force during the regenerative operation.

In relation to the left and right rear wheels 3 and 4, left and right parking lock mechanisms 21 and 22 capable of individually restraining the left and right rear wheels 3 and 4 are provided.
These left and right parking lock mechanisms 21 and 22 are each a meshing parking lock mechanism similar to that illustrated in FIG.
A parking gear 23 that is coupled to the left and right rear wheel drive system between the left and right rear wheels 3 and 4 and the motors 13 and 14 and rotates together with the left and right rear wheels 3 and 4 and pivotally provided on the vehicle body side by a pin 24b. It is composed of a parking pole 24 and functions as follows.

That is, by rotating the parking pole 24 around the pivot pin 24b to the park lock position where the pawl 24a meshes with the external tooth 23a of the parking gear 23 as shown by the solid line in FIG. Can be in a rotation-locked park lock state, and
By rotating the parking pole 24 around the pivot pin 24b to the park lock release position where the claw 24a is detached from the external teeth 23a of the parking gear 23 as shown by a two-dot chain line in FIG. 3 and 4 can be set to a park lock release state in which rotation is not restricted.

In order to cause the above-mentioned rotation of the parking pole 24, a parking rod 25 is provided adjacent to the rear surface of the parking pole 24 so as to extend across the vehicle, that is, in the vehicle width direction as shown in FIG. Is attached to the vehicle body side so that it can slide in the vehicle width direction.
The parking rod 25 has an outer end in the vehicle width direction as a large diameter portion 25a, an inner end in the vehicle width direction as a small diameter portion 25b, and a gap between the large diameter portion 25a and the small diameter portion 25b as a conical taper portion 25c. It shall function as follows.

When the parking rod 25 is at the stroke position shown in FIG. 1, the small-diameter portion 25 b is located on the back surface of the parking pole 24.
At this time, the parking pole 24 rotates to the parking lock release position indicated by a two-dot chain line in FIG. 2, and the claw 24a comes off from the external teeth 23a of the parking gear 23, thereby restraining the left and right rear wheels 3 and 4 from rotating. Unlocked parking lock can be set.

When the parking rod 25 strokes inward in the vehicle width direction from the position shown in FIG. 1, the conical taper portion 25c pushes the back surface of the parking pole 24 to rotate the parking pole 24 from the two-dot chain line position in FIG. 2 to the solid line position. The small diameter portion 25b of the parking rod 25 is finally positioned on the back surface of the parking pole 24 while being moved.
At this time, the parking pole 24 rotates to the park lock position indicated by the solid line in FIG. 2, and the pawl 24a meshes with the external teeth 23a of the parking gear 23, so that the left and right rear wheels 3 and 4 are rotationally restrained. can do.

In order to stroke the parking rod 25 between the parking lock release position shown in FIG. 1 and the parking lock release stroked inward in the vehicle width direction, the parking rod 25 is arranged at the large diameter ends of the left and right parking rods 25 as shown in FIG. Solenoids 26 and 27 are provided.
These solenoids 26 and 27 respectively stroke the parking rods 25 of the park lock mechanisms 21 and 22 individually in response to a parking command signal to be described later. Park lock can be set.
Accordingly, the solenoids 26 and 27 together with the parking rod 25 of the parking lock mechanisms 21 and 22 constitute an actuator of the parking lock mechanisms 21 and 22.

The above-described operation control of the park lock mechanisms 21 and 22 is executed by the controller 31 together with the rotation direction control of the motors 11 to 14 via the inverters 16 to 19, the driving force control during power running operation, and the regenerative force control during regenerative operation. .
For this reason, the controller 31 has a signal from the accelerator opening sensor 33 that detects the accelerator opening that is the amount of depression of the accelerator pedal 32, and
A signal from the brake stroke sensor 35 that detects the depression stroke BST of the brake pedal 34,
A signal from the shift position sensor 37 that detects the shift position SFT of the shift lever 36 that commands the driving mode of the vehicle;
For each of the park lock mechanisms 21 and 22, the park lock load PLL 38 detects the park lock loads PLL (L) and PLL (R) acting on the meshing portions 21a and 23a of the parking gear 23 and the parking pole 24. Input the signal.

  The park lock load sensor 38 corresponds to the park lock load detecting means in the present invention, and the parking lock force of the left and right park lock mechanisms 21, 22 is determined by the engagement reaction force at the engagement portions 21a, 23a of the parking gear 23 and the parking pole 24. Load PLL (L) and PLL (R).

  Specifically, as shown in FIG. 3, the park lock load sensor 38 detects torque reaction forces α and β acting between the parking gear 23 and the parking pole 24 to determine the load torque of the parking gear 23, The park lock loads PLL (L) and PLL (R) of the park lock mechanisms 21 and 22 are assumed.

  Instead, as shown in FIG. 4, the park lock load sensor 38 detects the load stress γ applied to the parking pole 24 due to the load torque of the parking gear 23 by a strain gauge (not shown), and this is detected by the left and right park lock mechanisms. 21 and 22 park clock loads PLL (L) and PLL (R) may be used.

  The shift position SFT of the shift lever 36 includes the P range position when the vehicle is parked, the R range position when the vehicle is traveling backward, and the neutral (N) range position when the vehicle is parked. And the D range position when forward travel is desired.

The controller 31 generally functions as follows based on the input information described above.
That is, when the driver wants to drive the vehicle and is in the D range or the R range, the controller 31 rotates the motors 11 to 14 via the inverters 16 to 19 based on the accelerator opening APO and the brake pedal stroke BST. By performing control, driving power control during power running operation, and regenerative power control during regenerative operation, the driver can drive the vehicle as desired by an accelerator operation or a brake operation.

  In addition, when the driver desires to stop the vehicle and is in the neutral (N) range, the controller 31 can set the motors 11 to 14 to the non-driven state via the inverters 16 to 19 to stop the vehicle.

Furthermore, when the driver wishes to park and is in the P range, the controller 31 also sets the motors 11 to 14 in the non-driven state via the inverters 16 to 19 in the same manner as in the neutral (N) range. A parking command signal is transmitted to 26 and 27, and the parking rods 25 of the park lock mechanisms 21 and 22 are stroked inward in the vehicle width direction from the position of FIG.
As a result, the parking lock mechanism 21, 22 is switched from the parking lock release state indicated by the two-dot chain line in FIG. 2 to the parking lock state indicated by the solid line in FIG. Can be in a state.

When the driver wishes to travel, for example, when switching from the P range to another range, the controller 31 responds to a signal from the shift position sensor 37 indicating this range switching to a parking command signal to the solenoids 26 and 27. Is eliminated, the parking rods 25 of the park lock mechanisms 21 and 22 are stroked back to the position shown in FIG. 1 from the vehicle width direction inner stroke position by the solenoids 26 and 27, respectively.
As a result, the park lock mechanisms 21 and 22 are switched from the park lock state indicated by the solid line in FIG. 2 to the park lock release state indicated by the two-dot chain line in FIG. Can be unlocked.

By the way, when the vehicle is parked by a park lock on a slope, the park lock load corresponding to the vehicle weight and the road surface gradient acts on the meshing portions 21a, 23a of the parking gear 23 and the parking pole 24, In releasing the park lock described above, the park lock is released against the park lock load.
As the parking lock load increases, a larger force (parking lock releasing torque of the parking pole 24) is required to come off at the meshing portions 21a, 23a of the parking gear 23 and the parking pole 24. The time required for switching the state to the release state (the time required for park lock release) becomes longer.

Therefore, if the park lock load is different between the left and right rear wheels 3 and 4, the park lock release time differs between the left and right rear wheels 3 and 4,
When the disappearance of the parking command signal from the controller 31 to the solenoids 26 and 27 starts at the same time, the state switching completion timing from the park lock state to the park lock release state between the left and right rear wheels 3 and 4 (park lock release completion timing) Will be different.

There are other reasons why the parking lock release completion timing differs between the left and right rear wheels 3 and 4, but in any case, for example, the parking lock release between the left and right wheels is completed with a large time difference. If it is decided that
For example, if part of the vehicle weight is acting in the longitudinal direction of the vehicle body, such as when parking lock is released in hill parking, the wheel on the side where parking lock is released early will be the wheel on which the parking lock has not been released yet. This causes a problem that the vehicle begins to rotate before the driver's unexpected vehicle behavior occurs.

<Parlock release control of the first embodiment>
The present invention, for example, in a vehicle including a parking lock device that individually restrains rotation of the left and right rear wheels 3 and 4 by the left and right parking lock mechanisms 21 and 22 as described above,
Park lock release is controlled so that the switching of the left and right rear wheels 3 and 4 from the park lock state to the park lock release state (park lock release) is completed at least within a time difference that does not cause the above problem. The purpose is to accomplish,
In the first embodiment, the controller 31 executes the control program shown in FIG. 5 so that the park lock release control targeted by the present invention is performed as follows, thereby achieving the above object. .

In step S11 of FIG. 5, the park lock loads PLL (L) and PLL (R) of the left and right park lock mechanisms 21 and 22 detected by the sensor 38 are read.
Accordingly, step S11 constitutes the park lock load detecting means in the present invention with the sensor 38.
In the next step S12, the time required to change the state of the left and right park lock mechanisms 21 and 22 from the park lock state to the park lock release state, which differs depending on the left and right park lock loads PLL (L) and PLL (R). (Parlock release required time) TPL (L) and TPL (R) are calculated based on the left and right parklock loads PLL (L) and PLL (R).
Therefore, step S12 corresponds to the park lock cancellation required time calculation means in the present invention.

  In the calculation at step S12, the left and right park lock loads PLL (L) and PLL (R) for each left and right park lock loads are calculated in advance by experiment and mapped, and the left and right park locks are based on this map data. It is convenient to obtain from the lock loads PLL (L) and PLL (R) by retrieval.

  In step S13, the park lock release times TPL (L) and TPL (R) of the left and right park lock mechanisms 21 and 22 obtained in step S12 are compared, and the comparison result is TPL (L)> TPL (R). It is checked whether there is TPL (L) <TPL (R) or TPL (L) = TPL (R).

If it is determined in step S13 that TPL (L)> TPL (R),
That is, as shown in FIG. 6 (a), due to the magnitude relationship between the left and right park lock loads PLL (L) and PLL (R), the required park lock release time TPL (L) of the left park lock mechanism 21 is equal to that of the right park lock mechanism 22. Longer than park lock release time TPL (R),
As shown by the solid line in Fig. 6 (b), the left / right parking lock release command (the command to erase the parking command signal from the controller 31 to the left / right parking lock solenoids 26, 27) is issued at the same instant t0, and in response, Even if the park lock mechanisms 21 and 22 start the park lock release operation at the same instant t1,
The left parking lock mechanism 21 cannot complete the parking lock release of the left rear wheel 3 unless it becomes the instant t4, whereas the right parking lock mechanism 22 releases the parking lock of the right rear wheel 4 at an earlier instant t3. Is completed, the control proceeds to step S14 corresponding to the park lock cancellation control means of the present invention.

In this step S14, the stark parking lock release by the right parking lock mechanism 22 that completes the park lock cancellation early is delayed.
For this delay, for example, as shown by the dashed line in FIG. 6 (b), the starboard parking lock release speed by the right parking lock mechanism 22 is slowed down. Similarly, the speed is determined to be completed at instant t4.

  In order to slow down the starboard parking lock release speed in this way, for example, the solenoid 27 of the right parking lock mechanism 22 is a linear solenoid, and the right parking lock release command (disappearance of the parking command signal from the controller 31 to the right parking lock solenoid 27) ) Is gradually changed to reduce the stroke speed of the corresponding right parking rod 25 to the parking lock release position.

  In addition, when the starboard parking lock release delay described above is used, instead of the parking command signal disappearance timing (right parking lock release command of the right parking lock mechanism 22 as shown by a two-dot chain line in FIG. 6 (b), for example. Is delayed by the time difference Δt1 {= TPL (L) -TPL (R)} between the left and right parking lock mechanisms 21 and 22 and the required time for releasing the parking lock TPL (L), TPL (R), and immediately to the instant t2. The parking command signal of the park lock mechanism 22 is lost and a right parking lock release command is issued so that the starboard parking lock release may be completed at the instant t4 in the same manner as the port parking lock release.

If it is determined in step S13 that TPL (L) <TPL (R),
In other words, the park lock release required time TPL (R) of the right park lock mechanism 22 is longer than the park lock release required time TPL (L) of the left park lock mechanism 21,
When the left park lock mechanism 21 completes the park lock release of the left rear wheel 3 earlier than the right park lock mechanism 22, the control proceeds to step S14 corresponding to the park lock release control means of the present invention.

In this step S15, the port park lock release by the left park lock mechanism 21 which completes the park lock release early is delayed.
For this delay, the port parking lock release speed by the left park lock mechanism 21 is slowed down, and this speed is determined so that the port parking lock release is completed at the same timing as the star park lock release.

  Thus, when the port parking lock release speed is slowed, for example, the solenoid 26 of the left park lock mechanism 21 is a linear solenoid, and the left park lock release command (controller This can be realized by gradually changing the level of the parking command signal from 31 to the left park lock solenoid 26) to reduce the stroke speed of the corresponding left parking rod 25 to the park lock release position.

  In the delay of the port parking lock release, instead of the above, the disappearance timing of the parking command signal of the left parking lock mechanism 21 (the timing of issuing the left parking lock release command) is changed to the parking lock of the left and right parking lock mechanisms 21, 22. It is also possible to delay by the time difference between the release required times TPL (L) and TPL (R) so that the port parking lock release is completed at the same timing as the star parking lock release.

When it is determined in step S13 that TPL (L) = TPL (R)
The left and right park lock mechanisms 21 and 22 have the same park lock release time TPL (L) and TPL (R), and the left and right park lock mechanisms 21 and 22 complete the park lock release at the same time without any special control. Therefore, the control is terminated as it is.

<Operational effects of the first embodiment>
According to the park lock device of the first embodiment,
To switch the left and right parking lock mechanisms 21 and 22 from the park lock state to the park lock release state (release the park lock of the left and right rear wheels 3 and 4) under control,
It is possible to avoid the above-described problem that the timing for canceling the parking lock of the left and right rear wheels 3 and 4 is shifted and unexpected driver behavior occurs.

Moreover, of the left and right park lock mechanisms 21, 22, the park lock mechanism of the left and right rear wheels 3 and 4 is delayed by delaying the park lock release of the park lock mechanism in which the state switching from the park lock state to the park lock release state is completed in a short time. Since the release completion timing is matched,
The above-described effects can be achieved by matching the park lock release completion timings of the left and right rear wheels 3 and 4 at low cost with simple control.

When delaying the park lock release, in the first embodiment, the park lock release speed is reduced or the park lock release start timing is delayed.
According to the control for lowering the former park lock release speed, the park lock release completion timing of the left and right rear wheels 3 and 4 can be more reliably matched,
According to the control for delaying the latter parking lock release start timing, the control can be simplified.

In the first embodiment, the left and right parking lock loads PLL (L) and PLL (R) require the left and right rear clock mechanisms 21 and 22 to release the left and right rear wheels 3 and 4, and the required parking lock times TPL (L) and TPL (R). (Step S12), and used for delay control of the above-mentioned park lock cancellation,
The left and right parking lock loads PLL (L) and PLL (R) can be used to accurately determine the park lock release times TPL (L) and TPL (R) required for the left and right parking lock mechanisms 21 and 22, respectively. The effect can be further ensured.

When the parking command signal is issued, the vehicle's automatic brake is operated and the left and right parking lock mechanisms 21, 22 are switched from the park lock state to the park lock release state (the parking lock of the left and right rear wheels 3 and 4). It may be possible to prevent the driver ’s unexpected vehicle behavior from occurring even if the release) is completed at different times.
In this case, it is necessary to detect that the left and right parking lock mechanisms 21 and 22 have both released the parking lock of the left and right rear wheels 3 and 4, and then the operation to release the automatic brake is necessary, which makes the control troublesome. Not
Starting the vehicle even though the parking lock release of the left and right parking lock mechanisms 21, 22 has been completed after the detection of the parking lock of the left and right parking lock mechanisms 21, 22 until the automatic brake is released This causes a problem that the start response delay cannot be avoided.

On the other hand, according to the present embodiment, among the left and right park lock mechanisms 21, 22, only the park lock release of the park lock mechanism that ends in a short time from the park lock state to the park lock release state is delayed. Can prevent unexpected driver behavior,
The intended object can be achieved without causing the above-described complicated control and problems related to the start response delay.

<Parlock release control of the second embodiment>
In the first embodiment described above, the state switching completion timing from the parking lock state to the parking lock release state of the left and right parking lock mechanisms 21, 22 is described, that is, the case where the parking lock release completion timing of the left and right rear wheels 3 and 4 is matched. But
State switching completion timing from the park lock state to the park lock release state of the left and right park lock mechanisms 21 and 22 within an allowable range in which the driver's unexpected vehicle behavior does not become a problem (parking of the left and right rear wheels 3 and 4 There is no practical problem even if the unlocking completion timing is shifted from each other.

From this point of view, the second embodiment is configured to set the allowable time difference between the left and right park lock mechanisms 21 and 22 and the state change completion timing time difference from the park lock state to the park lock release state by a predetermined time Δt2. age,
The park lock release is controlled so that both the left and right park lock mechanisms 21 and 22 are switched from the park lock state to the park lock release state (park lock release of the left and right rear wheels 3 and 4) is completed within this predetermined time Δt2. It is intended to be performed.

Therefore, in the second embodiment, it is assumed that the controller 31 in FIG. 1 executes the control program in FIG. 7 and performs the park lock release control as follows.
In FIG. 7, steps similar to those in FIG. 5 are denoted by the same reference numerals.
In step S11, the park lock loads PLL (L) and PLL (R) of the left and right park lock mechanisms 21 and 22 are read in the same manner as described above with reference to FIG.
In step S12, the left and right parking lock mechanisms 21 and 22 park the left and right rear wheels 3 and 4 based on the left and right parking lock loads PLL (L) and PLL (R) in the same manner as described above with reference to FIG. Calculate unlock required time TPL (L), TPL (R).

In step S13, the magnitude relationship between the park lock release times TPL (L) and TPL (R) is as follows: TPL (L)> TPL (R), TPL (L) <TPL (R), TPL (L) = TPL Check which is (R),
If TPL (L)> TPL (R), it is further determined whether or not {TPL (L) −Δt2}> TPL (R) in step S21, and further if TPL (L) <TPL (R). In step S22, it is determined whether or not TPL (L) <{TPL (R) −Δt2}.

If it is determined in step S21 that {TPL (L) −Δt2}> TPL (R),
That is, as shown in FIG. 8 (a), the required time TPL (L) for the left park lock mechanism 21 is equal to that of the right park lock mechanism 22 because of the magnitude relationship between the left and right park lock loads PLL (L) and PLL (R). Longer than the required time Δt2 than the time required to unlock the park lock TPL (R),
As shown by the solid line in Fig. 8 (b), the left / right parking lock release command (the parking command signal disappearance command from the controller 31 to the left / right parking lock solenoids 26, 27) is issued at the same instant t0, and in response to this, Even if the park lock mechanisms 21 and 22 start the park lock release operation at the same instant t1,
The left parking lock mechanism 21 cannot complete the parking lock release of the left rear wheel 3 unless the moment t5 is reached, whereas the right parking lock mechanism 22 does not move to the earlier instant t3 beyond the predetermined time Δt2. When the parking lock release of the rear wheel 4 is completed, the control proceeds to step S14.

In this step S14, the stark parking lock release by the right parking lock mechanism 22 that completes the park lock cancellation early is delayed.
In this delay, for example, as shown by the one-dot chain line in FIG. 8 (b), the stark parking lock release speed by the right park lock mechanism 22 is determined by the same method as described above for step S14 in FIG. 5 and FIG. 6 (b). This speed is determined to be a speed at which starboard parking lock cancellation is completed at an instant t4 that is earlier than the port parking lock cancellation instant t5 by a predetermined time Δt2.

  In addition, when the starboard parking lock release delay described above is used, instead of the parking command signal disappearance timing (right parking lock release command of the right parking lock mechanism 22 shown in FIG. The time Δt3 {= TPL (L) −TPL (R) obtained by adding a predetermined time Δt2 to the time difference between the time required for releasing the parking lock TPL (L), TPL (R) of the left and right parking lock mechanisms 21, 22 + Δt2} is delayed, the parking command signal of the right parking lock mechanism 22 is erased at the instant t2, and the right parking lock release command is issued, so that the starboard parking lock release is faster than the port parking lock release instant t5, It may be completed at an instant t4 as early as the predetermined time Δt2.

If it is determined in step S22 that TPL (L) <TPL (R) −Δt2,
That is, the park lock release required time TPL (R) of the right park lock mechanism 22 is longer than the park lock release required time TPL (L) of the left park lock mechanism 21 over a predetermined time Δt2,
When the left park lock mechanism 21 completes the release of the park lock earlier than the right park lock mechanism 22 over a predetermined time Δt2, the control proceeds to step S15.

In this step S15, the port park lock release by the left park lock mechanism 21 which completes the park lock release early is delayed.
In this delay, the port parking lock release speed by the left park lock mechanism 21 is slowed in the same manner as described above, and this speed is reduced by the predetermined time Δt2 when the port park lock release is shorter than the starboard park lock release instant. The speed is determined so that it can be completed quickly in an early stage.

  In the delay of the port parking lock release, instead of the above, the disappearance timing of the parking command signal of the left parking lock mechanism 21 (the timing of issuing the left parking lock release command) is changed to the parking lock of the left and right parking lock mechanisms 21, 22. Delay time required for release TPL (L), TPL (R) is delayed by the time obtained by adding the predetermined time Δt2 to the time difference. May be completed.

When it is determined in step S13 that TPL (L) = TPL (R), or when it is determined in step S21 that {TPL (L) −Δt2}> TPL (R) is not satisfied, or in step S22, TPL (L) <{ When judging that it is not TPL (R) −Δt2},
Even if the left and right park lock mechanisms 21 and 22 have different park lock release times TPL (L) and TPL (R), both the left and right park lock mechanisms 21 and 22 are parked within a predetermined time Δt2 without control. Since the unlocking is completed, the control is terminated as it is.

<Operational effects of the second embodiment>
According to the park lock device of the second embodiment,
The left and right park lock mechanisms 21 and 22 are switched from the park lock state to the park lock release state (park lock release of the left and right rear wheels 3 and 4) under the control so that both are completed within a predetermined time Δt2. For,
The “displacement” related to the completion timing of the parking lock of the left and right rear wheels 3 and 4 can be kept within an allowable range that does not cause unexpected driver behavior. It is possible to avoid the above-described problem that unexpected and unexpected vehicle behavior occurs.

Moreover, of the left and right park lock mechanisms 21, 22, the park lock mechanism of the left and right rear wheels 3 and 4 is delayed by delaying the park lock release of the park lock mechanism in which the state switching from the park lock state to the park lock release state is completed in a short time. Since the “deviation” of the release completion timing is kept within the allowable predetermined time Δt2,
The above-described operation and effect can be achieved by keeping the “shift” of the park lock release completion timing of the left and right rear wheels 3 and 4 within an allowable predetermined time Δt2 at a low cost with simple control.

In addition, according to the present embodiment, the left and right side parking lock release is not completed at the same timing as in the first embodiment, but both the left and right side parking lock cancellations are completed within a predetermined time Δt2. Control
The accuracy of the left / right parking lock release control can be reduced by that amount, and the same effect as the first embodiment can be achieved at low cost.

<Parlock release control of the third embodiment>
In the first and second embodiments described above, of the left and right parking lock mechanisms 21 and 22, the state switching from the park lock state to the park lock release state (park lock release of the left and right rear wheels 3 and 4) is early. Park lock release of the park lock mechanism 21 or 22 to be completed is delayed by the control of the decrease in the park lock release speed or the delay of the park lock release start timing. "Slip" was made small so that unexpected vehicle behavior would not occur,
In the third embodiment, of the left and right park lock mechanisms 21 and 22, the park lock release time required for the state switching from the park lock state to the park lock release state (park lock release of the left and right rear wheels 3 and 4) is long. Park lock release of lock mechanism 21 or 22 is completed at an early stage by increasing the park lock release speed, and there is a problem of “shift” of the park lock release completion timing between the left and right park lock mechanisms 21, 22. It is configured to be small so that unexpected vehicle behavior does not occur.

For this purpose, in this embodiment, the controller 31 in FIG. 1 executes the control program in FIG. 9 to perform the park lock release control as follows.
In step S31, the park lock loads PLL (L) and PLL (R) of the left and right park lock mechanisms 21 and 22 are read in the same manner as described above for step S11 in FIG.
Accordingly, step S31 constitutes the park lock load detecting means in the present invention with the park lock load sensor 38 in FIG.

  In the next step S32, the magnitude relationship between the park lock loads PLL (L) and PLL (R) obtained in step S31 is PLL (L)> PLL (R), PLL (L) <PLL (R), PLL. Check whether (L) = PLL (R).

If it is determined in step S32 that PLL (L)> PLL (R),
In other words, as shown in FIG. 10, the required park lock release time TPL (L) of the left park lock mechanism 21 is released from the right lock lock mechanism 22 due to the magnitude relationship between the left and right park lock loads PLL (L) and PLL (R). Longer than required time TPL (R),
If the left parking lock mechanism 21 completes the parking lock release of the right rear wheel 4 before the parking lock release of the left rear wheel 3 is completed, the parking lock release control means of the present invention Control proceeds to the corresponding step S33.

In this step S33, the parking lock load PLL (L) of the left parking lock mechanism 21 whose parking lock release is completed slowly is reduced, and the port parking lock release speed by the left parking lock mechanism 21 is increased.
In order to increase the port parking lock release speed, the port parking lock release speed is set so that the port parking lock release is completed at the same instant as the star park lock release. The park lock load PLL (L) of 21 is set to the same value as the park lock load PLL (R) of the right park lock mechanism 22 as indicated by an arrow δ in FIG.

Thus, to set the parking lock load PLL (L) of the left park lock mechanism 21 to the same value as the park lock load PLL (R) of the right park lock mechanism 22,
For example, the torque of the motor 13 of the left rear wheel 3 related to the left park lock mechanism 21 or the front wheel motor 11 on the same left side or both of them is adjusted, so that the parking gear external teeth 23a of the left park lock mechanism 21 and the parking pole pawl 24a This can be realized by lowering the meshing pressing force at.

If it is determined in step S32 that PLL (L) <PLL (R),
In other words, the park lock release required time TPL (R) of the right park lock mechanism 22 is longer than the park lock release required time TPL (L) of the left park lock mechanism 21,
When the left park lock mechanism 21 completes the park lock release of the left rear wheel 3 earlier than the right park lock mechanism 22, the control proceeds to step S34 corresponding to the park lock release control means of the present invention.

In this step S34, the parking lock load PLL (R) of the right parking lock mechanism 22 whose completion of the parking lock release is slow is decreased, and the stark parking lock release speed by the right parking lock mechanism 22 is increased.
When speeding up the starboard parking lock release speed, the star parking lock release speed is set so that the starboard parking lock release speed is completed at the same instant as the port parking lock cancellation. The park lock load PLL (R) of 22 is set to the same value as the park lock load PLL (L) of the left park lock mechanism 21.

Thus, to make the parking lock load PLL (R) of the right parking lock mechanism 22 the same value as the parking lock load PLL (L) of the left parking lock mechanism 21,
For example, the torque of the motor 14 of the right rear wheel 3 related to the right park lock mechanism 22 or the front wheel motor 12 on the same right side or both of them is adjusted, so that the parking gear external teeth 23a and the parking pole pawl 24a of the right park lock mechanism 22 This can be realized by lowering the meshing pressing force at.

  If it is determined in step S32 that PLL (L) = PLL (R), the left and right park lock mechanisms 21, 22 have the same park lock release time TPL (L), TPL (R), and the left and right park lock mechanisms 21, 22 are the same. However, since the parking lock release is completed at the same time without performing any special control, the control is terminated as it is.

<Operational effects of the third embodiment>
According to the park lock device of the third embodiment configured as described above,
To switch the left and right parking lock mechanisms 21 and 22 from the park lock state to the park lock release state (release the park lock of the left and right rear wheels 3 and 4) under control,
It is possible to avoid the above-described problem that the timing for canceling the parking lock of the left and right rear wheels 3 and 4 is shifted and unexpected driver behavior occurs.

In addition, among the left and right park lock mechanisms 21, 22, the park lock load of the park lock mechanism that takes a long time to switch from the park lock state to the park lock release state (park lock release) is reduced to increase the park lock release speed. By making it faster, the park lock cancellation completion timing of the left and right rear wheels 3 and 4 is made to coincide,
The above-described effects can be achieved by matching the park lock release completion timings of the left and right rear wheels 3 and 4 at low cost with simple control.

Furthermore, the above-mentioned effects can be obtained by increasing the park lock release speed of the park lock mechanism that delays the completion of the park lock release.
The parking lock release of the entire vehicle is completed within the park lock release required time of the park lock mechanism that completes the park lock release early, and the start response after the parking lock release can be enhanced.

<Parlock release control of the fourth embodiment>
In the third embodiment described above, the state switching completion timing from the park lock state to the park lock release state of the left and right park lock mechanisms 21, 22 is described, that is, the case where the park lock release completion timing of the left and right rear wheels 3 and 4 is matched. But
State switching completion timing from the park lock state to the park lock release state of the left and right park lock mechanisms 21 and 22 within an allowable range in which the driver's unexpected vehicle behavior does not become a problem (parking of the left and right rear wheels 3 and 4 There is no practical problem even if the unlocking completion timing is shifted from each other.

From this point of view, the fourth embodiment is such an allowable “displacement”, that is, an allowable difference between the left and right park lock mechanisms 21 and 22 and the state switch completion timing time difference from the park lock state to the park lock release state (second embodiment). Using the park lock load allowable width ± ΔPLL illustrated in FIG. 10 corresponding to the predetermined time Δt2) described above for each example,
Based on the park lock load of the park lock mechanism that completes the park lock release at an early stage (PLL (R) in Fig. 10), the park lock mechanism is delayed within the allowable range of the park lock load of ± ΔPLL. The park lock load {PLL (L)} in FIG. 10 is reduced.

  According to the park lock load reduction control of the park lock mechanism in which the park lock release is delayed, as a result, the state switching from the park lock state of the left and right park lock mechanisms 21 and 22 to the park lock release state within the predetermined time Δt2 ( Both the left and right rear wheels 3 and 4 park lock release) will be completed.

Therefore, in the fourth embodiment, the controller 31 in FIG. 1 executes the control program in FIG. 11 to perform the park lock release control as follows.
In FIG. 11, steps similar to those in FIG. 9 are denoted by the same reference numerals.
In step S31, the park lock loads PLL (L) and PLL (R) of the left and right park lock mechanisms 21 and 22 are read in the same manner as described above with reference to FIG.

In step S32, as described above with reference to FIG. 9, the magnitude relationship between these park lock loads PLL (L) and PLL (R) is PLL (L)> PLL (R) and PLL (L) <PLL (R ), PLL (L) = PLL (R)
If PLL (L)> PLL (R), it is further determined whether or not {PLL (L)> PLL (R) + ΔPLL} in step S41, and if PLL (L) <PLL (R), In step S42, it is determined whether {PLL (L) + ΔPLL} <PLL (R).

If it is determined in step S41 that {PLL (L)> PLL (R) + ΔPLL}
That is, as shown in FIG. 10, the left park lock load PLL (L) is larger than the right park lock load PLL (R) by exceeding the park lock load allowable width + ΔPLL, and the park lock release time TPL of the left park lock mechanism 21 When (L) is longer than the above-mentioned allowable predetermined time Δt2 than the required park lock release time TPL (R) of the right park lock mechanism 22, step S43 corresponding to the park lock release control means of the present invention. Proceed with control.

In this step S43, the park lock load PLL (L) of the left park lock mechanism 21 whose completion of park lock release is late is represented as {PLL (R) −ΔPLL} ≦ PLL (L) < It is lowered to {PLL (R) + ΔPLL}, and the port side park lock release speed by the left park lock mechanism 21 is increased.
According to the speed increase of the port parking lock release, both the port parking lock release and the star parking lock release are completed within the allowable predetermined time Δt2.

Thus, in order to reduce the park lock load PLL (L) of the left park lock mechanism 21 so that {PLL (R) −ΔPLL} ≦ PLL (L) <{PLL (R) + ΔPLL},
For example, the torque of the motor 13 of the left rear wheel 3 related to the left park lock mechanism 21 or the front wheel motor 11 on the same left side or both of them is adjusted, so that the parking gear external teeth 23a of the left park lock mechanism 21 and the parking pole pawl 24a This can be realized by lowering the meshing pressing force at.

If it is determined in step S42 that {PLL (L) + ΔPLL} <PLL (R),
That is, the right parking lock load PLL (R) is larger than the left parking lock load PLL (L) by exceeding the allowable parking lock load + ΔPLL, and the parking lock release time TPL (R) of the right parking lock mechanism 22 is left. If the park lock mechanism 21 requires the park lock release time TPL (L) to exceed the allowable predetermined time Δt2, the control proceeds to step S44 corresponding to the park lock release control means of the present invention.

In this step S44, the park lock load PLL (R) of the right park lock mechanism 22 whose completion of the park lock release is late becomes {PLL (L) −ΔPLL} ≦ PLL (R) <{PLL (L) + ΔPLL}. The starboard parking lock release speed by the right parklock mechanism 22 is increased.
According to the speed-up of starboard parking lock release, both the port parking lock release and starboard parking lock release are completed within the above-described allowable time Δt2.

In order to reduce the parking lock load PLL (R) of the right parking lock mechanism 22 so that {PLL (L) −ΔPLL} ≦ PLL (R) <{PLL (L) + ΔPLL},
For example, by adjusting the torque of the motor 14 of the right rear wheel 4 related to the right park lock mechanism 22 or the front wheel motor 12 on the same right side or both, the parking gear external teeth 23a of the right park lock mechanism 22 and the parking pole pawl 24a This can be realized by lowering the meshing pressing force at.

If it is determined in step S32 that PLL (L) = PLL (R), or if it is determined in step S41 that PLL (L)> {PLL (R) + ΔPLL} is not satisfied, or {PLL (L) + ΔPLL} in step S42 <If you decide not to use PLL (R),
Even if the left and right park lock mechanisms 21 and 22 have different park lock release times TPL (L) and TPL (R), the left and right park lock mechanisms 21 and 22 are both under the uncontrolled control. Since the parking lock release is completed within the time Δt2, the control is ended as it is.

<Operational effects of the fourth embodiment>
According to the park lock device of the fourth embodiment, by lowering the park lock load of the park lock mechanism whose completion of park lock release is slow, by increasing the park lock release speed by this park lock mechanism,
The state switching of the left and right park lock mechanisms 21, 22 from the park lock state to the park lock release state (release of the park lock of the left and right rear wheels 3 and 4) is completed within the allowable predetermined time Δt2 described above. Because it was under the control of
The “displacement” related to the completion timing of the parking lock of the left and right rear wheels 3 and 4 can be kept within an allowable range that does not cause unexpected driver behavior. It is possible to avoid the above-described problem that unexpected and unexpected vehicle behavior occurs.

Moreover, of the left and right park lock mechanisms 21, 22, the park lock mechanism, which takes a long time to switch from the park lock state to the park lock release state, increases the park lock release speed by lowering the park lock load, and Because the “shift” of the parking lock release completion timing of the wheels 3 and 4 is within the allowable time Δt2,
The above-described operation and effect can be achieved by keeping the “shift” of the park lock release completion timing of the left and right rear wheels 3 and 4 within an allowable predetermined time Δt2 at a low cost with simple control.

In addition, according to the present embodiment, the left and right parking lock release is not completed at the same timing as in the third embodiment, but both the left and right parking lock cancellations are completed within a predetermined time Δt2. Control
The accuracy of the left / right parking lock release control can be reduced by that amount, and the same effect as the third embodiment can be achieved at low cost.

In addition, among the left and right park lock mechanisms 21, 22, the park lock load of the park lock mechanism that takes a long time to switch from the park lock state to the park lock release state (park lock release) is reduced to increase the park lock release speed. Because I tried to make it faster
The above-described operation and effect can be achieved by keeping the “deviation” related to the park lock release completion timing of the left and right rear wheels 3 and 4 within an allowable time Δt2 at a low cost with simple control.

Furthermore, the above-mentioned effects can be obtained by increasing the park lock release speed of the park lock mechanism that delays the completion of the park lock release.
The parking lock release of the entire vehicle is completed within the park lock release required time of the park lock mechanism that completes the park lock release early, and the start response after the parking lock release can be enhanced.

<Parlock release control of the fifth embodiment>
In the third embodiment and the fourth embodiment described above, the park required for the state switching from the park lock state to the park lock release state (release the park lock of the left and right rear wheels 3 and 4) of the left and right park lock mechanisms 21, 22. Unprecedented vehicles that may cause a problem of the deviation of the parking lock release completion timing between the left and right parking lock mechanisms 21 and 22 by increasing the parking lock release speed of the parking lock mechanism 21 or 22 that takes a long time to unlock. Although it was configured to be small so that behavior does not occur,
In the fifth embodiment, the parking lock release speed of the parking lock mechanism 21 or 22 having a long park lock release time is increased, and at the same time, the parking lock release speed of the park lock mechanism 22 or 21 having a short park lock release time is reduced. As a result, the “displacement” of the parking lock release completion timing between the left and right parking lock mechanisms 21 and 22 is prevented from causing unexpected unexpected vehicle behavior.

For this purpose, in this embodiment, the controller 31 in FIG. 1 executes the control program in FIG. 12 to perform the park lock release control as follows.
In step S31, the park lock loads PLL (L) and PLL (R) of the left and right park lock mechanisms 21 and 22 are read in the same manner as in FIGS.
In the next step S51, an intermediate load PLL (0) of these park lock loads PLL (L) and PLL (R) is set, and this intermediate load PLL (0) is the park lock load PLL as illustrated in FIG. Any median between (L) and PLL (R) may be used.

  In step S52, the magnitude relationship between the three values of the park lock loads PLL (L) and PLL (R) obtained in step S31 and the intermediate load PLL (0) set in step S51 is compared, and PLL (L) > PLL (0), PLL (0) <PLL (R), PLL (L) = PLL (R) = PLL (0) is checked.

If it is determined in step S52 that PLL (L)> PLL (0),
That is, as shown in FIG. 13, when the left park lock load PLL (L) is larger than the intermediate load PLL (0), in other words, the left park lock load PLL (L) and PLL (R) The park lock release time TPL (L) of the lock mechanism 21 is longer than the park lock release time TPL (R) of the right park lock mechanism 22,
If the left parking lock mechanism 21 completes the parking lock release of the right rear wheel 4 before the parking lock release of the left rear wheel 3 is completed, the parking lock release control means of the present invention Control proceeds to the corresponding step S53.

  In this step S53, the parking lock PLL (L) of the left parking lock mechanism 21 whose completion of the parking lock release is slowed down to increase the port parking lock release speed by the left parking lock mechanism 21, and the parking lock The parking lock load PLL (R) of the right parking lock mechanism 22 whose cancellation is completed quickly is increased, and the star parking lock release speed by the right parking lock mechanism 22 is decreased.

When the port parking lock release speed is increased as described above, the park lock load PLL (L) of the left park lock mechanism 21 is decreased until it becomes the same value as the intermediate load PLL (0) as shown by arrow ε1 in FIG. Let the park lock release time TPL (L) of the left park lock mechanism 21 be the same as the intermediate load-compatible park lock release time TPL (0) determined by the intermediate load PLL (0) in FIG. Also,
To lower the starboard parking lock release speed, increase the park lock load PLL (R) of the right park lock mechanism 22 until it reaches the same value as the intermediate load PLL (0) as shown by arrow ε2 in FIG. The park lock release time TPL (R) of the right park lock mechanism 22 is set to be the same as the intermediate load-compatible park lock release time TPL (0) determined by the intermediate load PLL (0) in FIG.

To lower the park lock load PLL (L) of the left park lock mechanism 21 to the same value as the intermediate load PLL (0),
For example, the torque of the motor 13 of the left rear wheel 3 related to the left park lock mechanism 21 or the front wheel motor 11 on the same left side or both of them is adjusted, so that the parking gear external teeth 23a of the left park lock mechanism 21 and the parking pole pawl 24a This can be realized by lowering the meshing pressing force at.

Also, to increase the park lock load PLL (R) of the right park lock mechanism 22 until it reaches the same value as the intermediate load PLL (0),
For example, by adjusting the torque of the motor 14 of the right rear wheel 4 related to the right park lock mechanism 22 or the front wheel motor 12 on the same right side or both, the parking gear external teeth 23a of the right park lock mechanism 22 and the parking pole pawl 24a This can be realized by increasing the meshing pressing force at.

If it is determined in step S52 that PLL (0) <PLL (R),
In other words, when the right park lock load PLL (R) is larger than the intermediate load PLL (0), in other words, from the left and right park lock loads PLL (L), PLL (R), the park lock of the right park lock mechanism 22 The required time for release TPL (R) is longer than the required time for releasing the park lock TPL (L) of the left park lock mechanism 21.
When the left parking lock mechanism 21 completes the unlocking of the left rear wheel 3 before the right parking lock mechanism 22 completes the cancellation of the parking lock of the right rear wheel 4, the parking lock cancellation control means of the present invention Control proceeds to the corresponding step S54.

  In this step S54, the parking lock load PLL (R) of the right parking lock mechanism 23 whose completion of the parking lock release is slowed down to increase the starboard parking lock release speed by the right parking lock mechanism 23, and the parking lock The park lock load PLL (L) of the left park lock mechanism 21 whose release is completed quickly is increased, and the port park lock release speed by the left park lock mechanism 21 is decreased.

In order to increase the starboard parking lock release speed described above, the parking lock load PLL (R) of the right parking lock mechanism 22 is reduced to the same value as the intermediate load PLL (0), and the right parking lock mechanism 22 Park lock release required time TPL (R) is set to be the same as intermediate load-compatible park lock release required time TPL (0) determined by intermediate load PLL (0) in FIG.
To reduce the port parking lock release speed, increase the park lock load PLL (L) of the left park lock mechanism 21 until it reaches the same value as the intermediate load PLL (0). The release required time TPL (L) is set to be the same as the intermediate load-compatible park lock release required time TPL (0) determined by the intermediate load PLL (0) in FIG.

To lower the park lock load PLL (R) of the right park lock mechanism 22 to the same value as the intermediate load PLL (0),
For example, by adjusting the torque of the motor 14 of the right rear wheel 4 related to the right park lock mechanism 22 or the front wheel motor 12 on the same right side or both, the parking gear external teeth 23a of the right park lock mechanism 22 and the parking pole pawl 24a This can be realized by lowering the meshing pressing force at.

In order to increase the park lock load PLL (L) of the left park lock mechanism 21 to the same value as the intermediate load PLL (0),
For example, the torque of the motor 13 of the left rear wheel 3 related to the left park lock mechanism 21 or the front wheel motor 11 on the same left side or both of them is adjusted, so that the parking gear external teeth 23a of the left park lock mechanism 21 and the parking pole pawl 24a This can be realized by increasing the meshing pressing force at.

  When it is determined in step S52 that PLL (L) = PLL (R) = PLL (0), the park lock release times TPL (L) and TPL (R) of the left and right park lock mechanisms 21 and 22 are intermediate in FIG. The same as the required time TPL (0) for intermediate load corresponding to the intermediate load determined by the load PLL (0), the left and right parking lock mechanisms 21, 22 complete the release of the park lock at the same time without any special control. The control is terminated as it is.

<Effects of the fifth embodiment>
According to the park lock device of the fifth embodiment configured as described above,
Adjust the torque of the motors 13 and 14 so that the park lock loads PLL (L) and PLL (R) of the left and right park lock mechanisms 21 and 22 become the intermediate load PLL (0) between them, respectively. Because the time required for parklock release TPL (L) and TPL (R) of 21 and 22 are both the same as the time required for parklock release TPL (0) corresponding to the intermediate load PLL (0),
The parking lock release of the left and right rear wheels 3 and 4 by the left and right parking lock mechanisms 21 and 22 is completed at the same time, and the parking lock release completion timing of the left and right rear wheels 3 and 4 is shifted, causing an unexpected vehicle behavior of the driver. The above-mentioned problem can be avoided.

Moreover, the intermediate load PLL (0) is set, and the motors 13 and 14 are set so that the park lock loads PLL (L) and PLL (R) of the left and right park lock mechanisms 21 and 22 are the same as the intermediate load PLL (0). By adjusting the torque, the parking lock release completion timing of the left and right rear wheels 3 and 4 is made to coincide.
The above-described effects can be achieved by matching the park lock release completion timings of the left and right rear wheels 3 and 4 at low cost with simple control.

In addition, since the park lock loads PLL (L) and PLL (R) of the left and right park lock mechanisms 21 and 22 are changed to the intermediate load PLL (0), the above-described effects can be obtained.
By setting this intermediate load PLL (0) to a fixed value, the park lock release times TPL (L) and TPL (R) of the left and right park lock mechanisms 21, 22 are both parked corresponding to the intermediate load PLL (0). It can be set to the same fixed value as the unlock time required TPL (0), and it is possible to avoid the uncomfortable feeling that the required time for unlocking the park lock changes every time the park lock release control is performed.

<Parlock release control of the sixth embodiment>
In both the first embodiment shown in FIGS. 5 and 6 and the second embodiment shown in FIGS. 7 and 8, the park lock loads PLL (L) and PLL ( Calculate the park lock release time TPL (L), TPL (R) of the left and right park lock mechanisms 21, 22 from R), and perform the park lock release control described above with reference to FIGS. But
In the sixth embodiment, instead of this, the configuration described below with reference to FIG. 14 is adopted.

In other words, as shown in FIG. 14, the required park lock release times TPL (15), TPL (30) for each road surface slope (shown in FIG. 14 only for 15% slope and 30% slope for convenience) Are obtained in advance by experiments, etc., and these are compared with the time required to cancel the park lock TPL (L), TPL (R) of the left and right park lock mechanisms 21, 22 estimated by the above calculation,
If the required parklock release time TPL (15) or TPL (30) according to the road slope is longer than the parklock release required times TPL (L), TPL (R) estimated by the above calculation, the calculation The parklock release required time TPL (15) or TPL (30) according to the road surface slope is replaced with the park lock release time TPL (15) or TPL (30) according to the road slope instead of the parklock release time required TPL (L), TPL (R). Contribute to unlock control.

When the park lock release required times TPL (L) and TPL (R) shown in FIG. 14 are, for example, those with a slope of 15%, these park lock release required times TPL (L) and TPL (R) are set to 15%. Contrast with planned parking release time TPL (15) at the time of slope.
In FIG. 14, the right park lock release time TPL (R) is short, and the expected park lock release time TPL (15) at 15% slope is longer than the right park lock release time TPL (R). Instead of the lock release required time TPL (R), the scheduled park lock release required time TPL (15) is used for the park lock release control described above with reference to FIGS.
However, in the case of Fig. 14, the left park lock release required time TPL (L) is longer than the estimated park lock release required time TPL (15) at 15% slope, so the left park lock release required time TPL (L) remains unchanged. 5 and 7 are used for the park lock cancellation control described above.

If the park lock release times TPL (L) and TPL (R) shown in FIG. 14 are, for example, at a 30% gradient, the park lock release times TPL (L) and TPL (R) are set to 30%. Contrast with planned parking release time TPL (30) at the time of slope.
In FIG. 14, both the left and right park lock cancellation required times TPL (L) and TPL (R) are both shorter than the planned park lock cancel required time TPL (30) when the slope is 30%, that is, the planned park lock cancel required time TPL. (30) is longer than both the left and right park lock release times TPL (L) and TPL (R), so the required park lock release time is required instead of the left and right park lock release times TPL (L) and TPL (R) The time TPL (30) is used for the park lock cancellation control described above with reference to FIGS.

<Operational effects of the sixth embodiment>
According to the configuration of the sixth embodiment, since the longest park lock release time is always used for the park lock release control,
It is easy to adjust the parking lock release completion timing between the left and right rear wheels 3 and 4 and can be a countermeasure against failure at the time of failure, which is very advantageous in terms of safety.

<Parlock release control of the seventh embodiment>
Further, in the first embodiment of FIGS. 5 and 6 and the second embodiment of FIGS. 7 and 8, the left and right wheel park locks need to be released from the park lock loads PLL (L) and PLL (R) of the left and right park lock mechanisms 21 and 22. When calculating and estimating the times TPL (L) and TPL (R) (step S12),
Left and right park lock loads PLL (L), left and right park lock release time for each PLL (R) is obtained by experiment in advance and mapped, and the left and right park lock loads PLL (L), PLL ( R) left and right park lock release required time TPL (L), TPL (R) was obtained by searching,
In the seventh embodiment, as shown in FIG. 15, the start timing of the left and right park lock loads PLL (L), PLL (R) for each left and right park lock loads PLL (R) is calculated in advance as shown in FIG. It is assumed to be an instant t0 when a parking command signal disappearance command from the controller 31 to the left and right park lock solenoids 26 and 27 is issued.

In this embodiment, when the same parking lock cancellation control as that of the first embodiment of FIGS. 5 and 6 is executed, the parking lock cancellation control described below with reference to FIG. 15 is performed.
That is, TPL (L)> TPL (R) and the left park lock mechanism 21 cannot complete the park lock release of the left rear wheel 3 unless the instantaneous park lock mechanism 21 is instantaneously t4. Because the parking lock release of the right rear wheel 4 is completed at an earlier instant t3,
The starboard parking lock release speed by the right parking lock mechanism 22 that completes the park lock cancellation at an early stage is slowed to delay the starboard parking lock cancellation.
This delay is performed in such a manner that the stark parking lock cancellation is completed at the same instant t4 as the port parking lock cancellation.

<Effects of the seventh embodiment>
According to the configuration of the seventh embodiment, the response delay Δt4 from the left / right park lock release command instant t0 to the instant t1, t2 at which the left / right park lock mechanisms 21, 22 (solenoids 26, 27) start the park lock release operation. , Δt5 may be different,
By eliminating the influence of this, starboard parking lock cancellation can be completed at the same instant t4 as port parking lock cancellation, and the above-mentioned effects can be reliably achieved even if response delays Δt4 and Δt5 are different. Can do.

<Parlock release control of the eighth embodiment>
In the first to fifth embodiments, the parking lock mechanisms 21 and 22 are provided only on the left and right rear wheels 3 and 4, but the parking lock mechanism is provided only on the left and right front wheels 1 and 2, The idea of each of the embodiments can be applied to the case where the parking lock mechanisms 21 and 22 are provided on the rear wheels 3 and 4 and the parking lock mechanism is also provided on the left and right front wheels 1 and 2. Needless to say, the effect can be achieved.

  In particular, in the eighth embodiment, parking lock mechanisms 21 and 22 are provided on the left and right rear wheels 3 and 4, and parking lock mechanisms are also provided on the left and right front wheels 1 and 2, that is, a parking lock mechanism is provided on all four wheels. The wheel park lock mechanism is configured to cancel the park lock as follows based on the same idea as the third embodiment of FIGS.

That is, in the eighth embodiment, the controller 31 in FIG. 1 executes the control program in FIG. 16 to perform the park lock release control as follows.
In step S61, the parking lock loads PLL (RL) and PLL (RR) of the parking lock mechanisms 21 and 22 relating to the left and right rear wheels 3 and 4, and the parking lock load PLL of the parking lock mechanism relating to the left and right front wheels 1 and 2 Read (FL) and PLL (FR).
Therefore, step S61 corresponds to the park lock load detecting means in the present invention.

In the next step S62, it is checked whether or not the above-mentioned park clock loads PLL (RL), PLL (RR), PLL (FL), and PLL (FR) are all the same.
In other words, for example, as shown in FIG. 17, the parks related to the left and right rear wheels 3 and 4 and the left and right front wheels 1 and 2 depending on the magnitude relationship of the park lock loads PLL (RL), PLL (RR), PLL (FL), and PLL (FR). When the required lock lock release times TPL (RL), TPL (RR), TPL (FL), and TPL (FR) of the lock mechanism are different, the control proceeds to step S63 corresponding to the park lock release control means of the present invention.

  In this step S63, the parking lock mechanism other than the parking lock mechanism related to the wheel (the left rear wheel in FIG. 17) having the minimum park lock load and the shortest park lock release time (in FIG. 17, the right rear wheel 4, the left and right front wheels). The parking lock load of the parking lock mechanism related to 1 and 2 is reduced, the parking lock release speed of these parking lock mechanisms is increased, and each park lock release time (in FIG. 17, right rear wheel 4, left and right) The time required to cancel the parking lock of the parking lock mechanism related to the front wheels 1 and 2) is shortened as illustrated by the arrow in FIG.

  In order to increase the parking lock release speed, the park lock release speed of the related wheel is set to the park speed of the wheel (the left rear wheel in FIG. 17) that has the shortest park lock release time. In order to achieve a speed that can be completed at the same instant as unlocking, the parking lock load of the above-mentioned parking lock mechanism of the related wheel is set to the parking lock related to the wheel (the left rear wheel in FIG. 17) having the shortest park lock release time. The same value as the mechanism's parking lock load.

<Effects of Eighth Example>
In the above-described eighth embodiment, all the left and right rear wheels 3 and 4 and the left and right front wheels 1 and 2 are completed to cancel the parking lock at the same timing.
Even when the parking lock mechanism is provided on all of the left and right rear wheels 3 and 4 and the left and right front wheels 1 and 2, the park lock release completion timing is shifted between the four wheels and the driver's unexpected vehicle behavior occurs. The problem can be avoided.

In addition, the above-mentioned effects can be obtained by increasing the park lock release speed of the park lock mechanism, which is delayed in the completion of the park lock release, until the park lock release speed is the same as the park lock release speed of the fastest park lock mechanism. So that
The park lock release of the entire vehicle is completed within the park lock release required time of the park lock mechanism that completes the park lock release at the earliest time, and the start response after the park lock release can be maximized.

<Operational effects common to each embodiment>
In the first to eighth embodiments described above, when detecting the park lock loads PLL (L) and PLL (R) of the left and right park lock mechanisms 21 and 22, as shown in FIG. Meshing reaction force, that is, torque reaction force α, β acting between the parking gear 23 and the parking pole 24, is detected to determine the load torque of the parking gear 23, and this is calculated as the parking lock load of the left and right parking lock mechanisms 21, 22. PLL (L), PLL (R),
As shown in FIG. 4, the load stress γ applied to the parking pole 24 according to the meshing reaction force between the parking gear 23 and the parking pole 24 (load torque of the parking gear 23) is detected by a strain gauge (not shown). To the left and right parking lock mechanisms 21, 22 as the parking lock load PLL (L), PLL (R),
The park lock loads PLL (L) and PLL (R) are directly detected to obtain the park lock loads PLL (L) and PLL (R), and these park lock loads PLL (L) and PLL The detection of (R) becomes accurate, and the various effects described above can be further ensured.

1,2 Front left and right wheels
3,4 Left and right rear wheels
5 Steering wheel
6 Steering gear
11,12 Motor for left and right front wheels (power source)
13,14 Motor for left and right rear wheels (power source)
15 battery
16-19 inverter
21,22 Left and right park lock mechanism
23 Parking gear
24 Parking pole
25 Parking rod (actuator)
26,27 Solenoid (actuator)
31 Controller
32 Accelerator pedal
33 Accelerator position sensor
34 Brake pedal
35 Brake stroke sensor
36 Shift lever
37 Shift position sensor
38 Parklock load sensor

Claims (13)

The left and right parking lock mechanisms are provided with meshing left and right parking lock mechanisms for individually restraining rotation of the left and right wheels, and the left and right parking lock mechanisms are individually engaged by the park lock state and the park lock release state in which the engagement is released. In the park lock device of the vehicle that can be switched between
To switch the state of the left and right park lock mechanisms from the park lock state to the park lock release state so that the time difference between the completion of the state switch from the park lock state to the park lock release state is within a predetermined time. A parking lock device for a vehicle, comprising: a parking lock cancellation control means for delaying a state switching from a parking lock state to a parking lock cancellation state of a parking lock mechanism having a short required time for switching states . In the vehicle parking lock device according to claim 1 ,
The park lock release control means executes the delay by reducing a state switching speed from a park lock state to a park lock release state of the park lock mechanism having a short state switching time. Parklock device. In the vehicle parking lock device according to claim 1 ,
The park lock release control means executes the delay by delaying a state switching start timing from the park lock state to the park lock release state of the park lock mechanism having a short state switching time. Parklock device. The left and right parking lock mechanisms are separated from the parking gear and the parking gear that is engaged with the parking gear and rotationally restrains the left and right wheels by the parking gear individually driven and coupled to the left and right wheels. The parking lock device for a vehicle according to any one of claims 1 to 3 , wherein the parking lock device comprises a parking pole that is operated between park lock release positions that do not restrict rotation of the left and right wheels.
The park lock release control means includes:
Park lock load detecting means for detecting park lock loads of the left and right park lock mechanisms from the meshing reaction force between the parking gear and the parking pole of the left and right park lock mechanisms,
Park lock release required time calculating means for calculating a state switching required time required for switching the state of the left and right park lock mechanisms from the park lock state to the park lock release state from the left and right park lock loads detected by the means,
The difference between the time required for the state switching of the left and right park lock mechanisms calculated by the means is defined as a time change completion timing time difference from the park lock state to the park lock release state between the left and right park lock mechanisms. A parking lock device for a vehicle, wherein the parking lock is controlled so that the time difference falls within the predetermined time. In the park lock device of the vehicle according to claim 4 ,
The park lock release control means compares the state switching required time of the left and right park lock mechanisms calculated by the park lock release required time calculating means with the planned state switching required time according to the road surface gradient, and the planned state If the time required for switching is longer than the calculated time required for state switching of the left and right parking lock mechanisms, the scheduled time required for state switching is used instead of the time required for switching states of the left and right park lock mechanisms. A parking lock device for a vehicle, which is used as a time required for state switching. In the vehicle parking lock device according to claim 1,
The park lock release control means is a state in which the time required to switch the state from the park lock state to the park lock release state is long, and the park lock state of the park lock mechanism is changed from the park lock state to the park lock release state. A parking lock device for a vehicle characterized in that the switching speed is increased. The left and right parking lock mechanisms are separated from the parking gear and the parking gear that is engaged with the parking gear and rotationally restrains the left and right wheels by the parking gear individually driven and coupled to the left and right wheels. It consists of a parking pole that operates between park lock release positions that do not restrict the left and right wheels,
7. The parking lock device for a vehicle according to claim 6 , wherein the vehicle is capable of traveling by driving at least one left and right wheels of the left and right wheels and other left and right wheels by individual left and right power sources.
The park lock release control means adjusts the torque of a power source on a wheel side related to the park lock mechanism having a long time required for state switching among the left and right power sources, and parks the park lock mechanism having a long time required for the state switch. A parking lock device for a vehicle, characterized in that, by reducing a lock load, a state switching speed from a parking lock state to a parking lock release state of the parking lock mechanism having a long state switching time is increased. In the park lock device of the vehicle according to claim 7 ,
The park lock release control means is a state in which the time required for switching the state from the park lock state to the park lock release state is short among the left and right park lock mechanisms and the park lock state is changed from the park lock state to the park lock release state. A parking lock device for a vehicle, characterized in that the switching speed is slowed by an increase in a parking lock load of the parking lock mechanism via a power source torque adjustment on the side related to the parking lock mechanism with a short time required for state switching. . The left and right parking lock mechanisms are separated from the parking gear and the parking gear that is engaged with the parking gear and rotationally restrains the left and right wheels by the parking gear individually driven and coupled to the left and right wheels. The parking lock device for a vehicle according to claim 7 or 8 , comprising a parking pole that is operated between park lock release positions that do not restrict rotation of the left and right wheels.
The park lock release control means includes:
Park lock load detecting means for detecting park lock loads of the left and right park lock mechanisms from the meshing reaction force between the parking gear and the parking pole of the left and right park lock mechanisms,
By controlling the power source on the wheel side related to the left and right park lock mechanisms so that the detected park lock load of the left and right park lock mechanisms becomes a predetermined value, the park lock state of the left and right park lock mechanisms is changed from the park lock state to the park lock release state. A parking lock device for a vehicle, characterized by increasing or decreasing a state switching speed. In the parking lock device for a vehicle according to any one of claims 1 to 9 ,
The park lock release control means sets the predetermined time to zero and completes the state switching of the left and right park lock mechanisms from the park lock state to the park lock release state in synchronization. apparatus. In the parking lock device for a vehicle according to any one of claims 1 to 9 ,
The park lock release control means sets the predetermined time as a time corresponding to an allowable time change timing difference between the park lock state and the park lock release state between the left and right park lock mechanisms. A parking lock device for a vehicle, which completes both the state switching of the locking mechanism from the parking lock state to the parking lock release state. In the parking lock device for a vehicle according to any one of claims 4,5,9～11,
The parking lock device for a vehicle according to claim 1, wherein the parking lock load detecting means detects a load torque of the parking gear and uses it as a parking lock load of the left and right parking lock mechanism. In the parking lock device for a vehicle according to any one of claims 4,5,9～11,
The parking lock of the vehicle is characterized in that the parking lock load detecting means detects a load stress applied to the parking pole in accordance with a load torque of the parking gear and uses it as a parking lock load of the left and right parking lock mechanism. apparatus.

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