# US 10,308,136 B2 · Vehicle control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,308,136 B2 - Document ID: US10308136B2 - Status: Granted - Kind: B2 - Application number: 15/480,809 - Filed: 2017-04-06 - Published: 2017-10-12 - Granted: 2019-06-04 - Earliest claimed: 2016-04-11 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Hiroaki Kimura; Tomohito Ono; Hiroto Hashimoto - Web page: https://patentgrep.com/patent/US10308136B2 ## CPC - B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed - B60K 6/445: Differential gearing distribution type - B60L 50/15: with additional electric power supply (with capacitors charged by engine-driven generators B60L50/40; with batteries charged by engine-driven generators B60L50/61) - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60W 20/00: Control systems specially adapted for hybrid vehicles {(hybrid vehicle design, B60K6/00; electric vehicles B60L)} - B60W 30/184: Preventing damage resulting from overload or excessive wear of the driveline - B60L 2220/42: with use of more than one motor - B60L 2240/12: Speed - B60L 2240/421: Speed - B60L 2240/423: Torque - B60L 2240/425: Temperature - B60L 2240/54: related to batteries - B60L 2240/647: Surface situation of road, e.g. type of paving - B60L 2250/26: by pedal actuation - B60L 2260/26: Transition between different drive modes - B60W 2520/30: Wheel torque - B60W 2710/083: Torque - Y02T 10/62: Hybrid vehicles - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors - Y02T 10/72: Electric energy management in electromobility - Y02T 90/16: Information or communication technologies improving the operation of electric vehicles - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A control system for a vehicle having two motors is provided to limit damage on rotary members even if an excessive torque is applied from drive wheels. The control system comprises a first motor, a second motor, and a locking mechanism, and a differential mechanism disposed between the first motor and the drive wheels. The locking mechanism halts one of rotary elements of a differential mechanism when torque of the rotary member is small, and allows the rotary element to rotate when the torque of the rotary member is large. A controller is configured to increase power output of the first motor and decrease power output of the second motor during propulsion on an uneven road surface. ## Claims ### Claim 1 A vehicle control system, comprising: a first motor; a differential mechanism including a first rotary element connected to the first motor, a second rotary element connected to drive wheels, and a third rotary element connected to a rotary shaft; a second motor that applies a drive force to a power transmitting route between the differential mechanism and the drive wheels; a locking mechanism that selectively stops a rotation of the rotary shaft; and a controller that controls power outputs of the first motor and the second motor, wherein the locking mechanism is adapted to keep stopping the rotation of the rotary shaft when a torque of the rotary shaft is smaller than a predetermined torque, and to allow the rotary shaft to rotate when the torque of the rotary shaft is larger than a predetermined torque, and wherein the controller is configured to estimate an input torque from the drive wheels based on a condition of a road on which the vehicle is currently travelling or on a planned route on which the vehicle is going to travel, when the vehicle is powered by the first motor and the second motor while stopping the rotation of the rotary shaft, determine an operating point of the first motor in such a manner as to increase the power output from that of a case in which the estimated input torque is smaller than the predetermined torque, and an operating point of the second motor in such a manner as to decrease the power output from that of a case in which the estimated input torque is smaller than the predetermined torque, in a case that a change rate of a rotational speed of the drive wheel or a predetermined rotary member in the powertrain is greater than a predetermined value, or in a case that a difference between: an actual torque applied to the predetermined; and an expected torque applied to the predetermined rotary member calculated based on output torques of the first motor and the second motor, is greater than a predetermined value, and operate the first motor and the second motor at the determined operating points. ### Claim 2 (depends on 1) The vehicle control device as claimed in claim 1, wherein the controller is further configured to determine the operating points of the first motor and the second motor in such a manner as to achieve a required power to propel the vehicle. ### Claim 3 (depends on 2) The vehicle control device as claimed in claim 2, wherein the controller is further configured to: select a combination of the operating point of the first motor determined to increase the power output and the operating point of the second motor determined to decrease the power output from a plurality of combinations, in such a manner as to achieve a required power to propel the vehicle while operating the first motor and the second motor individually at the highest electrical efficiency, and operate the first motor and the second motor at the operating points of the selected combination. ### Claim 4 (depends on 3) The vehicle control device as claimed in claim 3, wherein the controller is further configured to: select a combination of the operating points of the first motor and the second motor in which the power output of the first motor is largest, from a plurality of combinations of the operating points to achieve a required power to propel the vehicle while operating the first motor and the second motor individually at the highest electrical efficiency, determine the operating point of the second motor based on the selected operating point of the first motor, and operate the second motor at the determined operating point. ### Claim 5 (depends on 1) The vehicle control device as claimed in claim 1, wherein the controller is further configured to: calculate an amount of change in the power output of any one of the first motor and the second motor when the estimated input torque is larger than the predetermined torque, calculate an amount of change in the power output of the other motor based on the required power to propel the vehicle and the amount of change in the power output of said one of the motors, and calculate the power output of the other motor based on the calculated amount of change in the power output of the other motor. ### Claim 6 (depends on 1) The vehicle control device as claimed in claim 1, wherein the controller is further configured to: calculate the power output of any one of the first motor and the second motor when the estimated input torque is larger than the predetermined torque, and calculate the power output of the other motor based on the required power to propel the vehicle and the calculated power output of the other motor. ### Claim 7 (depends on 1) The vehicle control device as claimed in claim 1, further comprising: another prime mover in addition to the first motor and the second motor; wherein the rotary shaft is connected to said another prime mover, and wherein the controller is further configured to control the locking mechanism in accordance with an operating condition of the vehicle, allow the rotary shaft to rotate by disengaging the locking mechanism when propelling the vehicle by delivering torque from said another prime mover to the drive wheels, and stop the rotation of the rotary shaft by engaging the locking mechanism when propelling the vehicle by the first motor while stopping said another prime mover. ### Claim 8 (depends on 1) The vehicle control device as claimed in claim 1, wherein the locking mechanism includes a rotary member that is allowed to rotate relatively to the rotary shaft, a stationary member, a first engagement device that engages the rotary member with the stationary member, and a second engagement member that engages the rotary member with the rotary shaft, wherein the locking mechanism is adapted to stop the rotation of the rotary shaft by engaging the first engagement device and the second engagement device, and to disengage the first engagement device when the torque larger than the predetermined torque is applied to the rotary shaft. ### Claim 9 (depends on 8) The vehicle control device as claimed in claim 8, wherein: the rotary member is arranged to be opposed to the stationary member, the first engagement device includes first teeth protruding toward the stationary member, the second engagement device includes second teeth protruding toward the rotary member, a tooth thickness of each of the first teeth is thinned gradually toward the second teeth, and a tooth thickness of each of the second teeth is thinned gradually toward the first teeth. ### Claim 10 (depends on 1) The vehicle control device as claimed in claim 1, wherein an output shaft of the second motor is connected to a gear, and wherein the gear is immersed into oil at least partially.