JP2009012679A - Vehicle control apparatus and control method - Google Patents

Abstract

An engine output shaft speed is stably controlled.
An ECU sets an upper limit value VHLIM of a voltage value to be applied to an MG (1) connected to an engine output shaft so as to be able to transmit torque, and according to the upper limit value VHLIM of the voltage value. The step of setting the upper limit value NGLIM of the output shaft rotational speed of MG (1) (S106) and the step of controlling MG (1) so that the output shaft rotational speed becomes smaller than the upper limit value NGLIM (S108). Run the program that contains it.
[Selection] Figure 8

Description

  The present invention relates to a vehicle control device and a control method, and more particularly, to a technique for controlling the output shaft rotational speed of a rotating electrical machine connected to an output shaft of an internal combustion engine so that torque can be transmitted.

  2. Description of the Related Art Conventionally, hybrid vehicles equipped with a rotating electrical machine as a drive source in addition to an internal combustion engine are known. When a rotating electrical machine is used as a drive source, large electric power is required. Therefore, a high voltage is applied to the rotating electrical machine. However, in a state where the voltage is high, depending on the traveling environment, the electrical equipment that transmits electric power to the rotating electrical machine and the partial discharge amount inside the rotating electrical machine may increase. Therefore, it is necessary to set the upper limit value of the voltage applied to the rotating electrical machine according to the traveling environment.

  Japanese Patent Laying-Open No. 2006-288170 (Patent Document 1) discloses a control device for a moving body that ensures insulation performance in accordance with changes in atmospheric pressure. The control device described in Patent Literature 1 includes a detection unit that detects atmospheric pressure and a control unit that controls the electric motor. A control part sets the voltage value supplied to an electric motor and an electric equipment according to the detected atmospheric pressure.

According to the control device described in this publication, the voltage value supplied to the electric motor and the electric device is set according to the atmospheric pressure. For example, at the detected atmospheric pressure, the voltage value supplied to the electric motor and the electric device is set so that the partial discharge amount is within an allowable range in which the deterioration of the insulation performance of the insulator can be suppressed. That is, by setting a voltage value at which the partial discharge amount is within an allowable range in an environment with a relatively low atmospheric pressure such as a high altitude (for example, by setting a voltage value lower than the voltage value at normal atmospheric pressure) ), Even if the dielectric constant of air increases, the increase in the partial discharge amount can be suppressed. Therefore, deterioration of the insulation performance of the insulator inside the electric motor and the electric device can be suppressed. Therefore, it is possible to provide a moving body control device that ensures insulation performance in accordance with changes in atmospheric pressure.
JP 2006-288170 A

  However, when the voltage is limited according to the atmospheric pressure as in the control device described in Japanese Patent Application Laid-Open No. 2006-288170, the maximum output torque of the rotating electrical machine is particularly high when the output shaft speed is high. The value can decrease. Therefore, the torque output from the rotating electrical machine may be insufficient. In this case, the torque applied to the internal combustion engine by the rotating electrical machine connected to the output shaft of the internal combustion engine for use as a generator may be insufficient. Therefore, the output shaft speed of the internal combustion engine can become unstable.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle control apparatus and control method capable of stably controlling the output shaft rotational speed of an internal combustion engine. It is.

  A vehicle control apparatus according to a first aspect of the present invention includes an internal combustion engine, a rotating electrical machine connected to an output shaft of the internal combustion engine so that torque can be transmitted, a converter for adjusting a voltage applied to the rotating electrical machine, and an application to the rotating electrical machine. Setting means for setting a first upper limit value of the voltage to be applied, means for setting a second upper limit value of the output shaft speed of the rotating electrical machine according to the first upper limit value, and a second Control means for controlling the output shaft rotational speed of the rotating electrical machine so as to be smaller than the upper limit value. The vehicle control method according to the sixth aspect of the invention has the same requirements as the vehicle control apparatus according to the first aspect of the invention.

  According to the first or sixth invention, the rotating electrical machine is coupled to the output shaft of the internal combustion engine so that torque can be transmitted. The voltage applied to the rotating electrical machine is adjusted by a converter. The first upper limit value of the voltage applied to the rotating electrical machine is set according to, for example, atmospheric pressure or the inverter temperature. When the voltage applied to the rotating electrical machine is limited, the maximum value of the output torque of the rotating electrical machine can be reduced, particularly when the output shaft rotational speed is high. That is, the maximum value of torque that can be output by the rotating electrical machine can be determined depending on the first upper limit value. Therefore, a second upper limit value of the output shaft speed of the rotating electrical machine is set in accordance with the first upper limit value of the voltage applied to the rotating electrical machine. For example, the maximum value of the rotational speed when the maximum value of torque that can be output by the rotating electrical machine is determined without depending on the first upper limit value is set as the second upper limit value. The output shaft rotational speed of the rotating electrical machine is controlled to be smaller than the second upper limit value. As a result, the rotating electrical machine can be driven within the range of the rotational speed at which the maximum value that can be output from the rotating electrical machine does not decrease. Therefore, a sufficient torque can be applied to the output shaft of the internal combustion engine. As a result, it is possible to provide a vehicle control device or control method capable of stably controlling the output shaft speed of the internal combustion engine.

  In the vehicle control apparatus according to the second aspect of the invention, in addition to the configuration of the first aspect of the invention, the maximum value of the torque that can be output by the rotating electrical machine in the direction of decreasing the output shaft rotational speed of the internal combustion engine is the output shaft rotational speed. Is determined without depending on the first upper limit value when it is in the first range, and depending on the first upper limit value when the output shaft rotational speed is in the second range that is larger than the first range. Determined. The second upper limit value is the maximum value of the rotation speed in the first range. A vehicle control method according to a seventh aspect has the same requirements as those of the vehicle control apparatus according to the second aspect.

  According to the second or seventh invention, the maximum value of the rotational speed when the maximum value of the torque that can be output by the rotating electrical machine is determined without depending on the first upper limit value is the upper limit of the output shaft rotational speed of the rotating electrical machine. Set to a value. As a result, the rotating electrical machine can be driven within the range of the rotational speed at which the maximum value that can be output from the rotating electrical machine does not decrease. Therefore, a sufficient torque can be applied to the output shaft of the internal combustion engine. As a result, the output shaft speed of the internal combustion engine can be stably controlled.

  In the vehicle control apparatus according to the third aspect of the invention, in addition to the configuration of the second aspect of the invention, the maximum torque value determined without depending on the first upper limit value is determined by the first upper limit value. It is larger than the maximum value. The vehicle control method according to the eighth invention has the same requirements as those of the vehicle control device according to the third invention.

  According to the third or eighth aspect of the invention, torque larger than the maximum torque value determined depending on the first upper limit value can be transmitted from the rotating electrical machine to the output shaft of the internal combustion engine.

  In the vehicle control apparatus according to the fourth invention, in addition to the configuration of any one of the first to third inventions, the setting means includes means for setting the first upper limit value according to the atmospheric pressure. The vehicle control method according to the ninth aspect has the same requirements as the vehicle control apparatus according to the fourth aspect.

  According to the fourth or ninth invention, the upper limit value of the voltage applied to the rotating electrical machine is set according to the atmospheric pressure. For example, in an environment with a relatively low atmospheric pressure such as a high altitude, by setting an upper limit value at which the partial discharge amount is within an allowable range (for example, by setting a voltage value lower than the voltage value at normal atmospheric pressure) ), Even if the dielectric constant of air increases, the increase in the partial discharge amount can be suppressed.

  In the vehicle control apparatus according to the fifth aspect of the invention, in addition to the configuration of any one of the first to third aspects, the rotating electrical machine is an AC rotating electrical machine. The control device further includes an inverter that converts alternating current and direct current between the converter and the alternating current rotating electrical machine. The setting means includes means for setting the first upper limit value according to the temperature of the inverter. The vehicle control method according to the tenth invention has the same requirements as the vehicle control device according to the fifth invention.

  According to the fifth or tenth invention, since the withstand voltage performance of the inverter changes according to the temperature, the upper limit value of the voltage applied to the rotating electrical machine is set according to the temperature of the inverter. Thereby, the voltage applied to a rotary electric machine can be set in the range which does not exceed the electric strength performance of an inverter. Therefore, deterioration of the inverter and the like can be reduced.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

  A hybrid vehicle equipped with a control device according to an embodiment of the present invention will be described with reference to FIG. This vehicle includes an engine 100 that is an internal combustion engine, an MG (Motor Generator) (1) 200, an MG (2) 300, a power split mechanism 400, inverters 500 and 600, a battery 700, and a converter 800. This vehicle including the vehicle travels by driving force from at least one of engine 100 and MG (2) 300.

  Engine 100, MG (1) 200, and MG (2) 300 are connected via power split device 400. The power generated by the engine 100 is divided into two paths by the power split mechanism 400. One is a path for driving the wheel 900 via a speed reducer. The other is a path for driving MG (1) 200 to generate power.

  MG (1) 200 is a three-phase AC motor. MG (1) 200 generates power using the power of engine 100 divided by power split device 400. That is, MG (1) 200 is connected to the output shaft of engine 100 through power split mechanism 400 so that torque can be transmitted.

  The electric power generated by MG (1) 200 is selectively used according to the running state of the vehicle and the state of charge (SOC) of battery 700. For example, during normal travel, the electric power generated by MG (1) 200 becomes electric power for driving MG (2) 300 as it is. On the other hand, when the SOC of battery 700 is lower than a predetermined value, the electric power generated by MG (1) 200 is converted from AC to DC by inverter 500. Thereafter, the voltage is adjusted by converter 800 and stored in battery 700.

  When MG (1) 200 is acting as a generator, MG (1) 200 generates a negative torque. Here, the negative torque means a torque that becomes a load on engine 100. When MG (1) 200 is supplied with electric power and acts as a motor, MG (1) 200 generates a positive torque. Here, the positive torque means a torque that does not become a load on the engine 100, that is, a torque that assists the rotation of the engine 100. The same applies to MG (2) 300.

  MG (2) 300 is a three-phase AC motor. MG (2) 300 is driven by at least one of the electric power stored in battery 700 and the electric power generated by MG (1) 200. MG (2) 300 is supplied with power converted from direct current to alternating current by inverter 600.

  The driving force of MG (2) 300 is transmitted to the wheels via the speed reducer. Thereby, MG (2) 300 assists engine 100 or causes the vehicle to travel by the driving force from MG (2) 300.

  On the other hand, at the time of regenerative braking of the hybrid vehicle, MG (2) 300 is driven by wheels 900 via a speed reducer, and MG (2) 300 is operated as a generator. Thereby, MG (2) 300 acts as a regenerative brake that converts braking energy into electric power. The electric power generated by MG (2) 300 is stored in battery 700 via inverter 600.

  The battery 700 is an assembled battery configured by connecting a plurality of battery modules in which a plurality of battery cells are integrated in series. The discharge voltage from battery 700 and the charging voltage to battery 700 are adjusted by converter 800. A capacitor may be provided instead of or in addition to the battery 700.

  The electric power stored in battery 700 is supplied to MG (1) 200 and MG (2) 300, as well as auxiliary equipment. Charging to battery 700 and discharging from battery 700 are controlled so that the SOC becomes 60%, for example.

  Engine 100, inverter 500, inverter 600, and converter 800 are controlled by an ECU (Electronic Control Unit) 1000. ECU 1000 includes HV (Hybrid Vehicle) _ECU 1010, MG_ECU 1020, and engine ECU 1030.

  The control device according to the present embodiment is realized, for example, when ECU 1000 executes a program recorded in ROM 1002. The program executed by ECU 1000 may be recorded on a recording medium such as a CD (Compact Disc) or a DVD (Digital Versatile Disc) and distributed to the market.

  In the HV_ECU 1010, a signal indicating the vehicle speed from the vehicle speed sensor 2000, a signal indicating the opening degree of the accelerator pedal (not shown) from the accelerator opening sensor 2002, and a pedaling force of the brake pedal (not shown) from the brake pedal force sensor 2004. A signal indicating a shift position (shift lever position) is input from the position switch 2006, and a signal indicating the rotation speed of the wheel 900 is input from the wheel speed sensor 2008.

  Further, the HV_ECU 1010 receives a signal representing the temperature of the inverter 500 and the inverter 600 from the temperature sensor 2010 and a signal representing the atmospheric pressure from the atmospheric pressure sensor 2012.

  The HV_ECU 1010 calculates a charge / discharge power value for the battery 700 based on the vehicle speed, the accelerator opening, the brake depression force, the shift position, and the like. Further, the HV_ECU 1010 sets a charge power limit value (maximum value of power to be charged) WIN and a discharge power limit value (maximum value of power to be discharged) WOUT to the battery 700 based on the temperature, SOC, and the like of the battery 700. calculate. The charge / discharge power value for battery 700 is calculated so as not to exceed the respective limit values.

  The HV_ECU 1010, the MG_ECU 1020, and the engine ECU 1030 are connected so that signals can be transmitted / received to / from each other. The HV_ECU 1010 calculates the driving force realized by the engine 100, the MG (1) 200, and the MG (2) 300 based on a signal input to each ECU and a program and map stored in a memory (not shown). To do.

  MG_ECU 1020 controls inverter 500 and inverter 600 based on the driving force realized by MG (1) 200 and the driving force realized by MG (2) 300, thereby MG (1) 200 and MG (2) 300. To control.

  MG_ECU 1020 receives a signal representing the output shaft revolution number of MG (1) 200 from revolution number sensor 2020 and a signal representing the output shaft revolution number of MG (2) 300 from revolution number sensor 2022.

  Engine ECU 1030 controls engine 100 based on the driving force realized by engine 100. Engine ECU 1030 receives a signal representing the output shaft rotational speed of engine 100 from rotational speed sensor 2030.

  The power split mechanism 400 will be further described with reference to FIG. Power split device 400 includes a planetary gear having a sun gear 402, a pinion gear 404, a carrier 406, and a ring gear 408. That is, power split device 400 is a differential device.

  Pinion gear 404 is engaged with sun gear 402 and ring gear 408. The carrier 406 supports the pinion gear 404 so that it can rotate. Sun gear 402 is coupled to the rotation shaft of MG (1) 200. Carrier 406 is coupled to the crankshaft of engine 100. Ring gear 408 is connected to the rotation shaft of MG (2) 300 and speed reducer 1100. Therefore, torque is finally transmitted from the ring gear 408 to the wheel 900.

  Engine 100, MG (1) 200, and MG (2) 300 are connected via power split mechanism 400 including a planetary gear, so that the rotational speeds of engine 100, MG (1) 200, and MG (2) 300 are increased. As shown in FIG. 3, the relationship is connected by a straight line in the nomograph.

  With reference to FIG. 4, the function of ECU 1000 which is the control apparatus according to the present embodiment will be described. Note that the functions described below may be realized by hardware or software.

  ECU 1000 includes a first setting unit 3001, a second setting unit 3002, and a control unit 3004. First setting unit 3001 sets upper limit value VHLIM of the voltage value applied by converter 800 to MG (1) 200 and MG (2) 300 according to the atmospheric pressure and the temperature of inverters 500 and 600. For example, the upper limit value VHLIM is set to be smaller as the atmospheric pressure is lower. Further, upper limit value VHLIM is set to be smaller as the temperatures of inverters 500 and 600 are lower. The method for setting the upper limit value VHLIM of the voltage value is not limited to this.

  Second setting unit 3002 sets upper limit value NGLIM of the output shaft speed of MG (1) 200 according to upper limit value VHLIM of the voltage value. As shown by a solid line in FIG. 5, when the upper limit value VHLIM of the voltage value is V (1), the maximum torque value (which can be output by MG (1) 200 in the direction of decreasing the output shaft rotational speed of engine 100) ( The minimum value of the negative torque is determined to be a constant value that does not depend on the upper limit value VHLIM of the voltage value in the range where the output shaft rotational speed is N (1) or less. On the other hand, the maximum value of the torque that can be output by MG (1) 200 decreases depending on the upper limit value VHLIM of the voltage value in the range where the output shaft rotational speed is greater than N (1).

  As shown by the one-dot chain line in FIG. 5, when the upper limit value VHLIM of the voltage value is V (2) (V (2)> V (1)), the maximum value of torque that MG (1) 200 can output ( The minimum value of the negative torque is determined to be a constant value that does not depend on the upper limit value VHLIM of the voltage value in a range where the output shaft rotational speed is N (2) (N (2)> N (1)) or less. On the other hand, the maximum value of torque that can be output by MG (1) 200 decreases depending on the upper limit value VHLIM of the voltage value in the range where the output shaft rotational speed is greater than N (2).

  As shown by a two-dot chain line in FIG. 5, when the upper limit value VHLIM of the voltage value is V (3) (V (3)> V (2)), the maximum value of the torque that can be output by the MG (1) 200 (Minimum value of negative torque) is determined to be a constant value that does not depend on the upper limit value VHLIM of the voltage value in a range where the output shaft rotational speed is N (3) (N (3)> N (2)) or less. On the other hand, the maximum value of torque that can be output by MG (1) 200 decreases depending on the upper limit value VHLIM of the voltage value in the range where the output shaft rotational speed is larger than N (3).

  Therefore, the maximum value of the rotational speed at which the maximum value of torque that can be output by MG (1) 200 (the minimum value of negative torque) can be determined without depending on the upper limit value VHLIM of the voltage value is MG (1) 200. The upper limit value NGLIM of the output shaft speed is set. That is, as shown in FIG. 6, when the upper limit value VHLIM of the voltage value is V (1), N (1) is set to the upper limit value NGLIM of the output shaft rotational speed. When the upper limit value VHLIM of the voltage value is V (2), N (2) is set to the upper limit value NGLIM of the output shaft speed. When the upper limit value VHLIM of the voltage value is V (3), N (3) is set to the upper limit value NGLIM of the output shaft speed.

  In order to satisfy such a condition, the upper limit value NGLIM of the rotation speed is set according to the upper limit value VHLIM of the voltage value according to the map shown in FIG. The method for setting the upper limit value of the output shaft rotational speed is not limited to this.

  Control unit 3004 controls MG (1) 200 so that the output shaft rotational speed is smaller than upper limit value NGLIM.

  With reference to FIG. 8, a control structure of a program executed by ECU 1000 which is the control apparatus according to the present embodiment will be described. The program described below is repeatedly executed at a predetermined cycle.

  In step (hereinafter, step is abbreviated as S) 100, ECU 1000 causes upper limit value VHLIM (1) of the voltage value applied to MG (1) 200 and MG (2) 300 in accordance with the temperature of inverters 500 and 600. Set.

  In S102, ECU 1000 sets upper limit value VHLIM (2) of the voltage value applied to MG (1) 200 and MG (2) 300 according to the atmospheric pressure.

  In S104, ECU 1000 finally uses the smaller one of upper limit value VHLIM (1) set according to the temperature of inverters 500 and 600 and upper limit value VHLIM set according to the atmospheric pressure. The upper limit value VHLIM is set.

  In S106, ECU 1000 sets an upper limit value NGLIM of the output shaft speed of MG (1) 200 in accordance with upper limit value VHLIM of the voltage value. In S108, ECU 1000 controls MG (1) 200 so that the output shaft rotational speed is smaller than upper limit value NGLIM.

  An operation of ECU 1000 that is the control device according to the present embodiment based on the above-described structure and flowchart will be described.

  A voltage value applied to MG (1) 200 and MG (2) 300 according to the temperature of inverters 500 and 600 in order to apply a voltage corresponding to a change in the withstand voltage performance of inverters 500 and 600 during traveling of the vehicle. Is set to the upper limit value VHLIM (1) (S100).

  Further, in order to reduce the amount of partial discharge to the insulators of inverters 500, 600, MG (1) 200, and MG (2) 300, MG (1) 200 and MG (2) 300 are changed according to the atmospheric pressure. An upper limit value VHLIM (2) of the voltage value to be applied is set (S102).

  The smaller one of the upper limit value VHLIM (1) set according to the temperature of the inverters 500 and 600 and the upper limit value VHLIM set according to the atmospheric pressure is set as the upper limit value VHLIM of the voltage value finally used. (S104).

  By the way, when the voltage value applied to MG (1) 200 is limited, as shown in FIG. 5 described above, MG (1 in the direction of decreasing the output shaft rotational speed of engine 100 when the output shaft rotational speed is high. ) The maximum value of torque that can be output by 200 decreases (the minimum value of negative torque increases). That is, the absolute value of the torque that MG (1) 200 applies to the output shaft of engine 100 can be reduced. In this case, as a result of the output shaft rotational speed becoming unstable, the output shaft rotational speed of the engine 100 may increase more than necessary as shown in FIG.

  Therefore, the upper limit value NGLIM of the output shaft rotational speed of MG (1) 200 is set according to the upper limit value VHLIM of the voltage value (S106). MG (1) 200 is controlled so that the output shaft rotational speed is smaller than upper limit value NGLIM (S108).

  Thereby, MG (1) 200 can be driven in a region where the maximum value of torque that can be output by MG (1) 200 (minimum value of negative torque) is not limited. Therefore, the torque applied to the output shaft of engine 100 can be sufficiently increased. As a result, the output shaft speed of engine 100 can be stabilized.

  As described above, according to the control device of the present embodiment, upper limit value NGLIM of the output shaft speed of MG (1) is set according to upper limit value VHLIM of the voltage applied to MG (1). The MG (1) is controlled such that the output shaft rotational speed is smaller than the upper limit value NGLIM. Thereby, MG (1) can be driven in a region where the maximum value of torque that can be output by MG (1) is not limited. Therefore, the torque applied by MG (1) to the output shaft of the engine can be sufficiently increased. As a result, the engine output shaft rotational speed can be stabilized.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 is a schematic configuration diagram showing a hybrid vehicle. It is a figure which shows a power split mechanism. FIG. 6 is a collinear diagram (part 1) illustrating a relationship among engine, MG (1), and MG (2) output shaft rotation speeds. It is a functional block diagram of ECU. It is a figure which shows the relationship between a torque and output-shaft rotation speed. It is a figure which shows the upper limit value VHLIM of a voltage value, and the limit value NGLIM of an output shaft rotational speed. It is a figure which shows the map used in order to set the limiting value NGLIM of an output-shaft rotation speed. It is a flowchart which shows the control structure of the program which ECU performs. FIG. 5 is a collinear diagram (part 2) illustrating a relationship among engine, MG (1) and MG (2) output shaft rotation speeds.

Explanation of symbols

  100 Engine, 200 MG (1), 300 MG (2), 400 Power split mechanism, 500,600 Inverter, 700 Battery, 800 Converter, 900 Wheel, 1000 ECU, 1010 HV_ECU, 1020 MG_ECU, 1030 Engine ECU, 2010 Temperature sensor , 2012 Atmospheric pressure sensor, 2020, 2022, 2030 Rotational speed sensor, 3001 setting unit, 3002 setting unit, 3004 control unit.

Claims (10)

An internal combustion engine;
A rotating electrical machine coupled to an output shaft of the internal combustion engine so that torque can be transmitted;
A converter for adjusting a voltage applied to the rotating electrical machine;
Setting means for setting a first upper limit value of the voltage applied to the rotating electrical machine;
Means for setting a second upper limit value of the rotational speed of the output shaft of the rotating electrical machine according to the first upper limit value;
And a control unit for controlling an output shaft rotational speed of the rotating electrical machine so as to be smaller than the second upper limit value. The maximum value of torque that can be output by the rotating electrical machine in the direction of decreasing the output shaft rotational speed of the internal combustion engine does not depend on the first upper limit value when the output shaft rotational speed is in the first range. Determined when the output shaft rotational speed is in the second range larger than the first range, depending on the first upper limit value,
2. The vehicle control device according to claim 1, wherein the second upper limit value is a maximum value of a rotational speed in the first range.   3. The vehicle control device according to claim 2, wherein a maximum torque value determined without depending on the first upper limit value is greater than a maximum torque value determined depending on the first upper limit value.   The vehicle control device according to claim 1, wherein the setting means includes means for setting the first upper limit value according to atmospheric pressure. The rotating electrical machine is an AC rotating electrical machine,
An inverter that converts alternating current and direct current between the converter and the AC rotating electric machine;
The vehicle control device according to any one of claims 1 to 3, wherein the setting means includes means for setting the first upper limit value in accordance with a temperature of the inverter. A vehicle control method provided with an internal combustion engine, a rotating electrical machine connected to an output shaft of the internal combustion engine so that torque can be transmitted, and a converter for adjusting a voltage applied to the rotating electrical machine,
Setting a first upper limit value of a voltage applied to the rotating electrical machine;
Setting a second upper limit value of the rotational speed of the output shaft of the rotating electrical machine according to the first upper limit value;
Controlling the output shaft speed of the rotating electrical machine so as to be smaller than the second upper limit value. The maximum value of torque that can be output by the rotating electrical machine in the direction of decreasing the output shaft rotational speed of the internal combustion engine does not depend on the first upper limit value when the output shaft rotational speed is in the first range. Determined when the output shaft rotational speed is in the second range larger than the first range, depending on the first upper limit value,
The vehicle control method according to claim 6, wherein the second upper limit value is a maximum value of the number of revolutions in the first range.   The vehicle control method according to claim 7, wherein a maximum value of torque determined without depending on the first upper limit value is larger than a maximum value of torque determined depending on the first upper limit value.   The vehicle control method according to claim 6, wherein the step of setting the first upper limit value includes the step of setting the first upper limit value according to atmospheric pressure. The rotating electrical machine is an AC rotating electrical machine,
The vehicle is further provided with an inverter that converts alternating current and direct current between the converter and the AC rotating electrical machine,
The vehicle control method according to claim 6, wherein the step of setting the first upper limit value includes the step of setting the first upper limit value in accordance with a temperature of the inverter.

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