JP2009012680A - Vehicle control apparatus and control method - Google Patents

Abstract

An output torque variation of an MG (Motor Generator) is reduced.
An MG (1) is coupled to an output shaft of an engine so that torque can be transmitted. MG (2) is coupled to the wheel so that torque can be transmitted. The ECU updates the upper limit value VHLIM of the voltage value applied to MG (1) and MG (2) so that the rate of change is less than or equal to the limit value, and MG (1) and MG (2). And a control unit 3002 for controlling the converter so that the voltage value applied to is lower than the upper limit value VHLIM.
[Selection] Figure 4

Description

  The present invention relates to a vehicle control device and a control method, and more particularly to a technique for controlling an output shaft rotational speed of a rotating electrical machine that is connected to at least one of an output shaft and wheels 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 as in the control device described in Japanese Patent Application Laid-Open No. 2006-288170, the torque that can be output from the rotating electrical machine can vary due to the variation in the upper limit value. For this reason, for example, a shock is generated due to a sudden change in the driving force of the vehicle, or 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 is insufficient. The output shaft speed of the 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 device and a control method that can reduce the amount of fluctuation in output torque of a rotating electrical machine. .

  According to a first aspect of the present invention, there is provided a control apparatus for a vehicle, comprising: a rotating electrical machine connected to at least one of an output shaft and a wheel of an internal combustion engine so as to be able to transmit torque; Means for controlling the converter so that the voltage applied to the electric machine is not more than a set upper limit value, and updating means for updating the upper limit value so that the rate of change of the upper limit value is not more than a predetermined value With. 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 connected to at least one of the output shaft and the wheels of the internal combustion engine so as to transmit torque. The voltage applied to the rotating electrical machine is adjusted by a converter. The voltage applied to the rotating electrical machine is controlled to be equal to or less than a set upper limit value. The upper limit value is updated so that the rate of change is not more than a predetermined value. Thereby, the rate of change of the voltage applied to the rotating electrical machine can be suppressed to a predetermined value or less. Therefore, it is possible to provide a vehicle control device or control method that can reduce the amount of fluctuation in the output torque of the rotating electrical machine.

  In the vehicle control apparatus according to the second invention, in addition to the configuration of the first invention, the updating means includes a calculating means for calculating an upper limit value of the voltage applied to the rotating electrical machine, and an upper limit currently set. When the calculated upper limit value is smaller than the value, by subtracting a predetermined value from the currently set upper limit value and setting the larger of the calculated upper limit values as a new upper limit value And means for updating the upper limit value. The vehicle control method according to the 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 upper limit value of the voltage applied to the rotating electrical machine is calculated. When the calculated upper limit value is smaller than the currently set upper limit value, a value obtained by subtracting a predetermined value from the currently set upper limit value and the larger of the calculated upper limit values are set as the new upper limit value. By setting it as a value, the upper limit value is updated. Thereby, the change rate of the upper limit value can be suppressed to a predetermined value or less.

  In the vehicle control apparatus according to the third invention, in addition to the configuration of the first invention, the updating means includes a calculating means for calculating an upper limit value of the voltage applied to the rotating electrical machine, and an upper limit currently set. When the calculated upper limit value is larger than the value, a value obtained by adding a predetermined value to the currently set upper limit value and a smaller one of the calculated upper limit values are set as a new upper limit value. And means for updating the upper limit 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 invention, the upper limit value of the voltage applied to the rotating electrical machine is calculated. When the calculated upper limit value is larger than the currently set upper limit value, a value obtained by adding a predetermined value to the currently set upper limit value and the smaller of the calculated upper limit values are set as a new upper limit value. By setting it as a value, the upper limit value is updated. Thereby, the change rate of the upper limit value can be suppressed to a predetermined value or less.

  In the vehicle control device according to the fourth aspect of the invention, in addition to the configuration of any one of the first to third aspects, the calculation means has means for calculating an upper limit value according to 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 calculated according to the atmospheric pressure. For example, in an environment with a relatively low atmospheric pressure, such as a high altitude, by calculating an upper limit value at which the partial discharge amount is within an allowable range (for example, by calculating 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 vehicle is further equipped with an inverter that converts alternating current and direct current between the converter and the alternating current rotating electrical machine. The calculating means has means for calculating an 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 calculated according to the temperature of the inverter. Thereby, the voltage applied to a rotary electric machine can be calculated 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 (torque) of MG (2) 300 is transmitted to wheels 900 via a speed reducer. That is, MG (2) 300 is coupled to the wheels so that torque can be transmitted. 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 a 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 an update unit 3000 and a control unit 3002. Update unit 3000 updates upper limit value VHLIM of the voltage value applied by converter 800 to MG (1) 200 and MG (2) 300 in accordance with the atmospheric pressure and the temperature of inverters 500 and 600. In addition, updating unit 3000 updates the upper limit value such that the rate of change (update amount) of upper limit value VHLIM is equal to or less than a predetermined limit value.

Hereinafter, a method for updating the upper limit value will be described.
Updating unit 3000 calculates upper limit value VHLIM (1) of the voltage value applied to MG (1) 200 and MG (2) 300 according to the temperature of inverters 500 and 600 according to the map shown in FIG. The upper limit value VHLIM (1) is calculated to be smaller as the temperatures of the inverters 500 and 600 are lower.

  Furthermore, updating unit 3000 calculates upper limit value VHLIM (2) of the voltage value applied to MG (1) 200 and MG (2) 300 according to the atmospheric pressure, according to the map shown in FIG. The upper limit value VHLIM (2) is set to be smaller as the atmospheric pressure is lower.

  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 calculated (selected) as the upper limit value VHLIM (3) of the voltage value. )

  When the calculated upper limit value VHLIM (3) is smaller than the currently set upper limit value VHLIM, a value obtained by subtracting the limit value DNRT (DNRT is a positive constant) from the currently set upper limit value VHLIM is calculated. By setting the larger one of the upper limit values VHLIM (3) as the new upper limit value VHLIM, the upper limit value VHLIM is updated.

  When the calculated upper limit value VHLIM (3) is larger than the currently set upper limit value VHLIM, a value obtained by adding a limit value UPRT (UPRT is a positive constant) to the currently set upper limit value VHLIM is calculated. By setting the smaller one of the upper limit values VHLIM (3) as the new upper limit value VHLIM, the upper limit value VHLIM is updated.

  Control unit 3002 controls converter 800 so that the voltage values applied to MG (1) 200 and MG (2) 300 are equal to or lower than the set (updated) upper limit value VHLIM.

  With reference to FIG. 7, a control structure of a program executed by ECU 1000 that is the control device 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 detects the temperatures of inverters 500 and 600 based on the signal transmitted from temperature sensor 2010.

  In S102, ECU 1000 calculates upper limit value VHLIM (1) of the voltage value applied to MG (1) 200 and MG (2) 300 according to the temperature of inverters 500 and 600.

  In S104, ECU 1000 detects the atmospheric pressure based on the signal transmitted from atmospheric pressure sensor 2012. In S106, ECU 1000 calculates upper limit value VHLIM (2) of the voltage value applied to MG (1) 200 and MG (2) 300 according to the atmospheric pressure.

  In S108, ECU 1000 determines the smaller of upper limit value VHLIM (1) calculated according to the temperatures of inverters 500 and 600 and upper limit value VHLIM calculated according to the atmospheric pressure, as upper limit value VHLIM of the voltage value. Calculate (select) as (3).

  In S110, ECU 1000 determines whether or not calculated upper limit value VHLIM (3) is smaller than currently set upper limit value VHLIM. If calculated upper limit value VHLIM (3) is smaller than currently set upper limit value VHLIM (YES in S110), the process proceeds to S112. If not (NO in S110), the process proceeds to S120.

  In S112, ECU 1000 sets a larger one of a value obtained by subtracting limit value DNRT from currently set upper limit value VHLIM and calculated upper limit value VHLIM (3) as new upper limit value VHLIM. The upper limit value VHLIM is updated.

  In S120, ECU 1000 determines whether or not calculated upper limit value VHLIM (3) is larger than currently set upper limit value VHLIM. If calculated upper limit value VHLIM (3) is larger than currently set upper limit value VHLIM (YES in S120), the process proceeds to S122. If not (NO in S120), the process proceeds to S130.

  In S122, ECU 1000 sets the smaller one of a value obtained by adding limit value UPRT to currently set upper limit value VHLIM and calculated upper limit value VHLIM (3) as new upper limit value VHLIM. The upper limit value VHLIM is updated.

  In S130, ECU 1000 controls converter 800 such that the voltage value applied to MG (1) 200 and MG (2) 300 is equal to or lower than upper limit value VHLIM.

  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.

  While the vehicle is traveling, the temperatures of the inverter 500 and the inverter 600 are detected based on the signal transmitted from the temperature sensor 2010 (S100). In order to apply the voltage according to the change in the withstand voltage performance of the inverters 500 and 600, the upper limit value VHLIM () of the voltage value applied to the MG (1) 200 and MG (2) 300 according to the temperature of the inverters 500 and 600 1) is calculated (S102).

  Further, the atmospheric pressure is detected based on the signal transmitted from the atmospheric pressure vessel 2012 (S104). In order to reduce the amount of partial discharge to the insulators of inverters 500, 600, MG (1) 200 and MG (2) 300, it is applied to MG (1) 200 and MG (2) 300 according to the atmospheric pressure. The upper limit value VHLIM (2) of the voltage value is calculated (S106).

  The smaller one of the upper limit value VHLIM (1) calculated according to the temperature of the inverters 500 and 600 and the upper limit value VHLIM calculated according to the atmospheric pressure is calculated as the upper limit value VHLIM (3) of the voltage value. (S108).

  By the way, when the voltage value applied to MG (1) 200 and MG (2) 300 is limited, and the upper limit value VHLIM varies, the absolute value of the maximum torque that can be output by MG (1) 200 and MG (2) 300 Also fluctuate.

  Therefore, a shock may occur due to a sudden change in the driving force from MG (2) 300. Further, since the torque applied by MG (1) 200 in the direction of decreasing the output shaft rotational speed of engine 100 is insufficient, the output shaft rotational speed of engine 100 may increase more than necessary as shown in FIG. . Therefore, when updating the upper limit value VHLIM, it is necessary to limit the rate of change.

  Therefore, if calculated upper limit value VHLIM (3) is smaller than currently set upper limit value VHLIM (YES in S110), a value obtained by subtracting limit value DNRT from currently set upper limit value VHLIM is calculated. By setting the larger one of the upper limit values VHLIM (3) as a new upper limit value VHLIM, the upper limit value VHLIM is updated (S112).

  When calculated upper limit value VHLIM (3) is larger than currently set upper limit value VHLIM (YES in S120), a value obtained by adding limit value UPRT to currently set upper limit value VHLIM and a calculated upper limit By setting the smaller one of the values VHLIM (3) as a new upper limit value VHLIM, the upper limit value VHLIM is updated (S122). Converter 800 is controlled such that the voltage value applied to MG (1) 200 and MG (2) 300 is equal to or lower than upper limit value VHLIM (S130).

  Thereby, the rate of change of the voltage value applied to MG (1) 200 and MG (2) 300 can be suppressed to the limit value DNRT or the limit value UPRT or less. Therefore, it is possible to reduce the fluctuation amount of the maximum torque that can be output by MG (1) 200 and MG (2) 300.

  As described above, according to the control device according to the present embodiment, the upper limit of the voltage value applied to MG (1) and MG (2) so that the rate of change is equal to or lower than limit value DNRT or limit value UPRT. The value VHLIM is updated. Thereby, the fluctuation | variation amount of the largest torque which MG (1) and MG (2) can output can be reduced.

  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 map used in order to calculate the upper limit VHLIM (1) of a voltage value. It is a figure which shows the map used in order to calculate the upper limit VHLIM (2) of a voltage value. 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, 3000 Update unit, 3002 Control unit.

Claims (10)

A rotating electrical machine coupled to an output shaft of an internal combustion engine and at least one of wheels so as to transmit torque;
A converter for adjusting a voltage applied to the rotating electrical machine;
Means for controlling the converter so that a voltage applied to the rotating electrical machine is equal to or lower than a set upper limit value;
A vehicle control device comprising: an updating unit configured to update the upper limit value so that a rate of change of the upper limit value is equal to or less than a predetermined value. The updating means includes
Calculating means for calculating an upper limit value of the voltage applied to the rotating electrical machine;
When the calculated upper limit value is smaller than the currently set upper limit value, the larger one of the value obtained by subtracting the predetermined value from the currently set upper limit value and the calculated upper limit value The vehicle control device according to claim 1, further comprising: means for updating the upper limit value by setting as a new upper limit value. The updating means includes
Calculating means for calculating an upper limit value of the voltage applied to the rotating electrical machine;
When the calculated upper limit value is larger than the currently set upper limit value, the smaller of the value obtained by adding the predetermined value to the currently set upper limit value and the calculated upper limit value The vehicle control device according to claim 1, further comprising: means for updating the upper limit value by setting as a new upper limit value.   The vehicle control device according to claim 1, wherein the calculation unit includes a unit for calculating the 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 claim 1, wherein the calculation unit includes a unit for calculating the upper limit value according to a temperature of the inverter. A control method for a vehicle, comprising: a rotating electrical machine connected to at least one of an output shaft and a wheel of an internal combustion engine so that torque can be transmitted; and a converter for adjusting a voltage applied to the rotating electrical machine,
Controlling the converter so that a voltage applied to the rotating electrical machine is equal to or lower than a set upper limit value;
And a step of updating the upper limit value so that the rate of change of the upper limit value is not more than a predetermined value. The step of updating the upper limit value includes
Calculating an upper limit value of the voltage applied to the rotating electrical machine;
When the calculated upper limit value is smaller than the currently set upper limit value, the larger one of the value obtained by subtracting the predetermined value from the currently set upper limit value and the calculated upper limit value The vehicle control method according to claim 6, further comprising the step of updating the upper limit value by setting as a new upper limit value. The step of updating the upper limit value includes
Calculating an upper limit value of the voltage applied to the rotating electrical machine;
If the calculated upper limit value is larger than the currently set upper limit value, the smaller of the value obtained by adding the predetermined value to the currently set upper limit value and the calculated upper limit value The vehicle control method according to claim 6, further comprising the step of updating the upper limit value by setting as a new upper limit value.   The vehicle control method according to claim 6, wherein the step of calculating the upper limit value includes a step of calculating the 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 calculating the upper limit value includes a step of calculating the upper limit value according to a temperature of the inverter.

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