CN108590818A - A kind of control method reducing cold start emission based on hybrid vehicle - Google Patents
A kind of control method reducing cold start emission based on hybrid vehicle Download PDFInfo
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- CN108590818A CN108590818A CN201810348964.3A CN201810348964A CN108590818A CN 108590818 A CN108590818 A CN 108590818A CN 201810348964 A CN201810348964 A CN 201810348964A CN 108590818 A CN108590818 A CN 108590818A
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- 238000010438 heat treatment Methods 0.000 claims abstract description 20
- 238000005485 electric heating Methods 0.000 claims abstract description 12
- 230000000977 initiatory effect Effects 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 3
- 239000003054 catalyst Substances 0.000 claims description 33
- 230000032683 aging Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
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- 238000009434 installation Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000003672 processing method Methods 0.000 abstract 1
- 230000003197 catalytic effect Effects 0.000 description 19
- 238000007726 management method Methods 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/08—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous
- F01N3/10—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust
- F01N3/18—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control
- F01N3/20—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control specially adapted for catalytic conversion ; Methods of operation or control of catalytic converters
- F01N3/2006—Periodically heating or cooling catalytic reactors, e.g. at cold starting or overheating
- F01N3/2013—Periodically heating or cooling catalytic reactors, e.g. at cold starting or overheating using electric or magnetic heating means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/08—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous
- F01N3/10—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust
- F01N3/18—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control
- F01N3/20—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control specially adapted for catalytic conversion ; Methods of operation or control of catalytic converters
- F01N3/2066—Selective catalytic reduction [SCR]
- F01N3/208—Control of selective catalytic reduction [SCR], e.g. dosing of reducing agent
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2570/00—Exhaust treating apparatus eliminating, absorbing or adsorbing specific elements or compounds
- F01N2570/12—Hydrocarbons
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2570/00—Exhaust treating apparatus eliminating, absorbing or adsorbing specific elements or compounds
- F01N2570/14—Nitrogen oxides
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2590/00—Exhaust or silencing apparatus adapted to particular use, e.g. for military applications, airplanes, submarines
- F01N2590/11—Exhaust or silencing apparatus adapted to particular use, e.g. for military applications, airplanes, submarines for hybrid vehicles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/06—Parameters used for exhaust control or diagnosing
- F01N2900/10—Parameters used for exhaust control or diagnosing said parameters being related to the vehicle or its components
- F01N2900/104—Battery status
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/06—Parameters used for exhaust control or diagnosing
- F01N2900/16—Parameters used for exhaust control or diagnosing said parameters being related to the exhaust apparatus, e.g. particulate filter or catalyst
- F01N2900/1602—Temperature of exhaust gas apparatus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Hybrid Electric Vehicles (AREA)
- Exhaust Gas After Treatment (AREA)
Abstract
The control method of cold start emission is reduced the invention discloses a kind of electric heating type ternary catalystic device structure and based on hybrid vehicle, entire car controller detects whether ECU controls engine start by CAN bus, if after detecting engine start, entire car controller reads current ternary catalyzing unit temperature T and battery SOC, is compared with the initiation temperature T1 of setting；If more than initiation temperature T1, then engine is judged for thermal starting state, ternary catalyzing unit does not need electrical heating, closes electrical heating；If being less than T1, engine is cold start, at this point, judging battery SOC state based on CAN bus communication, and disclose further processing method.The present invention using on mixed power electric car high capacity cell and high voltage installation provide external heat source for ternary catalyzing unit, under the premise of meeting dynamic property, for the purpose of the vehicle discharge for reducing cold-start phase, to further play the performance advantage of hybrid vehicle low stain.
Description
Technical field
The invention belongs to hybrid vehicle emission performance Optimized-control Technique fields, and in particular to one kind is in vehicle cold-start
Or during the operating mode frequent start-stop of city, for the purpose of the discharge of the cold-start phase before reducing three-way catalytic converter ignition,
The control method that three-way catalytic converter is electrically heated using the high capacity cell on mixed power electric car.
Background technology
Increasingly stringent with emission regulation, the emission problem of engine cold starting process seems more and more prominent.Research
Show that cold-start period accounts for entirely testing to the discharge contribution amount of spark-ignition engine vehicle behavior method discharging limit value HC and CO
50%-the 80% of process discharge amount.Meanwhile hybrid vehicle closes engine under idling and pure electric vehicle operating mode, to reach
The purpose for reducing oil consumption, reducing discharge.Although being mounted with exhaust gas cleaner in modern automobile exhaust system --- ternary is urged
Change converter, the pernicious gases such as carbon monoxide, hydrocarbon and oxynitrides in vehicle exhaust can be passed through oxidation by it
It is changed into harmless carbon dioxide, water and nitrogen with reduction.But it is frequently risen in engine cold-start or city state of cyclic operation
During stopping, since three-way catalytic converter temperature declines, catalytic conversion efficiency is caused to reduce, deterioration of emission.Studies have shown that urging
The transfer efficiency of agent has positive connection with temperature, and the characteristic just started to work when catalyst converter only reaches certain temperature rises
Temperature characterisitic is fired, the temperature when transfer efficiency reaches 50% is exactly initiation temperature.Ternary catalyzing unit energy at 400~600 DEG C
Reach optimum Working, i.e., it can make CO, HC, NOx of engine emission while reduce by 90% or more；Temperature is less than 300
DEG C when, catalytic effect drastically reduces；When more than 650 DEG C, ternary catalyzing unit can lose because noble metal is with aluminum oxide coating layer cause thermal damage
Effect.
For accelerate catalyst converter ignition, improve the temperature of catalyst, engine start often take increase circulating fuel injection quantity,
Reduce the measures such as ignition advance angle to improve delivery temperature, but this can also increase HC, CO discharge capacity.On the other hand, hybrid power
Automobile uses 2 power sources of internal combustion engine and motor, and more control freedom degrees are provided to accelerate catalyst converter ignition.Therefore,
The emission performance of research hybrid vehicle cold-start phase is of great significance.
Orthodox car has by the method for heating ternary catalyzing unit to reduce cold-start phase discharge：In engine start
It often takes and increases circulating fuel injection quantity, reduces the measures such as ignition advance angle to improve delivery temperature, but this can also increase HC, CO discharge
Amount；It is heated using 12/24V accumulator low-voltages, but power consumption is excessive, easily causes accumulator feeding；By optimizing three-element catalytic
Device structure and installation site allow three-way catalytic converter close proximity to exhaust manifold outlet, to improve delivery temperature, but it is this
Mode makes the serious heat-shock of three-way catalytic converter influence, and easily causes catalyst aging.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of using big on mixed power electric car
Capacity batteries and high voltage installation provide external heat source for ternary catalyzing unit, under the premise of meeting dynamic property, to accelerate ternary
Catalytic converter ignition reduces the dress of the hybrid vehicle reduction cold start emission for the purpose of the vehicle discharge of cold-start phase
It sets and method.
The purpose of the present invention is achieved through the following technical solutions：One kind reducing cold start-up based on hybrid vehicle
The control method of discharge, including ternary catalyzing unit computer heating control mode：
First, entire car controller detects whether ECU controls engine start by CAN bus, if detecting, engine opens
After dynamic, entire car controller reads current catalytic converter temperature T and battery SOC, in this, as judging electric heating type three-element catalytic
Whether converter reaches the foundation of initiation temperature, i.e., is compared with the initiation temperature T1 of setting；
If more than initiation temperature T1, then engine is judged for thermal starting state, catalytic converter does not need electrical heating, closes
Electrical heating；
If being less than T1, engine is cold start, at this point, judging battery SOC state based on CAN bus communication,
If SOC is more than 30%, shows that battery capacity is higher, then connect electrical heating heat source, is heated to catalyst converter by battery pack；If small
In 30%, then shows that SOC value of battery is relatively low, be then switched to driving charge mode.
It is preferred that by detect catalyst converter Current Temperatures T and catalyst converter optimum working temperature upper limit threshold T2 into
Row compares, if being less than T2, control logic jumps to cold-start phase；Conversely, showing that catalyst temperature is in best model at this time
In enclosing, electric heating function need to be closed.
It is preferred that temperature T2 demarcates to obtain by experimental stand.
It is preferred that temperature T1 demarcates to obtain by experimental stand.
The electric heating type ternary catalystic device structure equipped on hybrid vehicle, it includes that engine and its electronic control are single
First (Electronic Control Unit, ECU), exhaust manifold, three-way catalytic converter, electrical-heating source, temperature sensor T
With vehicle battery pack and battery management system (Battery Management System, BMS).
It is preferred that when entire car controller is in by CAN bus infomation detection to engine and is started, according to temperature
The battery charge state (State Of Charge, SOC) of information and battery pack BMS that sensor T is acquired is spent to connect three
First catalytic converter heated current, so that the electric heat source inside catalyst converter generates heat to improve catalyst temperature.
It is preferred that after catalyst converter ignition, when ensureing that temperature is in a certain range in catalyst converter, heating electricity is disconnected
Stream prevents catalyst temperature from rising too high to reduce energy consumption, avoids catalyst converter sintering and aging.
The beneficial effects of the invention are as follows：Using on mixed power electric car high capacity cell and high voltage installation be three
First catalyst converter provides external heat source, under the premise of meeting dynamic property, to accelerate three-way catalytic converter ignition, reduces cold start-up
For the purpose of the vehicle discharge in stage, to further play the performance advantage of hybrid vehicle low stain.
Description of the drawings
Fig. 1 is electric heating type ternary catalystic device structure schematic diagram；
Fig. 2 is ternary catalyzing unit computer heating control flow；
In figure, 1- engines, 2-ECU, 3-BMS, 4- battery packs, 5- catalyst converter honeycomb coatings, 6- ternary catalyzing units, 7- walls
Body, 8- temperature sensors, 9- entire car controllers, 10- electrical-heating sources, 11- exhaust manifolds, 12-CAN signal wires.
Specific implementation mode
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
It is as described below.
As shown in Fig. 2, a kind of control method reducing cold start emission based on hybrid vehicle, including ternary catalyzing unit
6 computer heating control modes：
First, entire car controller 9 detects whether ECU2 controls the startup of engine 1 by CAN bus, if detecting engine
After 1 starts, entire car controller 9 reads current catalytic converter temperature T and battery SOC, in this, as judging electric heating type ternary
Whether catalytic converter reaches the foundation of initiation temperature, i.e., is compared with the initiation temperature T1 of setting；
If more than initiation temperature T1, then judge that engine 1 is thermal starting state, catalytic converter does not need electrical heating, closes
Close electrical heating；
If being less than T1, engine 1 is cold start, at this point, being communicated based on CAN bus (or CAN signal line 12)
Judge battery SOC state, if SOC is more than 30%, shows that battery capacity is higher, then connect electrical heating heat source, by battery pack 4
It is heated to catalyst converter；If being less than 30%, shows that SOC value of battery is relatively low, be then switched to driving charge mode.
In a preferred embodiment, by detecting catalyst converter Current Temperatures T and catalyst converter optimum working temperature upper limit threshold
Value T2 is compared, if being less than T2, control logic jumps to cold-start phase；Conversely, showing that catalyst temperature is at this time
In optimum range, electric heating function need to be closed.
In a preferred embodiment, temperature T2 demarcates to obtain by experimental stand.
In a preferred embodiment, temperature T1 demarcates to obtain by experimental stand.
As shown in Figure 1,6 structure of electric heating type ternary catalyzing unit equipped on hybrid vehicle, it include engine 1 and
Its electronic control unit (Electronic Control Unit, ECU2), exhaust manifold 11, ternary catalyzing unit 6 are (such as Fig. 1 institutes
Show, it can be seen that the wall body 7 and catalyst converter honeycomb coating 5 of ternary catalyzing unit 6), electrical-heating source 10, temperature sensor 8T and vehicle
Battery pack 4 and battery management system (Battery Management System, BMS3).
In a preferred embodiment, start when entire car controller 9 is in by CAN bus infomation detection to engine 1
When, according to temperature sensor 8T acquisition information and battery pack 4BMS3 battery charge state (State Of Charge,
SOC) three-way catalytic converter heated current is connected, so that the electric heat source inside catalyst converter generates heat to improve catalysis
Device temperature.
In a preferred embodiment, it after catalyst converter ignition, when ensureing that temperature is in a certain range in catalyst converter, disconnects
Heated current prevents catalyst temperature from rising too high to reduce energy consumption, avoids catalyst converter sintering and aging.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, it is noted that all
All any modification, equivalent and improvement made by within the spirit and principles in the present invention etc. should be included in the guarantor of the present invention
Within the scope of shield.
Claims (7)
1. a kind of control method reducing cold start emission based on hybrid vehicle, which is characterized in that including ternary catalyzing unit
Computer heating control mode：
Entire car controller detects whether ECU controls engine start by CAN bus, if after detecting engine start, vehicle
Controller reads current ternary catalyzing unit temperature T and battery SOC, is compared with the initiation temperature T1 of setting；
If more than initiation temperature T1, then engine is judged for thermal starting state, ternary catalyzing unit does not need electrical heating, closes electricity and adds
Heat；
If being less than T1, engine is cold start, at this point, judging battery SOC state based on CAN bus communication, if SOC
More than 30%, then show that battery capacity is higher, then connect electrical heating heat source, is heated to ternary catalyzing unit by battery pack；If small
In 30%, then shows that SOC value of battery is relatively low, be then switched to driving charge mode.
2. a kind of control method reducing cold start emission based on hybrid vehicle according to claim 1, feature
It is：It is compared by detecting ternary catalyzing unit Current Temperatures T and ternary catalyzing unit optimum working temperature upper limit threshold T2, if
Less than T2, then control logic jumps to cold-start phase；Conversely, showing that catalyst temperature is in optimum range at this time, needs to close
Close electric heating function.
3. a kind of control method reducing cold start emission based on hybrid vehicle according to claim 2, feature
It is：Temperature T2 demarcates to obtain by experimental stand.
4. a kind of control method reducing cold start emission based on hybrid vehicle according to claim 1, feature
It is：Temperature T1 demarcates to obtain by experimental stand.
5. the electric heating type ternary catalystic device structure equipped on hybrid vehicle, it is characterised in that：It include engine and its
Electronic control unit, exhaust manifold, ternary catalyzing unit, electrical-heating source, temperature sensor T and vehicle battery pack and battery management system
System.
6. the electric heating type ternary catalystic device structure equipped on hybrid vehicle according to claim 5, feature exist
In：When entire car controller is in by CAN bus infomation detection to engine to be started, the letter according to temperature sensor T acquisitions
The battery charge state of breath and battery pack BMS connect ternary catalyzing unit heated current, so that the electricity inside catalyst converter
Heat source generates heat to improve catalyst temperature.
7. the electric heating type ternary catalystic device structure equipped on hybrid vehicle according to claim 5 or 6, feature
It is：After catalyst converter ignition, when ensureing that temperature is in a certain range in ternary catalyzing unit, heated current is disconnected to reduce energy
Consumption, while preventing catalyst temperature from rising too high, avoid catalyst converter sintering and aging.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810348964.3A CN108590818A (en) | 2018-04-18 | 2018-04-18 | A kind of control method reducing cold start emission based on hybrid vehicle |
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| CN201810348964.3A CN108590818A (en) | 2018-04-18 | 2018-04-18 | A kind of control method reducing cold start emission based on hybrid vehicle |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109611182A (en) * | 2019-02-22 | 2019-04-12 | 奇瑞汽车股份有限公司 | A kind of control method of engine electro-heated catalyst |
| CN110758375A (en) * | 2019-10-31 | 2020-02-07 | 安徽江淮汽车集团股份有限公司 | Vehicle control method, hybrid vehicle, and readable storage medium |
| CN110794249A (en) * | 2019-11-21 | 2020-02-14 | 中国汽车技术研究中心有限公司 | A low temperature cold start test device and method for a fuel cell passenger vehicle |
| CN111196266A (en) * | 2020-01-20 | 2020-05-26 | 浙江锋锐发动机有限公司 | Torque distribution method, system and device for catalyst ignition stage |
| CN111828189A (en) * | 2020-06-11 | 2020-10-27 | 义乌吉利自动变速器有限公司 | Control method, device and equipment for starting engine |
| CN111980813A (en) * | 2019-05-21 | 2020-11-24 | 上海汽车集团股份有限公司 | Method and system for reducing engine emissions in a hybrid vehicle |
| FR3104638A1 (en) * | 2019-12-13 | 2021-06-18 | Psa Automobiles Sa | PROCESS FOR MANAGING THE PRIMING OF A HYBRID VEHICLE CATALYST |
| CN113074054A (en) * | 2021-04-06 | 2021-07-06 | 浙江吉利控股集团有限公司 | Heating control method, heating control device, electronic apparatus, and storage medium |
| CN113382903A (en) * | 2019-01-31 | 2021-09-10 | 奥迪股份公司 | Method for operating a vehicle |
| CN113879278A (en) * | 2021-10-30 | 2022-01-04 | 重庆长安汽车股份有限公司 | Hybrid vehicle emission control method, system and computer readable storage medium |
| CN113942369A (en) * | 2020-07-17 | 2022-01-18 | 奥迪股份公司 | hybrid vehicle |
| CN114776416A (en) * | 2022-04-01 | 2022-07-22 | 浙江吉利控股集团有限公司 | Internal combustion engine emission control system, control method, and vehicle |
| CN115263570A (en) * | 2021-04-29 | 2022-11-01 | 沃尔沃汽车公司 | Method for reducing cold start emissions in a hybrid electric vehicle |
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| JPH1089053A (en) * | 1996-09-13 | 1998-04-07 | Toyota Motor Corp | Hybrid type vehicle |
| WO2008120555A1 (en) * | 2007-03-28 | 2008-10-09 | Toyota Jidosha Kabushiki Kaisha | Vehicle, and its control method |
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