CN104859656A - Braking of motor vehicle with electric drive rolling against driving direction of driving mechanism - Google Patents

Braking of motor vehicle with electric drive rolling against driving direction of driving mechanism Download PDF

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Publication number
CN104859656A
CN104859656A CN201510083506.8A CN201510083506A CN104859656A CN 104859656 A CN104859656 A CN 104859656A CN 201510083506 A CN201510083506 A CN 201510083506A CN 104859656 A CN104859656 A CN 104859656A
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CN
China
Prior art keywords
drive torque
specified value
vidacare corp
acceleration pedal
driving
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Granted
Application number
CN201510083506.8A
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Chinese (zh)
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CN104859656B (en
Inventor
C·埃尔布古特
G·克雷默
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Publication of CN104859656A publication Critical patent/CN104859656A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18118—Hill holding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/89—Repartition of braking force, e.g. friction braking versus regenerative braking
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

The invention relates to a braking method of a motor vehicle with a driving mechanism containing an electric drive and an operating and braking system. The motor vehicle is rolling against the selectable direction of travel of the driving mechanism on an inclined surface due to the downgrade weight component. According to the method, the driving torque specified value of the driving torque operating along the driving direction against the rolling movement is relatively determined with an accelerator pedal value representing the operating characteristic of the accelerator pedal. The electric drive is operated to generate a driving torque acting along the driving direction and against the rolling movement during the electricity generating operation. The driving torque specified value is exceeded the driving potential of the electric drive during the electricity generating operation as soon as the operating and braking system is controlled, so that the operating and braking system generates the additional braking torque against the rolling movement.

Description

There is the braking of self-propelled vehicle when the travel direction being in reverse to driver train rolls of Vidacare corp
Technical field
The present invention relates to a kind of method for braking self-propelled vehicle, this self-propelled vehicle has the driver train and mechanical type running brake system that comprise Vidacare corp, and wherein, the optional travel direction that self-propelled vehicle is in reverse to driver train rolls.
Background technology
In the meaning of the application, the concept of " having the self-propelled vehicle of the driver train comprising Vidacare corp " had both comprised elec. vehicle that can charge via exterior power supply plant, that have optional explosive motor formula increasing journey driving engine and had also comprised the motor vehicle driven by mixed power with explosive motor and Vidacare corp.In the self-propelled vehicle with such drive system, Vidacare corp can produce the Mechanical Driven moment for driving machine motor-car.In such self-propelled vehicle, the kinetic energy of self-propelled vehicle can be converted to electric energy and be supplied to the accumulator of electric energy (typically being: battery or electric capacity) of driver train in the generator operation of Vidacare corp.The kinetic energy of self-propelled vehicle regenerates to this conversion of electric energy also referred to as (electricity).On electrical motor, set a moment in order to regenerating, this moment is resisted the motion of self-propelled vehicle and is made this deceleration of motion.
It is likely that (such as roll backward or the rolls forward when hanging backward gear when hanging forward gear) when the expectation travel direction being in reverse to driver train on the moving traffic lane tilted due to the reason of the weight component downward along slope rolls, electrical motor sets the positive drive torque of the travel direction effect along driver train, wherein, this positive drive torque resisting rolling and brake this rolling movement.Then actuating device works in generator operation: the rotor of Vidacare corp is rotated along the direction determined by the rolling movement of vehicle; Be set in drive torque on electrical motor and this rotates and acts on the contrary, thus produce electric power in this way.
Can reduce the contrary with the rolling movement of self-propelled vehicle in generator operation of electrical motor when certain can the drive torque of maximal regulated, such as, when completely or significantly charging and this energy storage can not absorb electric power or only can also absorb a small amount of electric power energy storage.Driving potential (Antriebspotential) (i.e. its power of regeneration) for the Vidacare corp of the positive drive torque of resisting rolling motion declines in such cases.One exceedes the rotary motion driving the drive torque of potential to resist the Vidacare corp rotor caused by the partical gravity downward along slope, and this drive torque can produce so high electric power, and the energy storage such as charged can not absorb this electric power again.
May cause in such a case: positive drive torque can not brake rolling movement and vehicle is in reverse to the motion of expectation travel direction.
Summary of the invention
The object of the invention is to eliminate this shortcoming.
This object is achieved by the feature of independent claims.In the dependent claims useful embodiment is set forth.
First viewpoint of the present invention relates to a kind of method for braking self-propelled vehicle, and this self-propelled vehicle has the driver train and running brake system (disk brake system of such as hydraulic pressure) that comprise Vidacare corp.The optional travel direction that self-propelled vehicle is in reverse to driver train due to the reason of the weight component downward along slope rolls on dip plane, such as, retreat when hanging forward gear or advance when hanging backward gear.According to this method, with represent the acceleration pedal value (such as acceleration pedal angle) of feature that acceleration pedal is handled determine relatively along travel direction effect and the drive torque specified value of drive torque that resisting rolling moves.The numerical value of this drive torque specified value increases along with the increase of acceleration pedal manipulation at this, and in other words, the degree handling acceleration pedal is larger, and the numerical value of drive torque specified value is higher.
In addition, with one or more influence factor relatively, such as with real time charging state, the speed of a motor vehicle of accumulator of electric energy (such as battery) and/or drive rotating speed to determine the driving potential for (in other words, the resisting rolling moves) drive torque along travel direction effect of the Vidacare corp run in generator operation relatively.The rotor of Vidacare corp is rotated along the direction determined by the rolling movement people of vehicle; The drive torque that electrical motor sets is resisted this and is rotated, and thus produces electric power in this way.
Drive potential to be preferably moment values, then this moment values can compare with drive torque specified value; Instead may also be considered that: use magnitude of power (Leistungsgroesse) for driving potential.
Manipulation Vidacare corp like this, make this Vidacare corp produce in generator operation along travel direction effect and the drive torque that resisting rolling moves.As long as drive torque specified value is no more than driving potential, the drive torque produced is just such as substantially identical with drive torque specified value.As long as drive torque specified value exceedes the driving potential in generator operation, the drive torque produced just such as conforms to driving potential substantially.
As long as drive torque specified value exceedes the driving potential of the Vidacare corp in generator operation, with regard to automatically (namely without the need to by driver's brake activation pedal), running brake system is manipulated, that is, this running brake system produces the additional lock torque of resisting rolling motion.This additional lock torque and increase of along with acceleration pedal handling relevant to drive torque specified value and increasing, in other words, the degree that driver handles acceleration pedal is stronger, and the degree of the brake system that operates is stronger.
As long as preferably drive torque specified value exceedes driving potential, additional lock torque is just substantially identical with the difference between drive torque specified value and the driving potential of Vidacare corp.This means: additional lock torque offsets the part exceeding driving potential of drive torque specified value completely.But may also be considered that: only partially by additional lock torque to offset this part of drive torque specified value.
When vehicle is in reverse to the rolling of selected travel direction (such as retreating when hanging forward gear), can calculate the driving potential of the electrical motor in generator operation for drive torque, this driving potential can be in reverse to the hand of rotation caused by the rolling movement setting of electrical motor and brake rolling movement.When this potential be less than handle with acceleration pedal the drive torque specified value determined relatively time, can according at drive torque specified value and drive the difference between potential manipulate running brake system, until vehicle stops.
Driver can to brake vehicle when being in reverse to travel direction and rolling backward (and make vehicle acceleration to a positive speed by handling acceleration pedal further after reaching dead ship condition by handling acceleration pedal based on method according to the present invention, wherein, the drg that operates then does not reset lock torque).Driver need only handle acceleration pedal for this reason; Automatically implement the manipulation to running brake system when exceeding the driving potential of electrical motor according to the drive torque required by driver, and driver need not brake activation pedal.
Second viewpoint of the present invention relates to a kind of vehicle control system, and it is braked for the self-propelled vehicle rolled on dip plane to the optional travel direction being in reverse to driver train, and this self-propelled vehicle has the driver train and running brake system that comprise Vidacare corp.This vehicle control system is set to: with represent the acceleration pedal value (Fahrpedalgroesse) of feature that acceleration pedal is handled determine relatively along travel direction effect and the drive torque specified value of drive torque that resisting rolling moves, the increase that the numerical value of this drive torque specified value is handled along with acceleration pedal and increasing.In addition, described vehicle control system is set to: determine the driving potential for the drive torque along travel direction effect of the Vidacare corp run in generator operation relatively with one or more influence factor.In addition, described vehicle control system is set to: manipulate Vidacare corp as follows, make this Vidacare corp produce in generator operation along travel direction effect and the drive torque that resisting rolling moves.As long as drive torque specified value exceedes the driving potential of Vidacare corp, described vehicle control system is just following controls running brake system, this running brake system is made to produce the additional lock torque of resisting rolling motion, this additional lock torque and increase of along with acceleration pedal handling relevant to drive torque specified value and increasing.
Also the vehicle control system of the present invention according to the second viewpoint of the present invention is applicable in the corresponding way according to the above-mentioned form of implementation of the method for the present invention of the first viewpoint of the present invention.The useful embodiment of the vehicle according to the invention control system do not clearly not stated herein conforms to according to the useful embodiment of method of the present invention with illustrated.
Preferably, vehicle control system comprises the driving control device for controlling electric driver mechanism; At this, it can be two control conveniences be separated, such as to driving the device for controlling engine that electronic mechanism (Antriebselektronik) manipulates and the driving electronic mechanism manipulated Vidacare corp, this driving electronic mechanism comprises power electronic mechanism.Driving control device is set to: measure drive torque specified value relatively with acceleration pedal value, and determines relatively to drive potential with one or more influence factor.Driving control device is by drive torque specified value and drive potential to send to braking force control system by data bus.In addition, vehicle control system comprises the braking force control system of the running brake system for controlling machine motor-car, and this braking force control system is such as connected with the device for controlling engine of driving control device by vehicle bus.Braking force control system is set to: receive drive torque specified value and drive potential and set additional lock torque by running brake system related to thisly.
Accompanying drawing explanation
The present invention is set forth by embodiment below with reference to accompanying drawing.In accompanying drawing:
Fig. 1 is the embodiment of vehicle according to the invention control system;
Fig. 2 is the embodiment according to method of the present invention;
Fig. 3 is the exemplary M curve about speed of a motor vehicle v.
Detailed description of the invention
Shown in Fig. 1 is exemplary vehicle according to the invention control system.This vehicle control system comprises drived control mechanism 1.This drived control mechanism 1 can comprise multiple control convenience, such as engine control gear and driving electronic mechanism.Drived control mechanism 1 receives the acceleration pedal manipulation value FP from accelerator pedal sensor, and this acceleration pedal manipulation value represents that acceleration pedal is handled.Acceleration pedal manipulation value FP has the signal from 0 (not handling acceleration pedal) to the number range of 100% (at utmost handling acceleration pedal).Drived control mechanism 1 and acceleration pedal manipulation value FP and speed of a motor vehicle v determine relatively along travel direction effect and react on the drive torque specified value M of the drive torque of rolling movement fW.When constant airspeed, drive torque specified value M fWthe increase handled along with acceleration pedal of numerical value and increase.
Drive torque specified value M fWreceived by (comprising power electronic mechanism) drived control mechanism 5, this drived control mechanism manipulates Vidacare corp EM as follows, make to change drive torque specified value M by Vidacare corp 6 fW.In addition, drived control mechanism determines the driving potential M for the drive torque along travel direction effect of Vidacare corp 6 explicitly in the generator operation of actuating device 6 with the charge condition SOC of multiple influence factor, such as accumulator of electric energy 8 and speed of a motor vehicle v max.Drive potential M maxrepresent the power of regeneration of Vidacare corp.
Drive torque specified value M fWwith driving potential M maxbrake control apparatus 9 is transferred to via communication bus 7.This brake control apparatus and drive torque specified value M fWwith driving potential M maxdetermine lock torque specified value M explicitly b, soll.By the corresponding manipulation of the actr to hydraulic brake system 10 by lock torque specified value M b, sollbe converted to lock torque M b.
Shown in Fig. 2 is embodiment according to method of the present invention, and this embodiment is such as achieved in the vehicle control system shown in Fig. 1.In step 100, the acceleration pedal manipulation value FP of expression acceleration pedal manipulation, the charge condition SOC of accumulator of electric energy and speed of a motor vehicle v are measured.In step 110, determine relatively with acceleration pedal manipulation value FP and speed of a motor vehicle v along travel direction effect and the drive torque specified value M of drive torque that reacts on rolling movement fW.In addition, in the generator operation of actuating device 6, the driving potential M for the drive torque along travel direction effect of Vidacare corp 6 is determined alternatively relatively with speed of a motor vehicle v with the charge condition SOC of accumulator of electric energy 8 max.
As long as drive torque specified value M fWbe no more than and drive potential M max, the drive torque M braked just is carried out by Vidacare corp 8 paired rolling movement in next life eM, the numerical value of this drive torque and desired drive torque M fWidentical (with reference to step 120).
As long as drive torque specified value M fWexceed and drive potential M max, just to roll in pairs next life the drive torque M carrying out braking by Vidacare corp 8 eM, numerical value and the driving potential M of this drive torque maxidentical (with reference to step 130).In addition, lock torque M is generated by running brake system 10 b, the numerical value of this lock torque and drive torque specified value M fWwith the driving potential M of Vidacare corp 6 maxbetween difference identical (with reference to step 140).
Shown in Fig. 3 is M curve about speed of a motor vehicle v.At this, speed of a motor vehicle v on the occasion of conforming to the vehicle movement along selected driver train travel direction, in other words, conform to the vehicle movement along working direction when hanging forward gear and conform to the vehicle movement along astern direction when hanging backward gear.The negative value of the speed of a motor vehicle conforms to the vehicle movement being in reverse to selected driver train travel direction, in other words, conforms to and conform to the vehicle movement along working direction when hanging backward gear when hanging forward gear with the vehicle movement along astern direction.Positive drive torque is in reverse to rolling movement along expecting travel direction and works.Cause producing electric power along when expecting hand of rotation and the moment reverse direction of the positive drive torque of travel direction when negative speed of a motor vehicle v and thus at the rotor of electrical motor 6.
Shown in short-term dotted line is electrical motor 6 being in reverse to driving potential M relevant to the speed of a motor vehicle v when selected travel direction carries out rolling movement maxexemplary curve, wherein, charge condition SOC is assumed to be constant for this reason.Shown in dotted line is the drive torque specified value M when not handling acceleration pedal (i.e. FP=0%) fW, FP=0about the exemplary curve of speed of a motor vehicle v.Shown in solid line when certain, suppose to handle acceleration pedal (i.e. FP=FP1), such as FP1=50% consistently by driver by acceleration pedal drive torque specified value M given in advance fW, FP1about the exemplary curve of speed of a motor vehicle v.Shown in long and short dash line is pass through acceleration pedal drive torque specified value M given in advance when at utmost handling acceleration pedal (i.e. FP=100%) by driver fW, FP=maxabout the exemplary curve of speed of a motor vehicle v.Along with the increase that acceleration pedal is handled, pass through acceleration pedal drive torque specified value M given in advance when speed v is constant by driver fWincrease.
As long as the drive torque specified value M when corresponding manipulation acceleration pedal and corresponding speed v fWbe no more than the driving potential M when identical speed v max, so drive torque specified value M fWby producing drive torque M large equally by electrical motor 6 eMchanged.
As long as the drive torque specified value M when corresponding manipulation acceleration pedal and corresponding speed v fWbe greater than the driving potential M when identical speed v max, the drive torque M that rolling movement is braked so is produced by Vidacare corp 8 eM, numerical value and the driving potential M of this drive torque maxidentical.In addition, lock torque M is produced by running brake system 10 b, the numerical value of this lock torque with at drive torque specified value M fWwith the driving potential M of Vidacare corp 6 when corresponding speed of a motor vehicle v maxbetween difference identical.Draw in figure 3 at exemplary (negative) speed of a motor vehicle v=v 1with drive torque specified value M when exemplary acceleration pedal manipulation FP=FP1 fW, FP1, v1.This drive torque specified value M fW, FP1, v1be greater than in this speed v 1when driving potential M max.Therefore drive torque M is produced by electrical motor 6 eM, v1, the numerical value of this drive torque with in this speed v 1when driving potential M maxidentical.In addition, lock torque M is produced by running brake system 10 b, v1, this lock torque with at drive torque specified value M fW, FP1, v1with the driving potential M of Vidacare corp 6 when corresponding speed of a motor vehicle v maxbetween difference conform to.
If at speed v=v 1when, is handled from the further acceleration pedal that improves of acceleration pedal manipulation FP=FP1, so drive torque specified value M fWfurther increase and thus by running brake system 10 produce lock torque M b, v1also increase.
Drive torque M when not handling acceleration pedal fW=0%about the curve of speed of a motor vehicle v and the drive torque M when at utmost handling acceleration pedal fW=100%known about the curve of speed of a motor vehicle v for drived control mechanism 1; Such as these curves are kept in drived control mechanism 1.In order to determine in certain speed v 1with drive torque M when certain acceleration pedal manipulation FP=FP1 fW, FP1, v1, such as, determine the drive torque M when handling acceleration pedal to greatest extent fW, FP=100%with the drive torque M when not handling acceleration pedal fW, FP=0%between difference, this difference is handled FP=FP1 according to acceleration pedal and carries out convergent-divergent and then by this difference through convergent-divergent and numerical value M fW, FP=0%, v1be added.

Claims (5)

1. the method for braking self-propelled vehicle, this self-propelled vehicle has the driver train and running brake system (10) that comprise Vidacare corp (6), wherein, the optional travel direction that self-propelled vehicle is in reverse to driver train rolls on dip plane, and the method has following steps:
With represent the acceleration pedal value (FP) of feature that acceleration pedal is handled determine relatively along travel direction effect and the drive torque specified value (M of drive torque that resisting rolling moves fW), this drive torque specified value (M fW) the increase handled along with acceleration pedal of numerical value and increase;
Driving potential (the M for the drive torque along travel direction effect of the Vidacare corp (6) run in generator operation is determined relatively with one or more influence factor (SOC, v) max);
Following manipulation Vidacare corp (6), make this Vidacare corp produce in generator operation along travel direction effect and the drive torque that resisting rolling moves; With
As long as drive torque specified value (M fW) exceed the driving potential (M of Vidacare corp (6) max), as lower manipulation running brake system (10), make this running brake system produce the additional lock torque (M of resisting rolling motion b), this additional lock torque and increase of along with acceleration pedal handling relevant to drive torque specified value and increasing.
2. the method for claim 1, wherein described additional lock torque (M b) substantially with at drive torque specified value (M fW) and the driving potential (M of Vidacare corp (6) max) between difference identical.
3. the method as described in any one of aforementioned claim, wherein, as drive torque specified value (M fW) exceed the driving potential (M of Vidacare corp (6) max), manipulate Vidacare corp (6) so as follows, make this Vidacare corp produce drive torque, this drive torque substantially with the driving potential (M of Vidacare corp (6) max) identical.
4. vehicle control system, it is braked for the self-propelled vehicle rolled on dip plane to the optional travel direction being in reverse to driver train, this self-propelled vehicle has the driver train and running brake system (10) that comprise Vidacare corp (6), wherein, this vehicle control system is set to:
With represent the acceleration pedal value (FP) of feature that acceleration pedal is handled determine relatively along travel direction effect and the drive torque specified value (M of drive torque that resisting rolling moves fW), this drive torque specified value (M fW) the increase handled along with acceleration pedal of numerical value and increase;
Driving potential (the M for the drive torque along travel direction effect of the Vidacare corp (6) run in generator operation is determined relatively with one or more influence factor (SOC, v) max);
Following manipulation Vidacare corp (6), make this Vidacare corp produce in generator operation along travel direction effect and the drive torque that resisting rolling moves; With
As long as drive torque specified value (M fW) exceed the driving potential (M of Vidacare corp (6) max), as lower manipulation running brake system (10), make this running brake system produce the additional lock torque (M of resisting rolling motion b), this additional lock torque and increase of along with acceleration pedal handling relevant to drive torque specified value and increasing.
5. vehicle control system as claimed in claim 4, wherein, this vehicle control system comprises:
-driving control device (1), this driving control device is set to:
-measure drive torque specified value (M relatively with acceleration pedal value (FP) fW),
-determine relatively to drive potential (M with one or more influence factor (SOC, v) max), and
-by drive torque specified value (M fW) and drive potential (M max) be transferred to braking force control system (9) by data bus (7),
-data bus (7) between driving control device (1) and braking force control system (9) and
-for the braking force control system (9) of the running brake system (10) of controlling machine motor-car, this braking force control system (9) is set to for receiving drive torque specified value (M fW) and drive potential (M max) and set additional lock torque (M by running brake system related to thisly b).
CN201510083506.8A 2014-02-21 2015-02-16 Method for being braked to motor vehicle and vehicle control system Active CN104859656B (en)

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DE102014203186.9A DE102014203186A1 (en) 2014-02-21 2014-02-21 Braking a motor vehicle with an electric drive machine when rolling against the direction of travel of the drive
DE102014203186.9 2014-02-21

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