CN104859656B - Method for being braked to motor vehicle and vehicle control system - Google Patents

Method for being braked to motor vehicle and vehicle control system Download PDF

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Publication number
CN104859656B
CN104859656B CN201510083506.8A CN201510083506A CN104859656B CN 104859656 B CN104859656 B CN 104859656B CN 201510083506 A CN201510083506 A CN 201510083506A CN 104859656 B CN104859656 B CN 104859656B
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Prior art keywords
driving
moment
specified value
vidacare corp
driving moment
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CN201510083506.8A
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CN104859656A (en
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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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    • 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 present invention relates to the methods for being braked to the motor vehicle with driving mechanism and operating braking system including Vidacare corp.Motor vehicle is rolled due to the optional travel direction for being in reverse to driving mechanism along the downward weight component in slope on inclined surface.According to this method, with the driving moment specified value for indicating that the accelerator pedal value of accelerator pedal manipulation feature relatively determines driving moment acted on along travel direction and that resisting rolling moves.The driving potential for the driving moment of the Vidacare corp run in generator operation acted on along travel direction is also relatively determined with one or more influence factors.Manipulate Vidacare corp so that it generates driving moment acted on along travel direction and that resisting rolling moves in generator operation.As long as driving moment specified value is more than driving potential of the Vidacare corp in generator operation, operating braking system is manipulated so that the additional braking moment of its generation resisting rolling movement.

Description

Method for being braked to motor vehicle and vehicle control system
Technical field
The present invention relates to a kind of method for being braked to motor vehicle, it includes Vidacare corp which, which has, Driving mechanism and mechanical operating braking system, wherein the optional travel direction that motor vehicle is in reverse to driving mechanism rolls.
Background technology
In the sense that the application, the concept of " motor vehicle with the driving mechanism for including Vidacare corp " both included Electric vehicle can charging via exterior power supply plant, increasing journey engine with optional internal combustion engine formula also includes having The hybrid vehicle of internal combustion engine and Vidacare corp.In the motor vehicle with such drive system, electronic drive Dynamic device can generate the Mechanical Driven torque for driving motor vehicle.In such motor vehicle, the kinetic energy of motor vehicle is in electricity Electric energy can be converted in the generator operation of dynamic driving device and is supplied to the accumulator of electric energy of driving mechanism (typically： Battery or capacitance).This conversion of the kinetic energy of motor vehicle to electric energy is also referred to as (electricity) regeneration.In order to regenerate and on motor A torque is set, which resists the movement of motor vehicle and make this deceleration of motion.
Likely：On inclined runway driving machine is in reverse to due to along the downward weight component in slope When the expectation travel direction of structure rolls (such as in the case where hanging forward gear backward rolling or in the case where hanging reverse gear shift forward Roll), the positive driving moment that setting is acted on along the travel direction of driving mechanism on motor, wherein the positive driving moment Resisting rolling and brake the rolling movement.Then driving device works in generator operation：The rotor of Vidacare corp is logical It crosses the rolling movement of vehicle and is rotated along determining direction；The driving moment being set on motor rotates on the contrary with this Effect, to generate electrical power in this way.
The opposite with the rolling movement of motor vehicle in generator operation of motor can be reduced in the case of certain can The driving moment of maximal regulated, such as when charging and the accumulator cannot absorb electrical power or only to accumulator completely or significantly When can also only absorb a small amount of electrical power.The driving potential of the Vidacare corp of positive driving moment for resisting rolling movement (Antriebspotential) (i.e. its power of regeneration) declines in such cases.One is more than the driving force for driving potential Square is resisted by the rotary motion of the Vidacare corp rotor caused by the downward partical gravity in slope, which will produce So high electrical power, such as the accumulator to have charged cannot reabsorb the electrical power.
It may cause in such a case：Positive driving moment cannot brake rolling movement and vehicle is in reverse to desired row Sail direction movement.
Invention content
The purpose of the present invention is eliminate this disadvantage.
This purpose is achieved by a kind of method for being braked to motor vehicle, and it includes electricity which, which has, The driving mechanism and operating braking system of dynamic driving device, wherein the optional travel direction that motor vehicle is in reverse to driving mechanism exists It is rolled on inclined surface, this method has steps of：
With indicate accelerator pedal manipulate feature accelerator pedal value relatively determine for along travel direction act on and The driving moment specified value of the driving moment of resisting rolling movement, the numerical value of the driving moment specified value are manipulated with accelerator pedal Increase and increase；
With one or more influence factors Vidacare corp that relatively determination is run in generator operation for edge The driving potential of the driving moment of travel direction effect；
Following manipulation Vidacare corp so that the Vidacare corp generates in generator operation to be acted on along travel direction And resisting rolling movement driving moment；With
As long as driving moment specified value is more than the driving potential of Vidacare corp, following manipulation operating braking system, So that the operating braking system generates the additional braking moment of resisting rolling movement, the additional braking moment and driving moment Specified value is related and increases with the increase that accelerator pedal manipulates.
This purpose is also achieved by a kind of vehicle control system, and the optional row to being in reverse to driving mechanism is used for The motor vehicle that direction rolls on inclined surface is sailed to be braked, the motor vehicle have include Vidacare corp driving mechanism with Operate braking system, wherein the vehicle control system is set as：
It is relatively determined with the accelerator pedal value of feature that accelerator pedal manipulates is indicated for being acted on along travel direction And the driving moment specified value of the driving moment of resisting rolling movement, the numerical value of the driving moment specified value are grasped with accelerator pedal Vertical increase and increase；
With one or more influence factors Vidacare corp that relatively determination is run in generator operation for edge The driving potential of the driving moment of travel direction effect；
Following manipulation Vidacare corp so that the Vidacare corp generates in generator operation to be made along travel direction And the driving moment of resisting rolling movement；With
As long as driving moment specified value is more than the driving potential of Vidacare corp, following manipulation operating braking system, So that the operating braking system generates the additional braking moment of resisting rolling movement, the additional braking moment and driving moment Specified value is related and increases with the increase that accelerator pedal manipulates.
The first viewpoint of the present invention is related to a kind of method for being braked to motor vehicle, and it includes electricity which, which has, The driving mechanism and operating braking system (such as disk brake system of hydraulic pressure) of dynamic driving device.Motor vehicle is due to along slope The optional travel direction that the reason of downward weight component is in reverse to driving mechanism rolls on inclined surface, such as hangs forward gear In the case of retreat or advance in the case where hanging reverse gear shift.According to this method, the feature manipulated with expression accelerator pedal adds Speed pedal value (such as accelerator pedal angle) relatively determine for along travel direction act on and driving force that resisting rolling moves The driving moment specified value of square.The numerical value of the driving moment specified value increases with the increase that accelerator pedal manipulates herein, just It is to say, the degree for manipulating accelerator pedal is bigger, and the numerical value of driving moment specified value is higher.
In addition, relatively with one or more influence factors, such as the real time charging with accumulator of electric energy (such as battery) State, speed and/or driving rotating speed relatively determine the Vidacare corp run in generator operation for along traveling side To the driving potential of (that is what resisting rolling moved) driving moment of effect.The rotor of Vidacare corp passes through vehicle Rolling movement people rotated along determining direction；The driving moment set on motor resists this rotation, thus passes through This mode generates electrical power.
It is preferably moment values to drive potential, then which can be compared with driving moment specified value；It takes and generation Ground may also be considered that：Performance number (Leistungsgroesse) is used for driving potential.
So manipulation Vidacare corp so that the Vidacare corp generates in generator operation to be acted on along travel direction And resisting rolling movement driving moment.As long as driving moment specified value is no more than driving potential, generated driving moment It is just for example substantially identical as driving moment specified value.As long as driving moment specified value is more than the driving potential in generator operation, Generated driving moment is just for example substantially consistent with driving potential.
As long as driving moment specified value be more than generator operation in Vidacare corp driving potential, automatically (i.e. without Need to be by driver's brake activation pedal) operating braking system is manipulated, that is, this operating braking system generates resisting rolling The additional braking moment of movement.This additional braking moment is related to driving moment specified value and as accelerator pedal is grasped Vertical increase and increase, that is, the degree that driver manipulates accelerator pedal is stronger, and the degree for operating brake system is got over By force.
As long as it is preferred that driving moment specified value be more than driving potential, additional braking moment substantially in driving moment Difference between specified value and the driving potential of Vidacare corp is identical.This means that：Additional braking moment is completely counterbalanced by drive Kinetic moment specified value is more than the part for driving potential.It is also contemplated that be：Only partially by additional braking moment To offset this part of driving moment specified value.
Can be driving when vehicle, which is in reverse to selected travel direction, rolls (such as being retreated in the case where hanging forward gear) Calculating Torque during Rotary goes out the driving potential of the motor in generator operation, which can be reversed in motor by rolling movement Caused direction of rotation sets and is braked to rolling movement.When this potential is relatively true less than being manipulated with accelerator pedal When fixed driving moment specified value, operating braking can be manipulated according to the difference between driving moment specified value and driving potential System, until vehicle stops.
Driver can be based on accelerating by manipulating when being in reverse to travel direction and rolling backward according to the method for the present invention Pedal (and makes vehicle accelerate to after reaching dead ship condition to be braked to vehicle by further manipulating accelerator pedal One positive speed, wherein operating brake does not reset braking moment then).Driver need only manipulate accelerator pedal thus； More than behaviour when driving potential according to the driving moment by operator demand come automatic implementation to operating braking system of motor Control, and driver is without brake activation pedal.
The second viewpoint of the present invention is related to a kind of vehicle control system, is used for the optional traveling to being in reverse to driving mechanism The motor vehicle that direction rolls on inclined surface is braked, and the motor vehicle is with the driving mechanism and fortune for including Vidacare corp Turn braking system.The vehicle control system is set as：With the accelerator pedal value for the feature for indicating accelerator pedal manipulation (Fahrpedalgroesse) relatively determine for along travel direction act on and driving moment that resisting rolling moves drive The numerical value of kinetic moment specified value, the driving moment specified value increases with the increase that accelerator pedal manipulates.In addition, the vehicle Set-up of control system is：The Vidacare corp run in generator operation is relatively determined with one or more influence factors The driving potential of driving moment for being acted on along travel direction.In addition, the vehicle control system is set as：Following manipulation electricity Dynamic driving device so that this Vidacare corp generates being acted on along travel direction in generator operation and resisting rolling moves Driving moment.As long as driving moment specified value be more than Vidacare corp driving potential, the vehicle control system as Lower control operates braking system so that this operating braking system generates the additional braking moment of resisting rolling movement, this is attached The braking moment added is related to driving moment specified value and increases with the increase that accelerator pedal manipulates.
The above-mentioned form of implementation of the method for the present invention of first viewpoint according to the invention is also applied in the corresponding way The vehicle control system of the present invention of second viewpoint according to the invention.The vehicle according to the invention of explanation is not known here The beneficial embodiment of control system is consistent with illustrated beneficial embodiment according to the method for the present invention.
Preferably, vehicle control system includes the drive dynamic control device for controlling electric drive mechanism；It can be herein The control device of two separation, such as the engine manipulated to driving electronic mechanism (Antriebselektronik) control Equipment and the driving electronic mechanism manipulated to Vidacare corp, the driving electronic mechanism include power electronic mechanism.It drives Dynamic control device is set as：Relatively measure driving moment specified value with accelerator pedal value, and with one or more influence factors Relatively determine driving potential.Driving moment specified value and driving potential are sent to system by drive dynamic control device by data/address bus Dynamic control device.In addition, vehicle control system includes the brake control of the operating braking system for controlling motor vehicle, it should Brake control is for example connect by vehicle bus with the device for controlling engine of drive dynamic control device.Brake control It is set as：It receives driving moment specified value and driving potential and related to this sets additional system by operating braking system Kinetic moment.
Description of the drawings
The present invention is illustrated by embodiment below with reference to attached drawing.In attached drawing：
Fig. 1 is the embodiment according to the vehicle control system of the present invention；
Fig. 2 is the embodiment according to the method for the present invention；
Fig. 3 is the illustrative M curve about speed v.
Specific implementation mode
Fig. 1 shows illustrative vehicle according to the invention control system.This vehicle control system includes driving Control mechanism 1.The drive control mechanism 1 may include multiple control devices, such as engine control gear and driving electronic machine Structure.Drive control mechanism 1 receives the accelerator pedal manipulation value FP from accelerator pedal sensor, which indicates Accelerator pedal manipulates.Accelerator pedal manipulation value FP can be had from 0 (not manipulating accelerator pedal) to 100% (maximum journey Degree manipulate accelerator pedal) numberical range signal.Drive control mechanism 1 is related to accelerator pedal manipulation value FP and speed v Ground determines the driving moment specified value M for driving moment that is being acted on along travel direction and reacting on rolling movementFW. In the case of constant airspeed, driving moment specified value MFWNumerical value increase with the increase that accelerator pedal manipulates.
Driving moment specified value MFWBy (including power electronic mechanism) reception of drive control mechanism 5, the drive control machine Structure manipulates Vidacare corp EM as follows so that is electrically driven device 6 and converts driving moment specified value MFW.In addition, driving Control mechanism in the generator operation of driving device 6 with multiple influence factors, such as accumulator of electric energy 8 charged state SOC and Speed v determines the driving potential M of the driving moment for being acted on along travel direction of Vidacare corp 6 in associationmax。 Drive potential MmaxIndicate the power of regeneration of Vidacare corp.
Driving moment specified value MFWWith driving potential MmaxIt is transferred to brake control apparatus 9 via communication bus 7.The braking Control device and driving moment specified value MFWWith driving potential MmaxBraking moment specified value M is determined in associationB,soll.By right The corresponding of the actuator of brake fluid system 10 is manipulated braking moment specified value MB,sollBe converted to braking moment MB。
Fig. 2 shows be embodiment according to the method for the present invention, the embodiment is for example in the vehicle control system shown in Fig. 1 It is achieved in system.In step 100, to indicating that accelerator pedal manipulation value FP, accumulator of electric energy that accelerator pedal manipulates fill Electricity condition SOC and speed v are measured.In step 110, relatively determination is used for accelerator pedal manipulation value FP and speed v Along the driving moment specified value M of driving moment that is travel direction effect and reacting on rolling movementFW.In addition, driving In the generator operation of device 6 with the charged state SOC of accumulator of electric energy 8 and optionally relatively determine electronic drive with speed v The driving potential M of the driving moment for being acted on along travel direction of dynamic device 6max。
As long as driving moment specified value MFWNo more than driving potential Mmax, just generated by Vidacare corp 8 to rolling Move the driving moment M brakedEM, the numerical value of the driving moment and desired driving moment MFWIdentical (reference step 120)。
As long as driving moment specified value MFWMore than driving potential Mmax, just generated by Vidacare corp 8 to being scrolled into The driving moment M of row brakingEM, numerical value and the driving potential M of the driving momentmaxIdentical (reference step 130).In addition, by fortune Turn braking system 10 to generate braking moment MB, numerical value and the driving moment specified value M of the braking momentFWAnd Vidacare corp 6 driving potential MmaxBetween difference it is identical (with reference to step 140).
Fig. 3 shows the M curve about speed v.Here, the positive value of speed v is travelled with along selected driving mechanism The vehicle movement in direction is consistent, that is, be consistent with the vehicle movement along direction of advance in the case where hanging forward gear and It is consistent with along the vehicle movement of astern direction in the case of hanging reverse gear shift.The negative value of speed and it is in reverse to selected driving mechanism row The vehicle movement for sailing direction is consistent, that is, be consistent with the vehicle movement along astern direction in the case where hanging forward gear and It is consistent with along the vehicle movement of direction of advance in the case where hanging reverse gear shift.Positive driving moment is reversed along desired travel direction It works in rolling movement.Positive driving moment along desired travel direction is in the case of negative speed v and thus electronic Cause to generate electrical power in the case of the direction of rotation of the rotor of machine 6 and torque phase opposite sense.
Short-term dotted line shows that motor 6 is related to speed v when being in reverse to selected travel direction and carrying out rolling movement Driving potential MmaxExemplary curve, wherein charged state SOC is assumed to be constant thus.Dotted line, which is shown, not to be had Driving moment specified value M in the case of manipulation accelerator pedal (i.e. FP=0%)FW, FP=0Exemplary curve about speed v.Solid line It shows in the case where certain, hypothesis consistently manipulates accelerator pedal (i.e. FP=FP1), such as FP1=50% by driving The person of sailing passes through the previously given driving moment specified value M of accelerator pedalFW, FP1Exemplary curve about speed v.Chain-dotted line is shown Be utmostly manipulate accelerator pedal (i.e. FP=100%) in the case of it is previously given by accelerator pedal by driver Driving moment specified value MFW, FP=maxExemplary curve about speed v.It is constant in speed v with the increase that accelerator pedal manipulates In the case of the previously given driving moment specified value M of accelerator pedal passed through by driverFWIncrease.
As long as the driving moment specified value M in the case where accordingly manipulating accelerator pedal and corresponding speed vFWNo more than in phase Driving potential M in the case of with speed vmax, then driving moment specified value MFWBy generating same big drive by motor 6 Kinetic moment MEMIt is converted.
As long as the driving moment specified value M in the case where accordingly manipulating accelerator pedal and corresponding speed vFWMore than identical Driving potential M in the case of speed vmax, then generating the driving braked to rolling movement by Vidacare corp 8 Torque MEM, numerical value and the driving potential M of the driving momentmaxIt is identical.In addition, generating braking moment by operating braking system 10 MB, the numerical value of the braking moment in driving moment specified value MFWWith drive of the Vidacare corp 6 in the case of corresponding speed v Dynamic potential MmaxBetween difference it is identical.What is drawn in figure 3 is in illustrative (negative) speed v=v1Accelerate with illustrative Driving moment specified value M in the case of pedal control FP=FP1FW,FP1,v1.This driving moment specified value MFW,FP1,v1It is more than In this speed v1In the case of driving potential Mmax.Therefore driving moment M is generated by motor 6EM,v1, the driving moment Numerical value in this speed v1In the case of driving potential MmaxIt is identical.In addition, generating braking by operating braking system 10 Torque MB,v1, the braking moment in driving moment specified value MFW,FP1,v1With Vidacare corp 6 the corresponding speed v the case where Under driving potential MmaxBetween difference be consistent.
If in speed v=v1In the case of from accelerator pedal manipulate FP=FP1 further increase accelerator pedal behaviour It is vertical, then driving moment specified value MFWThe braking moment M for further increasing and being generated from there through operating braking system 10B,v1 Also increase.
Driving moment M in the case where not manipulating accelerator pedalFW=0%Curve about speed v with utmostly grasping Driving moment M in the case of vertical accelerator pedalFW=100%Curve about speed v is known for drive control mechanism 1 's；Such as these curves are stored in drive control mechanism 1.In order to determine in certain speed v1It is grasped with certain accelerator pedal Driving moment M in the case of vertical FP=FP1FW,FP1,v1, such as determine the drive in the case where manipulating accelerator pedal to greatest extent Kinetic moment MFW, FP=100%With the driving moment M in the case where not manipulating accelerator pedalFW, FP=0%Between difference, this difference is pressed The difference and numerical value M that FP=FP1 is zoomed in and out and then this is passed through to scaling are manipulated according to accelerator pedalFW, FP=0%, v1It is added.

Claims (5)

1. for the method braked to motor vehicle, the motor vehicle have include Vidacare corp (6) driving mechanism with Operate braking system (10), wherein the optional travel direction that motor vehicle is in reverse to driving mechanism rolls on inclined surface, this method It has steps of：
With indicate accelerator pedal manipulate feature accelerator pedal value (FP) relatively determine for along travel direction act on and Driving moment specified value (the M of the driving moment of resisting rolling movementFW), the driving moment specified value (MFW) numerical value with adding Speed pedal manipulate increase and increase；
The Vidacare corp (6) run in generator operation is relatively determined with one or more influence factors (SOC, v) Driving potential (the M of driving moment for being acted on along travel directionmax)；
Following manipulation Vidacare corp (6) so that the Vidacare corp generates in generator operation to be acted on along travel direction And resisting rolling movement driving moment；With
As long as driving moment specified value (MFW) more than the driving potential (M of Vidacare corp (6)max), just following manipulation operating is made Dynamic system (10) so that the operating braking system generates the additional braking moment (M of resisting rolling movementB), the additional system Kinetic moment is related to driving moment specified value and increases with the increase that accelerator pedal manipulates.
2. the method for claim 1, wherein additional braking moment (MB) and in driving moment specified value (MFW) With the driving potential (M of Vidacare corp (6)max) between difference it is identical.
3. method as claimed in claim 1 or 2, wherein as driving moment specified value (MFW) it is more than Vidacare corp (6) Drive potential (Mmax), then manipulation Vidacare corp (6) as follows so that the Vidacare corp generates driving moment, the drive Driving potential (the M of kinetic moment and Vidacare corp (6)max) identical.
4. vehicle control system, the motor vehicle for being used to roll the optional travel direction for being in reverse to driving mechanism on inclined surface It is braked, the motor vehicle is with the driving mechanism and operating braking system (10) for including Vidacare corp (6), wherein should Vehicle control system is set as：
It is relatively determined with the accelerator pedal value (FP) of feature that accelerator pedal manipulates is indicated for being acted on along travel direction And the driving moment specified value (M of the driving moment of resisting rolling movementFW), the driving moment specified value (MFW) numerical value with Accelerator pedal manipulate increase and increase；
The Vidacare corp (6) run in generator operation is relatively determined with one or more influence factors (SOC, v) Driving potential (the M of driving moment for being acted on along travel directionmax)；
Following manipulation Vidacare corp (6) so that the Vidacare corp generates in generator operation to be made along travel direction And the driving moment of resisting rolling movement；With
As long as driving moment specified value (MFW) more than the driving potential (M of Vidacare corp (6)max), just following manipulation operating is made Dynamic system (10) so that the operating braking system generates the additional braking moment (M of resisting rolling movementB), the additional system Kinetic moment is related to driving moment specified value and increases with the increase that accelerator pedal manipulates.
5. vehicle control system as claimed in claim 4, wherein the vehicle control system includes：
Drive dynamic control device (1), the drive dynamic control device are set as：
Driving moment specified value (M is relatively measured with accelerator pedal value (FP)FW),
Driving potential (M is relatively determined with one or more influence factors (SOC, v)max), and
By driving moment specified value (MFW) and driving potential (Mmax) brake control is transferred to by data/address bus (7) (9),
Data/address bus (7) between drive dynamic control device (1) and brake control (9) and
Brake control (9) for the operating braking system (10) for controlling motor vehicle, the brake control (9) setting To be used to receive driving moment specified value (MFW) and driving potential (Mmax) and related to this set by operating braking system Fixed additional braking moment (MB)。
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
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