CN105829177A - 机动车 - Google Patents
机动车 Download PDFInfo
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- CN105829177A CN105829177A CN201480069635.5A CN201480069635A CN105829177A CN 105829177 A CN105829177 A CN 105829177A CN 201480069635 A CN201480069635 A CN 201480069635A CN 105829177 A CN105829177 A CN 105829177A
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- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
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- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0076—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to braking
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
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- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
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- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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
- B60L2250/00—Driver interactions
- B60L2250/16—Driver interactions by display
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- 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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/26—Transition between different drive modes
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- 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/402—Back-up
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/50—Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
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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
- 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
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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
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- 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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- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking
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Abstract
一种机动车,包括:多个车轮;以及制动***,所述制动***具有分别配属于车轮的、能以液压的方式操纵的制动器;至少一个制动回路,通过所述制动回路能操纵制动器;制动助力器,通过所述制动助力器能操纵制动回路,其中,制动助力器能通过要由驾驶员操纵的制动踏板来操纵;以及至少一个能通过控制装置来控制的压力产生和/或压力存储装置,通过所述压力产生和/或压力存储装置能调整在制动回路内的液压压力,其中,设置有至少一个电机(9),在制动***(2)内部检测的功能性故障的情况下,能通过自动切换至发电机模式的运行来通过所述电机产生减速力矩,以用于使车辆(1)制动至停车状态。
Description
技术领域
本发明涉及一种机动车,包括:多个车轮;以及制动***,所述制动***具有分别配属于车轮的、能以液压的方式操纵的制动器;至少一个制动回路,通过所述制动回路能操纵制动器;制动助力器,通过所述制动助力器能操纵制动回路,其中,制动助力器能通过要由驾驶员操纵的制动踏板来操纵;以及至少一个能通过控制装置来控制的压力产生和/或压力存储装置,通过所述压力产生和/或压力存储装置能调整在制动回路内的液压压力。
背景技术
机动车通常具有配属于各个车轮的盘式制动器,其中有时还安装鼓式制动器。制动器通过液压制动回路来操纵,该制动回路又通过制动助力器来操纵,以便产生必要的液压压力。在本情况下,制动助力器理解成制动压力产生装置,不带有或带有调整装置,其用于提供ABS功能和ESC功能。制动助力器在已知的车辆中又与制动踏板耦联,其中制动踏板通常是踏板机构的一部分,在其上至少还设置加速踏板、必要时设置离合器踏板。
这种已知的制动***现今设计成自动防故障装置。这意味着,在制动***本身或***组件、例如相应的执行元件中、在与控制器等的通信连接部或电源内出现故障时,最终使制动***去激活。制动***在这方面应理解成制动助力装置和制动调节装置,通常具有主要功能ABS(Anti-blockiersystem防抱死***)和ESC(ElectronicStabilityControl电子稳定控制)。这就是说,不再提供这些功能,有时制动助力装置不再正常工作。驾驶员在此用作备用级(Rückfallebene)。驾驶员在故障情况下承担下述任务,通过驾驶员借助制动踏板施加的提高的力使车辆制动,因此建立所需的制动压力。驾驶员必须自主稳定车辆并且选择适合的行驶方式,以便在故障的情况下控制和制动车辆。这就是说,驾驶员作为备用级列入安全方案中。
当代机动车现在已经允许半自主行驶,即其中驾驶员至少部分地不再介入车辆引导的行驶。在此,这种发展日益朝着尽可能减轻驾驶员负担的趋向直至自动驾驶的或者说尽可能自主的行驶。这就是说,车辆或者说相应的控制装置能自动地纵向和横向引导车辆,而为此驾驶员无需介入。驾驶员可以专注于其它事情。但是随着自动驾驶行驶的日益扩大的规模,还提高了对安全相关的车辆***的要求,其必须不再设计成“自动防故障的”,而是设计成“故障不影响使用的”,因为即使出现故障情况,其必须仍能够至少在一段临时时间内自主引导车辆,即直至驾驶员本身又主动介入行驶运行。这就是说,“故障不影响使用的”调节必须如此设计,即驾驶员会完全主动介入。然而此前已知的制动***结构不允许展示这种“故障不影响使用的”特性,因为其始终要基于驾驶员作为备用级。
发明内容
因此本发明的目的在于,给出一种机动车,该机动车在制动***的简单设计的方案中允许“故障不影响使用的”运行。
为了解决所述问题,在开头所述类型的机动车中根据本发明设置有至少一个电机,在制动***内部检测的功能性故障的情况下,能通过自动切换至发电机模式的运行来通过所述电机产生减速力矩,以用于使车辆制动至停车状态。
如果在根据本发明的机动车中检测出在制动***内部任何种类的功能性故障,其适合于或者说导致了,制动***部分地或整体上不再正常工作,从而在驾驶员无需为此进行任何种类的行动的情况下,通过电机产生减速力矩,该减速力矩用于针对性地制动车辆,即最大直至停车状态。为此,至少一个电机被切换至发电机模式的运行,其中电机作为发电机工作。为此需要驱动电机,在此使其转子运动。因为电机以任一种方式集成在驱动侧或行驶机构侧,因此与转动元件连接,该转动元件在行进的车辆中必然转动,因此在发电机模式运行中通过转子的旋转产生减速力矩,该减速力矩施加在驱动侧或行驶机构侧并且从而必然使车辆制动。
切换至发电机模式运行并且因此产生减速力矩以及由此最终引起的车辆强制制动自动地实现,只要已经检测出相应的功能性故障。驾驶员——其目前在至少半自主/部分自主运行中没有控制车辆——不必为此行动,即驾驶员在根据本发明的机动车中不被设置为备用级。而是切换如设计的那样自动地实现,由此给出了“故障不影响使用的”设计方案。通过借助电机自动获得的减速,使得驾驶员获得足够的时间来进行控制,驾驶员在检测出功能性故障的情况下当然被要求对车辆进行控制,而车辆同时自动地且主动地减速并且最大被制动至停车状态。这种设计方案在此为下述方式,即车辆在紧急情况中实际上可以被减速至停车状态。
在半自主运行中制动***的正常功能中,制动***可以直接采用辅助***的要求、即例如用于实现ABS-功能或防侧滑调节,并且例如通过ESC***进行控制,相应地使车辆减速。车辆通过例如在ESC***的泵侧构建压力来制动。制动***或者说连接的组件在此能检测相应的功能性故障,例如通过状态通知或通信监测等。如果识别出这种故障情况,则自动地切换至“紧急”,因为制动***由于所检测的功能性故障不能再满足为其设置的任务。电机被立即接通或者说切换为发电机模式运行,从而该电机产生相应的减速力矩。
在第一种发明另选方案的范围内,电机可以被集成在机动车的动力传动系中并且用于驱动设计成混合动力车辆或电动车辆的机动车。在这种发明设计方案中,机动车原本就包括电机,其用作牵引用电机并且驱动车辆,可能临时在混合动力车辆的情况下,可能仅在电动车辆的情况下。在此,电机可以作用于两个轴、即前轴和后轴,或者仅作用于一个轴。在故障情况下,电机现在基于故障检测信号通过相应的控制装置来切换,而与下述情况无关,即该电机目前是否以驱动的方式工作或静止。
电机如所述可以驱动轴、特别是前轴。然而还可以考虑,将电机设计成轮边电机,其中在至少两个车轮上设置相应的轮边电机。在每种情况下,与现在在哪设置一个或多个电机无关,其被集成在相应的动力传动系中。
另选地可以考虑,仅将电机用作减速部件,也就是没有直接将电机集成在动力传动系中,或者说至少没有按照电机用于牵引的方式。电机在这种情况下配属于车轮,其中优选至少两个车轮分别配备有这种建立减速力矩的电机。
如果设置有电控机械式驻车制动装置,则驻车制动装置可以特别有利地在这种故障情况或紧急情况下同时介入用于车辆减速。根据本发明,这种电控机械式驻车制动装置可以随着切换电机或者在切换电机之后自动地接入,以用于附加的减速。这种电控机械式驻车制动器大多作用于两个后轮。这种电控机械式驻车制动器与制动***无关并且通过能单独操控的执行器起作用,其或者操纵在那里的制动器本身,或者操作附加的制动元件。特别是当电机驱动前轴时,后轮的附加的减速是适宜的,然而当然还在所有其它开头描述的情况下。可以考虑,在与电控机械式驻车制动装置一起集成具有自己的控制装置的单独的***之后,从该控制装置方面冗余地检测可能的故障情况或者说计算相应的控制参数,以便接着操控驻车制动装置。然而另选地可以考虑,通过控制电机的控制装置在这种情况下还操控驻车制动装置。
最后下述情况是有利的:通过电子驻车制动装置或变速器锁在实现车辆的停车状态之后使车辆自动地保持在这种状态中,即驻车制动装置或变速器锁在实现停车状态之后自动地接入。
附图说明
本发明的其它优点、特征和细节由下面描述的实施例以及借助示意图给出。其中示出了:
图1示出了根据本发明的机动车的第一种实施例的原理示意图,其中仅示出了相关的元件,和
图2示出了根据本发明的机动车的第二种实施例的原理示意图。
具体实施方式
图1以原理示意图的形式示出了根据本发明的机动车1,其中仅示出了制动***2,包括能由驾驶员操纵的制动踏板3,并且该制动踏板对制动助力器4起作用。该制动助力器操纵液压制动回路5,通过该制动回路又操纵各个制动器6,其中每一个制动器配属于一个车轮7。制动器6例如设计成盘式制动器或鼓式制动器。
此外,制动***2的一部分是压力产生和/或压力存储装置8,尤其形式为ESC***(电子稳定控制***)。这种ESC***以本身已知的方式包括:具有多个可单独切换的阀的阀体,所述阀通向相应的制动管路。此外设置有泵装置,通过该泵装置改变了液压液的压力,液压液在制动***中或者说在制动回路5中通过阀分配;以及相应的控制装置,该控制装置控制阀和泵。这种ESC***的结构和功能是已知的。尽管在本实施例中仅设置有一个制动回路5,然而众所周知通常冗余地设置有两个这种制动回路。附图仅为纯原理示意图,其仅用于描述根据本发明的基本功能。
在所示出的实施例中在两个车轮7、例如前轮上设置有两个电机9,这两个电机可以通过共同的控制装置10来操控。电机9例如是轮边电机,该轮边电机在此处设计成电动车辆的车辆中用于牵引。
控制装置10与压力产生和/或压力存储装置8、即ESC***、或者说其控制装置通信。当然,控制装置10还可以与制动***2的其它元件通信且特别是还监测可能的通信线路。
只要在ESC***8或控制装置10方面以任一种方式检测制动***2的组件之一的功能性故障或在ESC***8的情况下其组件之一、例如阀等的功能性故障,则立即通过被给予相应的故障信号的控制装置10实现了对两个电机9的操控,从而这两个电机立即切换为发电机运行模式。在这种发电机运行模式中,电机9施加了引起车辆1制动的减速力矩车辆1在此可以被制动直至停止。对此不需要驾驶员的任何干预,而该***从本身切换至紧急停止状态或紧急运行状态并且使得此前被半自主引导的车辆减速。驾驶员获得了接管要求其要求驾驶员重新接管车辆控制。通过这种经由以发电机的方式切换的电机9而进行的自动感应减速,使驾驶员获得足够的时间进行接管,然而车辆同时主动减速,以便确保“故障不影响使用的(fail-operational)”运行。
图2示出了根据本发明的机动车1的原理示意图,其中相同的附图标记用于相同的构件。机动车1再度具有制动***2,其中在本情况下出于可视性原因未示出制动踏板3和制动助力器4,而是仅示出了第一压力产生和/或压力存储单元8、即ESC***以及四个车轮7,其具有同样未示出的配属的制动器6。
再次设置了电机9,其在此作为牵引用电机设置在前轴11上并且驱动该前轴。控制装置10配属于该电机,该控制装置与ESC***8通信。如果又检测出功能性故障,则当驾驶员首先已经选择至少半自主行驶时,立即通过控制装置10将电机9切换为发电机运行模式,从而该电机产生减速力矩并且按规定地使车辆减速。在此,控制装置10同样可以如此控制电机9,使得同样按规定地建立、更确切地说在其大小方面改变减速力矩,以便能实现迅速的、然而不太突然的制动。
此外设置有电子驻车制动装置12,包括控制装置13以及在示出的实例中配属于两个后轮7的制动件14,其分别包括至少一个执行器,该执行器通过控制装置13来操控、并且例如作用于制动器6或操控自己的制动元件。控制装置10与控制装置13通信。如果当检测出在制动***2内的任何种类的故障时将电机9切换为发电机模式的减速运行,则由控制装置10同时向控制装置13发出信号,于是该控制装置附加地操控并且激活制动装置14,从而因此不仅通过电机9减速,而且还通过驻车制动装置12减速。车辆也就可以更迅速地减速制动。
通过驻车制动装置12,还可以使车辆在其被制动至停车状态时保持在这种状态中。另选地当机动车1是混合动力车辆时,其可以附加地包括具有相应的变速器的内燃机,挂入变速器锁。
尽管原则上通过在图1和图2中仅示意性示出的实例可以使车辆从至少半自主行驶在没有驾驶员干预的情况下制动至停车状态,当然还可以考虑,在其中一个或多个电机切换为发电机模式的减速运行的“紧急运行状态”在下述情况下再次结束:驾驶员基于随着检测出功能性故障向其发出的接管要求——所述接管要求在相应的显示器上或以声学的方式发出——已经再次承担对车辆的控制并且因此主动地以转向或制动的方式介入。然而因为涉及功能性故障情况,所以有利的是,在这种情况下还通过电机、必要时通过接入的驻车制动装置保持附加的减速。随着制动至停车状态,必要时可能存在的变速器还自动地切换为空档。
Claims (8)
1.一种机动车,包括:多个车轮;以及制动***,所述制动***具有分别配属于车轮的、能以液压的方式操纵的制动器;至少一个制动回路,通过所述制动回路能操纵制动器;制动助力器,通过所述制动助力器能操纵制动回路,其中,制动助力器能通过要由驾驶员操纵的制动踏板来操纵;以及至少一个能通过控制装置来控制的压力产生和/或压力存储装置,通过所述压力产生和/或压力存储装置能调整在制动回路内的液压压力,
其特征在于,
机动车针对至少半自主运行模式设计有自动的纵向和横向引导,设置有至少一个电机(9),在半自主运行模式中在制动***(2)内部检测的功能性故障的情况下,能通过自动切换至发电机模式的运行来通过所述电机产生减速力矩,以用于使车辆(1)制动至停车状态。
2.根据权利要求1所述的机动车,其特征在于,所述电机(9)被集成在机动车(1)的动力传动系中并且用于驱动设计成混合动力车辆或电动车辆的机动车(1)。
3.根据权利要求2所述的机动车,其特征在于,在至少两个车轮(7)上分别设置有设计成轮边电机的电机(9)。
4.根据权利要求2所述的机动车,其特征在于,所述电机(9)驱动轴(11)、特别是机动车(1)的前轴。
5.根据权利要求1所述的机动车,其特征在于,所述电机(9)配属于车轮(7)。
6.根据权利要求5所述的机动车,其特征在于,至少两个车轮(7)分别配备有电机(9)。
7.根据前述权利要求中任一项所述的机动车,其特征在于,设置有电控机械式驻车制动装置(12),所述驻车制动装置能随着切换电机(9)或在切换电机之后自动地接入,以用于附加的减速。
8.根据前述权利要求中任一项所述的机动车,其特征在于,电子驻车制动装置(12)或变速器锁能在实现车辆(1)的停车状态之后自动地接入,以用于使车辆(1)保持静止。
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CN109937164A (zh) * | 2016-10-28 | 2019-06-25 | 罗伯特·博世有限公司 | 用于监测具有自动化行驶功能的机动车的方法和用于执行该方法的设备 |
CN109937164B (zh) * | 2016-10-28 | 2022-09-09 | 罗伯特·博世有限公司 | 用于监测具有自动化行驶功能的机动车的方法和用于执行该方法的设备 |
CN110114250A (zh) * | 2016-12-29 | 2019-08-09 | 康明斯有限公司 | 低速缓慢移动的电驱动车 |
CN110114250B (zh) * | 2016-12-29 | 2022-05-17 | 康明斯有限公司 | 低速缓慢移动的电驱动车 |
CN106671963A (zh) * | 2017-01-16 | 2017-05-17 | 四川省客车制造有限责任公司 | 电控型双保险驻车制动***及包含该***的车辆 |
CN106671963B (zh) * | 2017-01-16 | 2023-09-15 | 四川省客车制造有限责任公司 | 电控型双保险驻车制动***及包含该***的车辆 |
CN109455173A (zh) * | 2017-09-06 | 2019-03-12 | 丰田自动车株式会社 | 制动力控制*** |
CN109455173B (zh) * | 2017-09-06 | 2021-03-16 | 丰田自动车株式会社 | 制动力控制*** |
CN113613965A (zh) * | 2019-04-02 | 2021-11-05 | 大众汽车股份公司 | 用于利用机动车的电驱动装置的电机和机动车的行车制动设备的制动力矩来使机动车在紧急制动时减速的方法以及机动车 |
CN110271523A (zh) * | 2019-06-26 | 2019-09-24 | 奇瑞商用车(安徽)有限公司 | 一种汽车多冗余紧急制动方法 |
CN113306541A (zh) * | 2020-02-26 | 2021-08-27 | 大众汽车股份公司 | 可电驱动汽车的安全***、运行该安全***的方法和汽车 |
CN113306541B (zh) * | 2020-02-26 | 2024-07-02 | 大众汽车股份公司 | 可电驱动汽车的安全***、运行该安全***的方法和汽车 |
Also Published As
Publication number | Publication date |
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EP3083346B1 (de) | 2019-08-14 |
US20170008401A1 (en) | 2017-01-12 |
DE102013021872A1 (de) | 2014-04-03 |
WO2015090557A1 (de) | 2015-06-25 |
CN105829177B (zh) | 2018-10-02 |
US9718363B2 (en) | 2017-08-01 |
EP3083346A1 (de) | 2016-10-26 |
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