CN105936278B - 车辆 - Google Patents

车辆 Download PDF

Info

Publication number
CN105936278B
CN105936278B CN201610125387.2A CN201610125387A CN105936278B CN 105936278 B CN105936278 B CN 105936278B CN 201610125387 A CN201610125387 A CN 201610125387A CN 105936278 B CN105936278 B CN 105936278B
Authority
CN
China
Prior art keywords
vehicle
regenerative braking
deceleration
rate
stop
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610125387.2A
Other languages
English (en)
Other versions
CN105936278A (zh
Inventor
肯尼思·詹姆士·米勒
道格拉斯·雷蒙德·马丁
威廉·保罗·伯金斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ford Global Technologies LLC
Original Assignee
Ford Global Technologies LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ford Global Technologies LLC filed Critical Ford Global Technologies LLC
Publication of CN105936278A publication Critical patent/CN105936278A/zh
Application granted granted Critical
Publication of CN105936278B publication Critical patent/CN105936278B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60T8/17—Using electrical or electronic regulation means to control 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
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162—Speed limiting therefor
    • 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
    • B60L15/10—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current
    • 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
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • 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
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on 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
    • 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
    • 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
    • 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
    • B60W10/192—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • 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
    • 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
    • B60W20/12—Controlling the power contribution of each of the prime movers to meet required power demand using control strategies taking into account route information
    • 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
    • B60W30/18072—Coasting
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D61/00—Brakes with means for making the energy absorbed available for use
    • 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • 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
    • 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
    • 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
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2710/06—Combustion engines, Gas turbines
    • 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
    • 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
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/103—Speed profile
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • 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
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)

Abstract

本申请提供一种在混合动力电动车辆中使用自适应巡航的***和方法。一种用于控制车辆的方法包括：响应于在交通信号处的预期的停止和自适应巡航控制***激活，自动控制车辆制动器以使车辆以制动减速率减速。该方法进一步包括：响应于车辆减速至中间速度，释放车辆制动器。中间速度确定为使得在中间速度时离完全停止的滑行距离约等于离交通信号的距离。

Description

车辆
技术领域
本申请涉及用于控制配备有再生制动的车辆中的自适应巡航控制***的运转的***和方法。
背景技术
自适应巡航控制(Adaptive Cruise Control，ACC)***使用车载传感器(通常为雷达(RADAR)或激光雷达(LIDAR))来检测主车辆与主车辆前面的车辆(领先车辆)之间的距离和车辆之间的相对速度差。然后***自动调节主车辆的速度以使主车辆保持在领先车辆之后的预设距离，甚至在大多数雾和雨的情况下。典型地，主车辆驾驶员可设置期望的/最小的跟随距离和/或车辆之间待保持的时间间隔。ACC在主车辆的动力传动***和/或制动***中产生自动干预以使主车辆根据需要变慢以保持所选择的最小的跟随距离。一些ACC***还配置为：响应于检测的交通信号(比如交通信号灯或停止标志)，在主车辆的动力传动***和/或制动***中产生自动干预以使主车辆变慢。
发明内容
根据本申请的用于控制车辆的方法包括：自动控制车辆制动器以使所述车辆以制动减速率减速。所述自动控制响应于交通信号处的预期的停止和自适应巡航控制***激活(active)。该方法进一步包括：响应于车辆减速至中间速度，释放所述车辆制动器。所述中间速度确定为在所述中间速度时离完全停止的滑行距离约等于离所述交通信号的距离。
在一些实施例中，所述制动减速率为计算的舒适减速率极限、计算的可允许减速率极限和与再生制动极限相关联的再生制动减速率中的最小的一个。一些实施例进一步包括：响应于所述交通信号为交通信号灯并且当自动控制所述车辆制动器时所述交通信号灯变绿，释放所述车辆制动器。
在一些实施例中，在所述中间速度时离完全停止的所述滑行距离等于离所述交通信号的所述距离与可校准距离阈值的和。
根据本申请的车辆包括牵引车轮、再生制动***和控制器。所述控制器配置为：响应于预期的停止，控制所述再生制动***以使所述车轮以第一减速率减速。ACC***进一步配置为：响应于所述车轮减速至中间速度，控制再生制动***以使所述车轮以第二减速率减速。所述第二减速率小于所述第一减速率。所述第一减速率可以为计算的舒适减速率极限、计算的可允许减速率极限和与再生制动***的极限相关联的再生制动减速率中的最小的一个。所述第二减速率可以为滑行减速率。可响应于检测的交通信号来检测所述预期的停止。在一些实施例中，所述ACC***进一步配置为：响应于所述交通信号为交通信号灯并且当所述控制器控制所述再生制动***以使所述车轮减速时所述交通信号灯变绿，停用所述再生制动***。
根据本申请的控制车辆的方法包括：响应于在交通信号处的预期的停止和自适应巡航控制***激活，自动控制再生制动器以使车辆从初始速度以制动减速率减速。所述方法进一步包括：响应于当前车速时的滑行距离约等于离所述交通信号的距离，控制所述再生制动器以使所述车辆以滑行减速率减速。所述制动减速率的大小可大于所述滑行减速率的大小。
在一些实施例中，所述制动减速率为计算的舒适减速率极限、计算的可允许减速率极限和与所述再生制动器的极限相关联的再生制动减速率中的最小的一个。
在一些实施例中，所述方法进一步包括：响应于所述交通信号为交通信号灯并且当自动控制所述再生制动器时所述交通信号灯变绿，自动停用所述再生制动器。
根据本申请的实施例提供了多个优点。例如，根据本申请的实施例减少了减速事件期间在较高车速时花费的时间，因此减少了气动阻力损失。此外，根据本申请的实施例增加了主车辆将不会在红灯处完全停止的可能性，因此减少了使车辆再次加速至巡航速度的能量消耗。
本申请的上述优点和其它优点和特点将从下面结合附图对优选实施例的详细描述中变得明显。
附图说明
图1为根据本申请的车辆的示意性表示；
图2A示出了根据现有技术的车辆加速和制动事件；
图2B示出了根据本申请的示例性车辆加速和制动事件；和
图3以流程图形式示出了根据本申请的控制车辆的方法。
具体实施方式
根据需要，本说明书中描述了本发明的详细实施例；然而，应当理解，公开的实施例仅仅为可采取各种和可替代的形式实施的本发明的示例。附图不需要按比例绘制；一些特征可被放大或缩小以显示特定部件的细节。因此，本说明书中公开的具体结构和功能细节不应被认为是限制，但仅仅认为是用于教导本领域技术人员以多种形式利用这些实施例的代表性基础。
自适应巡航控制(ACC)是指用于自动控制主车辆的控制方法，该控制方法包括保持期望的速度和与行车道中的前方车辆的可允许距离。配备有ACC的主车辆配置为与位于主车辆前面的目标车辆至少保持预定距离。ACC***通常包括至少一个传感器，比如RADAR、LIDAR、超声波或其它传感器或其组合。ACC***配置为根据ACC算法直接或间接控制油门和制动***以控制主车辆加速和减速。
一些配备有ACC***的车辆还可包括配备用于再生制动的动力传动***。再生制动是指回收和存储车辆动能以供车辆随后使用。再生制动***通常包括配置为将制动扭矩应用至车辆牵引车轮和产生电力的电机或马达/发电机。其它***可包括蓄电池、飞轮或用于存储能量以供随后使用的其它机构。
现在参考图1，以示意图的形式示出了根据本申请的主车辆10。主车辆10包括配置为向牵引车轮14传递动力的混合动力动力传动***12。混合动力动力传动***12包括分别配置为向车辆牵引车轮传递动力的内燃发动机16和至少一个电机18。电机18电连接至电池20。在多个实施例中，动力传动***12可设置为串联、并联或串联-并联动力传动***。
电机18还配置为向牵引车轮14提供再生制动扭矩，其中来自牵引车轮14的旋转能被转化为电能。可将电机18产生的电能存储在电池20中以供主车辆10随后使用。
主车辆10另外包括车轮制动器22，其可被称为摩擦制动器，配置为向牵引车轮14提供摩擦制动扭矩。
电机18、发动机16和车轮制动器22均与至少一个控制器24通信或由至少一个控制器24控制。尽管示出为单个控制器，但是控制器24可为较大的控制***的一部分和/或可由主车辆10中的多个其它控制器控制。在一个实施例中，控制器24为由车辆***控制器(VSC)控制的动力传动***控制单元(PCU)。控制器24和一个或多个其它控制器可被统称为“控制器”。控制器24可包括与各种类型的计算机可读存储装置或介质通信的微处理器或中央处理单元(CPU)。计算机可读存储装置或介质可包括例如只读存储器(ROM)、随机存取存储器(RAM)和保活存储器(KAM)中的易失性存储器和非易失性存储器。KAM为当CPU掉电时可用于存储各种运转变量的持久或非易失性存储器。计算机可读存储装置或介质可采用多个已知存储装置(比如PROM(可编程只读存储器)、EPROM(电可编程只读存储器)、EEPROM(电可擦除可编程只读存储器)、闪速存储器或能够存储数据(这些数据中的一些代表控制发动机或车辆的过程中由控制器所使用的可执行指令)的任何其它的电、磁、光学或其组合的存储装置)中的任一种来实现。
主车辆10另外包括加速器踏板26和制动器踏板28。响应于驾驶员驱动加速器踏板26，控制器24配置为协调电机18和发动机16以向牵引车轮14提供动力。响应于驾驶员驱动制动器踏板28，控制器24配置为控制电机18和/或车轮制动器22以向牵引车轮14提供制动扭矩。
再生制动***通常具有动力传动***制动功率极限和动力传动***制动扭矩极限。一般而言，功率极限为电池极限(比如最大电池充电率)的函数，而扭矩极限是马达扭矩极限的函数。动力传动***制动扭矩极限和制动功率极限分别是指在当前工况下该***能够应用至牵引车轮的制动扭矩以及功率的最大量。在包括用作发电机的电机的典型的再生制动***中，再生制动扭矩极限以及功率极限通常基于马达扭矩容量、电池能量传递极限(例如电池荷电状态)、(在具有阶梯传动比变速器的实施例中)当前挡位和其它动力传动***极限。应注意，在给定车速时，可用再生制动功率极限除以当前车轮速度以获得再生制动扭矩极限。
响应于不超过再生制动扭矩极限的制动请求，控制器24配置为控制电机18提供再生制动扭矩以满足制动请求。响应于超过再生制动扭矩极限的制动请求，控制器24配置为控制电机18和车轮制动器22以满足制动请求。
主车辆10进一步包括至少一个传感器30。传感器30可包括RADAR、LIDAR、超声波传感器、光学相机或其它传感器或其组合。传感器30配置为检测主车辆10前面的目标。特别地，传感器30适于检测前方的并且在与主车辆10相同的行车道中的车辆。
控制器24配置为响应于通过传感器30检测到前方车辆而根据ACC算法控制主车辆加速和制动。其可包括协调发动机16和/或电机18以满足ACC加速请求。其可另外包括协调发动机16、电机18和/或车轮制动器22以满足ACC减速请求。一般而言，ACC算法配置为基于检测的与前方车辆的距离和前方车辆的速度自动调节主车辆10的速度以保持在检测的前方车辆之后预设距离。在一些变型中，主车辆驾驶员可设置期望的/最小的跟随距离和/或车辆之间待保持的时间间隔。
类似地，ACC算法可配置为响应于检测到交通信号(比如停止标志或停止灯)来自动调节主车辆的速度。该算法可配置为响应于检测的交通信号使主车辆自动减速，使得主车辆实现在交通信号处完全停止。
现在参考图2A，示出了根据已知的ACC***的示例性制动和加速事件。如40处示出的，主车辆以初始速度移动。在该示意性示例中，初始速度是总体上恒定的(即加速度约为零)。在时间t0时，检测到交通信号。在该示例中，交通信号为交通信号灯。如42处示出的，应用车辆制动器以使主车辆以总体上恒定的速率减速。如44处示出的，主车辆完全停止。在时间t1时，交通信号灯变绿，并且如46处示出的，主车辆加速远离完全停止。
虽然该已知的ACC算法可使主车辆在交通信号处停止而没有驾驶员干预，但是恒定的车辆减速可导致次优的燃料效率。因为气动阻力随着速率的平方而改变，所以高车速时花费的时间导致损失给风阻力的能量增加。虽然所有车辆都经历该损失，但是由于通过再生制动可回收的潜在能量的减少导致该损失在混合动力车辆中可能是特别显著的。
如果主车辆太快到达交通信号灯处，那么也可能不利地影响燃料效率。如果车辆在交通信号处几乎停止或完全停止而不是移动通过十字路口，那么必须使用额外的能量以使车辆在停止后再次加速。此外，在低速度时，由于在很低转速时固有的马达低效，导致再生制动可能消耗比回收的能量更多的能量。因此，在阈值速度之下，可减少再生制动并且增加摩擦制动。作为示例，该阈值速度可为约每小时10英里。因此，如果可能的话，需要避免使车辆减速至阈值速度之下以使回收的动能最大化。
现在参考图2B，示出了根据本申请的示例性制动和加速事件。如50处示出的，主车辆以初始速度移动。在该示意性示例中，初始速度是总体上恒定的(即加速度约为零)。在时间t0时，检测到交通信号。在该示例中，与在图2A中一样，交通信号为交通信号灯。响应于检测到交通信号，预期到停止。响应于预期到停止，如52处示出的，ACC***开始使主车辆以与现有技术相比较高的速率减速。如下文将更详细地说明的，初始减速率为基于再生制动极限、路况和乘员舒适性确定的优化的减速率。也如下文将进一步详细地说明的，保持初始减速直到当前车速时的滑行距离总体上等于离交通信号的距离为止。初始减速之后，如54处示出的，ACC***允许主车辆朝着交通信号滑行。在时间t1时，当交通信号灯变绿时，如56处示出的，主车辆仍然朝着交通信号灯滑行。然后，如58处示出的，主车辆加速离开。
现在参考图3，以流程图形式示出了用于控制车辆制动和加速的ACC算法。算法始于框60。如框62处示出的，ACC***激活。然后，如操作64处示出的，做出是否指示了潜在的停止的确定。可例如基于检测到交通信号(比如停止信号灯或停止标志)来指示潜在的停止。还可基于检测到路障(比如停止的车辆或道路杂物)来指示潜在的停止。可例如使用光学检测交通信号或路障来执行该检测。此外，一些“智能”交通信号配置为广播交通信号状态，比如交通信号灯正时信息。因此还可基于接收到来自智能交通信号的信号状态信息来执行是否指示潜在的停止的确定。
如果没有指示潜在的停止，则如框66处示出的，根据默认的ACC算法控制主车辆。其可包括自动调节主车辆的速度以使主车辆保持在前方车辆(如果存在)之后的预设距离。然后控制返回到操作64。
如果指示了潜在的停止，则如操作68处示出的，做出是否预期在潜在的停止处停止的确定。作为示例，通常可响应于潜在的停止为路障、停止标志或红色的交通信号灯来预期停止。作为另一示例，不会响应于潜在的停止为绿色的交通信号灯或智能交通信号灯(当传递的正时信息指示交通信号灯将在主车辆到达十字路口之前变绿时)来预期停止。
如果没有预期到停止，则如框66处示出的，根据默认的ACC算法控制主车辆。然后控制返回到操作64。
如果预期到停止，则如框70处示出的，为当前车速计算滑行停止距离Dcoast。Dcoast对应于车辆在完全停止之前将滑行的距离，并且可基于多个因素，包括但不限于当前道路坡度下的减速率、主车辆质量和当前车速。如果主车辆配置为当既不应用制动器踏板也不应用加速器踏板时应用一定量的“升高踏板”再生制动扭矩，则Dcoast还可基于升高踏板再生制动扭矩的量。
如框72处示出的，还确定和存储离预期的停止的距离Dstop。可例如基于来自上文关于图1所说明的RADAR、LIDAR或其它适当的传感器的读取信息来执行该操作。
然后，如框74处示出的，做出Dcoast是否超过Dstop与可校准距离阈值Dthreshold的和的确定。换言之，做出车辆完全停止之前的滑行距离是否大于离预期的停止的距离与额外的距离阈值的和的确定。可校准距离阈值Dthreshold优选为小的非零值，使得如果允许滑行到预期的停止，那么当接近停止时车辆将具有小的非零的车速。
如果是，那么如框76处示出的，ACC算法控制主车辆再生制动***以使主车辆以优化的减速率减速。优化的减速率优选高于已知***中实现的恒定速率。在一个实施例中，如框78处示出的，将优化的减速率选择为舒适的减速率极限、基于路况的可允许减速率极限和与再生制动极限相关联的再生制动减速率中的最小值。因此，优化的减速率使驾驶员舒适性、车辆稳定性和再生制动极限平衡。
在一个实施例中，舒适的减速率极限为基于驾驶员舒适性而选择的常数。在其它实施例中，根据当前车速从查找表获得舒适的减速率。
在一些实施例中，从牵引控制***控制器获得可允许减速率极限。可允许减速率极限可以为最大可允许制动速率和车辆转动力的函数。
再生制动极限可基于当前车辆工况。在一些实施例中，再生制动极限为当前的电池荷电状态和动力传动***制动极限的函数。
然后算法返回到操作64。因此，只要预期到停止，便使主车辆以优化的速率减速，直到滑行距离减少至小于或等于离预期的停止的距离Dstop与可校准距离阈值Dthreshold的和。
如果没有，表示滑行距离小于或等于Dstop与Dthreshold的和，则如框80处示出的，ACC算法控制主车辆制动器以允许车辆滑行。然后算法返回到操作64。因此，***继续监控是否预期到停止。如果不再预期到停止，例如交通信号灯变绿，则滑行停止并且根据默认的ACC算法控制主车辆。
当然，上述算法的变型是可能的。作为示例，也可在没有配备再生制动的车辆中实施根据本申请的实施例。由于在预期的停止之前在高速时花费的时间减少，因此该车辆还可见到燃料经济性收益。作为另一示例，可与完全自动的车辆中的控制器结合(而不是与设有ACC算法的传统驱动的车辆结合)地实施根据本申请的实施例。
从多个实施例可以看出，本发明提供了用于自动控制车辆制动器以减少减速事件期间在较高车速时花费的时间而因此减少气动阻力损失的***和方法。此外，根据本申请的实施例增加了主车辆将不会在红灯处完全停止的可能性，因此减少了使车辆再次加速至巡航速度的能量消耗。此外，根据本申请的***和方法可减少在再生制动不可用的范围内的车速下花费的时间。
虽然上文描述了示例性实施例，但是并不意味着这些实施例描述了本发明的所有可能的形式。反而，说明书中使用的词语为描述性词语而非限制性词语，并且应理解，在不脱离本发明的精神和范围的情况下可作出各种改变。此外，可组合多个实施例的特征以形成本发明的进一步的实施例。

Claims (6)

1.一种车辆，包括：
牵引车轮；
再生制动***；和
控制器，所述控制器配置为：响应于预期的停止，控制所述再生制动***以使所述牵引车轮以第一减速率减速；和响应于所述牵引车轮以所述第一减速率减速至中间速度，控制所述再生制动***以使所述牵引车轮以小于所述第一减速率的第二减速率减速。
2.根据权利要求1所述的车辆，其中，在所述中间速度时，车辆在完全停止之前将滑行的距离等于或小于车辆在所述预期的停止之前将滑行的距离与可校准的距离阈值的和。
3.根据权利要求1所述的车辆，其中，所述第一减速率为计算的舒适减速率极限、计算的可允许减速率极限和与再生制动***的极限相关联的再生制动减速率中的最小的一个，其中，所述舒适减速率极限为基于驾驶员舒适性而选择的常数，所述可允许减速率极限基于最大可允许制动速率和车辆转动力，所述再生制动减速率基于当前的电池荷电状态和动力传动***制动极限。
4.根据权利要求1所述的车辆，其中，所述第二减速率为滑行减速率。
5.根据权利要求1所述的车辆，其中，所述预期的停止基于检测的交通信号。
6.根据权利要求5所述的车辆，其中，所述控制器进一步配置为：响应于所述检测的交通信号为交通信号灯并且当所述控制器控制所述再生制动***以使所述牵引车轮减速时所述交通信号灯变绿，停用所述再生制动***。
CN201610125387.2A 2015-03-06 2016-03-07 车辆 Active CN105936278B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14/640,334 US9827955B2 (en) 2015-03-06 2015-03-06 Systems and methods to improve fuel economy using adaptive cruise in a hybrid electric vehicle when approaching traffic lights
US14/640,334 2015-03-06

Publications (2)

Publication Number Publication Date
CN105936278A CN105936278A (zh) 2016-09-14
CN105936278B true CN105936278B (zh) 2021-02-02

Family

ID=56739007

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610125387.2A Active CN105936278B (zh) 2015-03-06 2016-03-07 车辆

Country Status (3)

Country Link
US (1) US9827955B2 (zh)
CN (1) CN105936278B (zh)
DE (1) DE102016103904A1 (zh)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9761065B2 (en) * 2015-03-09 2017-09-12 Ford Global Technologies, Llc Regenerative braking coaching system
JP6582484B2 (ja) * 2015-03-26 2019-10-02 いすゞ自動車株式会社 走行制御装置、及び、走行制御方法
US10239526B2 (en) * 2015-03-30 2019-03-26 GM Global Technology Operations LLC Adaptive cruise control system
US10953756B2 (en) * 2015-07-15 2021-03-23 Ford Global Technologies, Llc Adaptive regenerative braking method and system
KR101777329B1 (ko) * 2016-08-10 2017-09-11 엘지전자 주식회사 차량용 회생 제동 제어 장치
KR101936989B1 (ko) * 2016-09-05 2019-01-10 현대자동차주식회사 차량용 스마트 크루즈 컨트롤 시스템 제어방법
US10650621B1 (en) 2016-09-13 2020-05-12 Iocurrents, Inc. Interfacing with a vehicular controller area network
US10189453B2 (en) * 2016-10-05 2019-01-29 Toyota Motor Engineering & Manufacturing North America, Inc. Coasting guidance timing and drive force adjustment
US9896106B1 (en) * 2016-10-24 2018-02-20 Toyota Motor Engineering & Manufacturing North America, Inc. Coasting distance determination for coasting assistance system
US10150371B2 (en) * 2016-11-03 2018-12-11 Ford Global Technologies,Llc Regenerative braking method
KR20180086783A (ko) * 2017-01-23 2018-08-01 현대자동차주식회사 하이브리드 차량의 주행 제어 방법
US10106040B2 (en) * 2017-01-30 2018-10-23 Ford Global Technologies, Llc Regenerative braking system and method
US10308120B2 (en) * 2017-04-12 2019-06-04 Ford Global Technologies, Llc Optimizing regenerative braking efficiency in a hybrid vehicle
DE102017206569B3 (de) * 2017-04-19 2018-07-05 Robert Bosch Gmbh Regelungsverfahren zur Windschattenfahrt eines Zweirads, Steuergerät und Zweirad
US10696164B2 (en) 2017-05-18 2020-06-30 Ford Global Technologies, Llc Optimizing regenerative braking efficiency in a hybrid vehicle
CN107415704B (zh) * 2017-07-31 2020-05-22 北京新能源汽车股份有限公司 复合制动方法、装置和自适应巡航控制器
JP2019031153A (ja) * 2017-08-07 2019-02-28 いすゞ自動車株式会社 走行制御装置、車両および走行制御方法
DE102017221097A1 (de) * 2017-11-24 2019-05-29 Daimler Ag Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs
US10836393B2 (en) * 2017-12-10 2020-11-17 Anatoly S. Weiser Smart traffic control devices and beacons, methods of their operation, and use by vehicles of information provided by the devices and beacons
WO2019116553A1 (ja) * 2017-12-15 2019-06-20 日産自動車株式会社 回生ブレーキ制御方法及び回生ブレーキ制御装置
US10640104B2 (en) * 2018-01-30 2020-05-05 GM Global Technology Operations LLC Anticipatory control for hybrid vehicle propulsion system
JP6625148B2 (ja) * 2018-02-09 2019-12-25 本田技研工業株式会社 自動運転車両、及び車両制御方法
US11072329B2 (en) * 2018-06-11 2021-07-27 Traxen Inc. Ground vehicle control techniques
CN108556847B (zh) * 2018-03-28 2020-03-20 浙江吉利汽车研究院有限公司 能量回收方法、装置和***
JP2019196746A (ja) * 2018-05-10 2019-11-14 本田技研工業株式会社 車両制御装置、及び車両制御装置を備える車両
RU2767653C1 (ru) * 2018-08-06 2022-03-18 Ниссан Мотор Ко., Лтд. Способ управления транспортным средством и устройство управления транспортным средством
JP6700359B2 (ja) * 2018-09-26 2020-05-27 株式会社Ｓｕｂａｒｕ 車両制御装置
CN111409633A (zh) * 2019-01-07 2020-07-14 上汽通用汽车有限公司 一种车辆自适应巡航中的控制方法和装置
CN110435435A (zh) * 2019-07-19 2019-11-12 德萨智能科技(武汉)有限公司 一种电动汽车自适应能量回收方法及装置
FR3106799A1 (fr) * 2020-02-04 2021-08-06 Psa Automobiles Sa Procede de deceleration d’un vehicule
JP7327256B2 (ja) * 2020-04-10 2023-08-16 トヨタ自動車株式会社 電動車両の回生制動制御装置
CN113997792A (zh) * 2020-07-28 2022-02-01 长城汽车股份有限公司 车辆的能量回收强度的自适应控制方法和装置
CN111994056B (zh) * 2020-08-10 2022-01-07 中车唐山机车车辆有限公司 一种城轨列车的制动力分配方法，装置及***
KR20220031806A (ko) * 2020-09-04 2022-03-14 현대자동차주식회사 친환경 차량의 감속 제어 방법 및 그 제어 장치
JP7177818B2 (ja) * 2020-12-23 2022-11-24 本田技研工業株式会社 車両制御装置
CN112744193A (zh) * 2021-03-16 2021-05-04 蔚来汽车科技(安徽)有限公司 自动制动***和方法以及车辆
CN113815616B (zh) * 2021-09-17 2023-05-30 宁波吉利罗佑发动机零部件有限公司 车辆控制方法及装置

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10320722B4 (de) 2003-05-08 2015-02-19 Robert Bosch Gmbh Geschwindigkeitsregler mit Stop-Funktion
JP5247000B2 (ja) * 2005-12-21 2013-07-24 日産自動車株式会社 車両のコースト減速制御装置
US7703563B2 (en) 2007-07-02 2010-04-27 Gm Global Technology Operations, Inc. Control of hybrid power regeneration during cruise control
JP4375488B2 (ja) * 2007-10-11 2009-12-02 トヨタ自動車株式会社 運転支援装置
SE531922C2 (sv) * 2008-01-28 2009-09-08 Scania Cv Abp Metod, system och datorprogram för automatisk has tighetsreglering av ett motorfordon
DE102010023198A1 (de) * 2010-06-09 2011-12-15 Gm Global Technology Operations Llc (N.D.Ges.D. Staates Delaware) Vorrichtung und Verfahren zum Steuern des Fahrverhaltens eines Fahrzeugs bei Annäherung an einen Haltepunkt
JP2012071677A (ja) * 2010-09-28 2012-04-12 Fuji Heavy Ind Ltd 車両の運転支援装置
WO2012053106A1 (ja) * 2010-10-22 2012-04-26 トヨタ自動車株式会社 運転支援装置
US20120139329A1 (en) * 2010-12-01 2012-06-07 Aptera Motors, Inc. Regenerative braking system
CN102791555B (zh) * 2010-12-02 2015-11-25 丰田自动车株式会社 车辆控制装置
WO2012088536A1 (en) * 2010-12-23 2012-06-28 Cummins Intellectual Property, Inc. System and method of speed-based downspeed coasting management
US9527388B2 (en) * 2011-01-31 2016-12-27 Suzuki Motor Corporation Regenerative control device and regenerative control method and hybrid motor vehicle
JP5699041B2 (ja) * 2011-06-15 2015-04-08 日立オートモティブシステムズ株式会社 ブレーキ制御装置
JP5733398B2 (ja) * 2011-07-25 2015-06-10 トヨタ自動車株式会社 車両制御装置
WO2013072996A1 (ja) * 2011-11-14 2013-05-23 トヨタ自動車株式会社 走行支援装置
US8543273B2 (en) 2012-02-08 2013-09-24 Bendix Commercial Vehicle Systems Llc Cruise control with braking activated brake regeneration
CN103381808B (zh) * 2012-05-04 2018-02-23 福特环球技术公司 利用停止标志和交通灯检测增强燃料经济性和安全性的方法
US9069653B2 (en) * 2012-05-04 2015-06-30 Ford Global Technologies, Llc Methods for utilizing stop sign and traffic light detections to enhance fuel economy and safety
JP5708675B2 (ja) * 2013-01-24 2015-04-30 トヨタ自動車株式会社 車両制御装置
US8972145B2 (en) 2013-03-15 2015-03-03 Bayerische Motoren Werke Aktiengesellscahft Systems and methods for predicting traffic signal information
JP2014180160A (ja) * 2013-03-15 2014-09-25 Fujitsu Ten Ltd 車両制御装置、および、車両制御方法
US20150070195A1 (en) * 2013-09-11 2015-03-12 Ford Global Technologies, Llc Method and system to reduce braking for stop lights
JP2015123831A (ja) * 2013-12-26 2015-07-06 富士重工業株式会社 車両の制御装置及び制御方法
US9327730B2 (en) * 2014-02-17 2016-05-03 Ford Global Technologies, Llc Method to use GPS to optimize stopping distance to improve fuel economy
US9440654B2 (en) * 2014-03-13 2016-09-13 GM Global Technology Operations LLC Hybrid vehicle and method of controlling a hybrid vehicle with mode selection based on look ahead data
US9327712B2 (en) * 2014-04-22 2016-05-03 Alcatel Lucent System and method for control of a hybrid vehicle with regenerative braking using location awareness
US9759573B2 (en) * 2014-08-29 2017-09-12 Ford Global Technologies, Llc Route based energy consumption estimation using physical models
CN104183124B (zh) * 2014-09-16 2017-01-25 北京交通大学 一种基于单路***通信号信息的主干道车速规划方法

Also Published As

Publication number Publication date
US20160257288A1 (en) 2016-09-08
DE102016103904A1 (de) 2016-09-08
CN105936278A (zh) 2016-09-14
US9827955B2 (en) 2017-11-28
DE102016103904A8 (de) 2016-11-03

Similar Documents

Publication Publication Date Title
CN105936278B (zh) 车辆
US10239526B2 (en) Adaptive cruise control system
US10259445B2 (en) Vehicle and method of control thereof
US20160257295A1 (en) Systems and methods for adjusting kinetic energy in a hybrid vehicle before and during a change in road grade
CN108216198B (zh) 增强型发动机和电池操作
US9052713B2 (en) Method for operating a vehicle during coasting
CN105946845B (zh) 再生制动指导***
US20160144721A1 (en) System and method for optimizing regenerative braking in adaptive cruise control
CN103857574A (zh) 用于车辆的驾驶策略的确定
US20200391615A1 (en) Methods and system for operating a fuel cell vehicle
US20110246012A1 (en) Intelligent regenerative braking utilizing environmental data
CN110949378B (zh) 一种汽车高速工况防碰撞追尾方法
CN111409636B (zh) 用于控制车辆推进的***和方法
CN111409635A (zh) 用于向驾驶员提供对于控制车辆推进的推荐的***和方法
CN111409621A (zh) 用于扭矩分配仲裁的***和方法
US9981554B2 (en) System and method for controlling braking of electric vehicle
SE538988C2 (sv) Förfarande och system för att retardera ett fordon
US20220402367A1 (en) Vehicle Having Electric Motor and Method of Controlling Brake Lamp for the Same
US20240123990A1 (en) Dynamic powertrain control in coordination with adaptive cruise control
SE2250483A1 (en) Method and control arrangement for controlling a vehicle during a speed reduction
SE2250276A1 (en) Method and control arrangement for controlling a speed of a vehicle comprising a regenerative brake system
KR20240036983A (ko) 전동화 차량 및 그의 회생제동 제어 방법
CN117460654A (zh) 用于限制车辆的减速的方法和控制装置；与该方法相关的车辆、计算机程序和计算机可读介质
JP2024036030A (ja) 運転支援装置、運転支援方法及びプログラム

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant