EP3847068A1 - Method for operating a motor vehicle, control unit, and motor vehicle - Google Patents

Method for operating a motor vehicle, control unit, and motor vehicle

Info

Publication number
EP3847068A1
EP3847068A1 EP19755298.7A EP19755298A EP3847068A1 EP 3847068 A1 EP3847068 A1 EP 3847068A1 EP 19755298 A EP19755298 A EP 19755298A EP 3847068 A1 EP3847068 A1 EP 3847068A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
deceleration torque
end state
torque
relative speed
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.)
Pending
Application number
EP19755298.7A
Other languages
German (de)
French (fr)
Inventor
Franz Dahlke
Alexander Trofimov
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3847068A1 publication Critical patent/EP3847068A1/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • 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
    • 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
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • 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
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/58—Combined or convertible systems
    • B60T13/585—Combined or convertible systems comprising friction brakes and retarders
    • B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
    • 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
    • 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
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/16—Acceleration longitudinal
    • 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
    • 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
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/463—Torque
    • 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
    • B60L2250/28—Accelerator pedal thresholds
    • 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
    • B60L2260/10—Temporary overload
    • B60L2260/16—Temporary overload of electrical drive trains
    • B60L2260/167—Temporary overload of electrical drive trains of motors or generators
    • 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
    • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • 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
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18108—Braking
    • B60Y2300/18125—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/81—Braking systems
    • 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
    • Y02T10/62—Hybrid vehicles
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/12—Monitoring or controlling equipment for energy generation units, e.g. distributed energy generation [DER] or load-side generation
    • Y04S10/126—Monitoring or controlling equipment for energy generation units, e.g. distributed energy generation [DER] or load-side generation the energy generation units being or involving electric vehicles [EV] or hybrid vehicles [HEV], i.e. power aggregation of EV or HEV, vehicle to grid arrangements [V2G]

Definitions

  • the invention relates to a method for operating a motor vehicle, comprising a drive arrangement with an electric drive machine
  • Friction brake system in particular a hydraulic friction brake system, and an actuating element, wherein the actuating element between a first
  • End state and a second end state is in particular infinitely displaceable, wherein a position of the control element in the first end state corresponds to a percentage value of 0%, and the position of the control element in the second end state corresponds to a percentage value of 100%, an acceleration torque for the motor vehicle being specified , if the position of the actuating element has a percentage value that is greater than a predetermined threshold value, and wherein a deceleration torque is specified for the motor vehicle if the position of the actuating element has a percentage value that is smaller than the threshold value.
  • the invention further relates to a control device for performing the above-mentioned method.
  • the invention relates to a motor vehicle with the control unit mentioned above.
  • Hybrid vehicles and electric vehicles also each have one Drive arrangement with at least one electric drive machine.
  • hybrid vehicles and electric vehicles increasingly have control elements, for example accelerator pedals, with a so-called one-pedal function. Such control elements can usually be shifted between a first end state and a second end state, one position of the
  • Adjusting elements in the first final state corresponds to a percentage value of 0%, and the position of the adjusting elements in the second final state corresponds to a percentage value of 100%.
  • an acceleration torque is predefined for the motor vehicle if the position of the actuating element has a percentage value that is greater than a predefined threshold value and one
  • the method according to the invention with the features of claim 1 has the advantage that the method can provide a sufficient deceleration torque for decelerating the motor vehicle even at low relative speeds of the motor vehicle to the ground. According to the invention it is provided that the friction brake system for generating the
  • Deceleration torque is controlled so that the friction brake system generates the predetermined deceleration torque at least partially, in particular completely.
  • the friction brake system generates the specified one
  • Deceleration torque either alone or in combination with at least one other device of the motor vehicle, which is designed to generate a deceleration torque.
  • Delay torque is operated as a generator, so that the
  • the Drive machine generates the predetermined deceleration torque at least partially.
  • the friction brake system is relieved, whereby wear of the friction brake system is reduced.
  • the friction brake system is preferably only activated to generate the deceleration torque if the predetermined deceleration torque cannot be guaranteed solely by operating the electric drive machine as a generator, for example due to a low relative speed of the motor vehicle.
  • a relative speed of the motor vehicle to the ground is preferably detected, and the predetermined deceleration torque is changed as a function of the detected relative speed.
  • This has the advantage that a deceleration process of the motor vehicle can be individually adapted. For example, this is a comfort-oriented delay of the
  • the deceleration torque changes when it is detected that a predeterminable relative speed is exceeded or undercut.
  • the deceleration torque being changed when they are exceeded and / or undershot.
  • the deceleration torque is changed continuously with the relative speed.
  • the percentage of the deceleration torque that the friction brake system or the at least one further device generates is preferably changed as a function of the relative speed.
  • the percentage generated by the friction brake system is increased when the relative speed is reduced.
  • Deceleration torque is reduced with a reduction in the relative speed. This can cause excessive rearing movements of the
  • a first threshold speed is specified, the deceleration torque being reduced only if the detected relative speed is lower than the first
  • Threshold speed The deceleration torque is therefore at least not reduced if it is detected that the relative speed is decreasing, but this is greater than the first threshold speed. This ensures that a rapid deceleration of the motor vehicle is achieved at relative speeds of the motor vehicle that are greater than the first threshold speed.
  • Threshold speed and less than the second threshold speed.
  • the deceleration torque is preferably specified as a function of a previously stored characteristic.
  • the characteristic curve is, in particular, a characteristic curve determined in preliminary tests, which represents the predetermined or to be specified deceleration torque as a function of the detected relative speed of the motor vehicle. This has the advantage that a suitable deceleration torque for achieving a comfortable deceleration or stopping can be assigned to a multiplicity of relative speeds of the motor vehicle.
  • the characteristic curve preferably has an incline that increases and / or decreases with decreasing relative speed. This has the advantage that a deceleration or stopping process of the Motor vehicle is customizable. For example, depending on a selected driving mode and / or depending on the
  • the motor vehicle is preferably determined by the predefined one
  • the method is particularly advantageously suitable because, even at low relative speeds of the motor vehicle or when the motor vehicle is at a standstill, the friction braking system can generate a braking torque which is sufficient to decelerate the motor vehicle to a standstill
  • Deceleration torque is not reduced below the minimum value. This on the one hand ensures that there is sufficient deceleration torque for the deceleration of the motor vehicle, in particular the deceleration of the
  • Motor vehicle to a standstill is specified. On the other hand, it also ensures that the motor vehicle is kept at a standstill after it has come to a standstill. Because no regenerative deceleration torque can be generated by the electric drive machine when the motor vehicle is at a standstill, only that is preferably used to hold the motor vehicle
  • a base deceleration torque is generated by the friction brake system, a difference between the base deceleration torque and the predetermined deceleration torque being at least substantially compensated for by motor or generator operation of the electric drive machine.
  • the friction brake system accordingly generates a base deceleration torque that differs from the specified deceleration torque, that is to say is greater or less than the specified deceleration torque.
  • the difference between the base deceleration torque and the specified one The electrical machine is used to compensate for the deceleration torque at least substantially, in particular to compensate completely
  • the electrical machine is operated as a motor when the base deceleration torque is greater than the predetermined deceleration torque, and as a generator when the base deceleration torque is less than the predetermined deceleration torque. This enables a particularly precise and fast control of the
  • the base deceleration torque is kept constant when the relative speed changes, so that the predetermined change in the
  • Delay torque is only achieved by changing the compensation torque.
  • control device for a motor vehicle as described above is characterized by the features of claim 12 in that the control device is designed to operate as intended
  • the motor vehicle according to the invention with the features of claim 13 has a drive arrangement with an electric drive machine, a friction brake system, an actuating element, which can be shifted continuously between a first end state and a second end state, a position of the actuating element in the first end state having a percentage value of 0 % corresponds and the position of the control element in the second end state corresponds to a percentage value of 100%, and the control device according to the invention.
  • FIG. 1 shows a motor vehicle in a simplified representation
  • FIG 2 shows an overview of characteristic curves of various advantageous
  • Figure 3 shows an advantageous method for operating the motor vehicle.
  • FIG. 1 shows a motor vehicle 1 in a simplified representation
  • Motor vehicle 1 in the present case has four wheels 2 and 3, wheels 2 being assigned to a front wheel axle 4 and wheels 3 being assigned to a rear wheel axle 5.
  • motor vehicle 1 has a drive arrangement 6 with an electric drive machine 7 that can be operated as a generator.
  • Drive machine 7 is connected by a differential gear 8 and shafts 9, 10 and 11 to the wheels 2 of the front wheel axle 4, so that the wheels 2 can be driven by the drive machine 7.
  • the motor vehicle 1 has a friction brake system 12, which in the present case has the friction brake devices 13 assigned to the wheels 2 of the front wheel axle 4 for generating a
  • the friction brake devices 13 can be actuated hydraulically.
  • the friction brake system 12 has friction brake devices 13 that can be actuated by an electric motor or pneumatically.
  • the motor vehicle 1 shown in FIG. 1 has an actuating element 14 which is designed as an accelerator pedal and which can be shifted continuously between a first end state and a second end state, the position of the actuating element 14 in the first end state corresponding to a percentage value of 0% and the position of the actuating element 14 in the second final state corresponds to a percentage value of 100%.
  • Deceleration torque MV for the motor vehicle 1 can be specified.
  • An acceleration torque is specified when the position of the motor vehicle 1
  • Actuating element 14 has a percentage value that is greater than a predetermined threshold value, and a deceleration torque MV if the position of the adjusting element 14 has a percentage value that is less than the predetermined threshold value.
  • Deceleration torque MV motor vehicle 1 has a control unit 15, which is connected to actuating element 14 on the one hand and to drive machine 7 and to friction brake devices 13 on the other. If, based on the position of the control element 14, an acceleration torque is specified, the control unit 15 controls the drive machine 7 to generate the
  • control unit 14 controls at least the friction brake devices 13 to generate the deceleration torque MV.
  • control unit 15 also controls drive machine 7 to generate a generator
  • FIG. 2 shows characteristic curves S1, S2, S3 and S4 of various advantageous deceleration processes for motor vehicle 1
  • Deceleration torque MV which is specified by the control unit 15 for the motor vehicle 1 when the position of the control element 14 has a percentage value that is less than the threshold value, as a function of a relative speed v of the motor vehicle 1.
  • the deceleration torque MV is changed as a function of the relative speed v.
  • Deceleration torque MV is kept constant at a value MVO when the relative speed v of the motor vehicle 1 is reduced, if the
  • Relative speed v is greater than a predetermined one
  • Threshold speed vl If the detected relative speed v is less than the threshold speed vl, the deceleration torque MV is reduced with the relative speed v. By reducing the deceleration torque MV, a particularly comfortable deceleration of the motor vehicle 1 is achieved, in particular until the motor vehicle 1 comes to a standstill. In particular, a delay jerk when stopping the
  • Deceleration torque is not reduced below a predetermined minimum value MV1. This ensures that the motor vehicle 1 is kept at a standstill after deceleration to a standstill.
  • the characteristics Sl, S2 and S3 differ from each other in that they have different gradients or gradient changes in a relative speed range Dn ⁇ with decreasing relative speed. According to the characteristic curve S2, the deceleration torque MV is reduced linearly with the relative speed v. In contrast, the slope of the characteristic curve S1 becomes larger with decreasing relative speed v and that of the characteristic curve S3 becomes smaller with decreasing relative speed v.
  • the characteristic curve S4 shown in FIG. 2 differs from the characteristic curves S1, S2 and S3 in that in addition to a first one
  • Threshold speed v2 the deceleration torque MV being reduced when the relative speed v is reduced when the
  • Relative speed v is lower than the first threshold speed v2, a second threshold speed v3 is also specified, which is greater than the first threshold speed v2, and wherein
  • Deceleration torque MV is increased when the relative speed v is reduced, if a relative speed v is detected that is greater than the first threshold speed v2 and less than the second
  • Threshold speed v3 By specifying the
  • Delay torque MV a particularly quick but still comfortable deceleration or stopping of motor vehicle 1 is achieved. According to the characteristic curve S4 there is a minimum value MV2 for the
  • Deceleration torque MV is specified below which the deceleration torque MV is not reduced.
  • the first threshold speed v1 of the characteristic curves S1, S2 and S3 corresponds to the second threshold speed v3 of the characteristic curve S4.
  • the position of the threshold speeds v1, v2 and v3 is shown in FIG. 2 only as an example.
  • the first threshold speed v1 of the characteristic curves S1, S2 and S3 differs from the second threshold speed v3 of the characteristic curve S4.
  • FIG. 3 shows an advantageous method for operating the motor vehicle 1.
  • a first step S1 the percentage value of the position of the control element 14 recorded.
  • an acceleration torque is specified for motor vehicle 1 if it is detected in first step S1 that the percentage value of the position of the actuating element 14 is greater than the predetermined threshold value.
  • a deceleration torque MV for the motor vehicle 1 is specified in a step S3 instead of an acceleration torque in step S2.
  • the predetermined deceleration torque MV is generated at least by the friction brake devices 13 of the motor vehicle 1.
  • Delay torque MV operated as a generator.
  • the relative speed v of the body of the motor vehicle 1 to the floor is recorded as the relative speed v.
  • the deceleration torque MV which is predetermined for the motor vehicle 1 on the basis of the percentage value of the position of the actuating element 14, which is less than the threshold value, is changed as a function of the detected relative speed v.
  • the predetermined deceleration torque MV is changed in accordance with one of the characteristic curves S1, S2, S3 and S4 shown in FIG. This results in a particularly comfortable deceleration process with the motor vehicle 1.
  • the deceleration torque MV generated by the friction brake devices 13 is optionally the generator torque generated by the drive machine 7
  • Deceleration torque MV or both the deceleration torque MV generated by the friction brake devices 13 and by the drive machine 7 are changed.
  • Delay torque MV can be controlled, the motor vehicle 1 to in the standstill can be delayed. In addition, the motor vehicle 1 can be kept at a standstill by actuating the friction brake devices 13.

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Abstract

The invention relates to a method for operating a motor vehicle, which comprises: a drive assembly having an electric drive machine; a friction braking system; and an actuating element, the actuating element being movable, in particular continuously variably movable, between a first end state and a second end state, a position of the actuating element in the first end state corresponding to a percentage value of 0%, and a position of the actuating element in the second end state corresponding to a percentage value of 100%. An acceleration torque is specified for the motor vehicle when the position of the actuating element has a percentage value that is greater than a specified threshold value, and a deceleration torque is specified for the motor vehicle when the position of the actuating element has a percentage value that is less than the threshold value. According to the invention, the friction braking system is controlled in such a way that the friction braking system produces the specified deceleration torque at least partially, in particular completely.

Description

Beschreibung  description
Titel title
Verfahren zum Betreiben eines Kraftfahrzeugs, Steuergerät, Kraftfahrzeug  Method for operating a motor vehicle, control device, motor vehicle
Die Erfindung betrifft ein Verfahren zum Betreiben eines Kraftfahrzeugs, das eine Antriebsanordnung mit einer elektrischen Antriebsmaschine, ein The invention relates to a method for operating a motor vehicle, comprising a drive arrangement with an electric drive machine
Reibbremssystem, insbesondere ein hydraulisches Reibbremssystem, und ein Stellelement aufweist, wobei das Stellelement zwischen einem ersten Friction brake system, in particular a hydraulic friction brake system, and an actuating element, wherein the actuating element between a first
Endzustand und einem zweiten Endzustand insbesondere stufenlos verlagerbar ist, wobei eine Stellung des Stellelements im ersten Endzustand einem prozentualen Wert von 0 % entspricht, und die Stellung des Stellelements im zweiten Endzustand einem prozentualen Wert von 100 % entspricht, wobei ein Beschleunigungsmoment für das Kraftfahrzeug vorgegeben wird, wenn die Stellung des Stellelements einen prozentualen Wert aufweist, der größer ist als ein vorgegebener Schwellenwert, und wobei ein Verzögerungsmoment für das Kraftfahrzeug vorgegeben wird, wenn die Stellung des Stellelements einen prozentualen Wert aufweist, der kleiner ist als der Schwellenwert. End state and a second end state is in particular infinitely displaceable, wherein a position of the control element in the first end state corresponds to a percentage value of 0%, and the position of the control element in the second end state corresponds to a percentage value of 100%, an acceleration torque for the motor vehicle being specified , if the position of the actuating element has a percentage value that is greater than a predetermined threshold value, and wherein a deceleration torque is specified for the motor vehicle if the position of the actuating element has a percentage value that is smaller than the threshold value.
Ferner betrifft die Erfindung ein Steuergerät zum Durchführen des oben genannten Verfahrens. The invention further relates to a control device for performing the above-mentioned method.
Außerdem betrifft die Erfindung ein Kraftfahrzeug mit dem oben genannten Steuergerät. In addition, the invention relates to a motor vehicle with the control unit mentioned above.
Stand der Technik State of the art
Verfahren und Kraftfahrzeuge der eingangs genannten Art sind aus dem Stand der Technik bekannt. Um eine sichere Verzögerung von Kraftfahrzeugen zu gewährleisten, weisen diese üblicherweise ein Reibbremssystem auf. Methods and motor vehicles of the type mentioned at the outset are known from the prior art. In order to ensure a safe deceleration of motor vehicles, they usually have a friction brake system.
Hybridfahrzeuge und Elektrofahrzeuge weisen außerdem jeweils eine Antriebsanordnung mit zumindest einer elektrischen Antriebsmaschine auf. Ferner weisen Hybridfahrzeuge und Elektrofahrzeuge vermehrt Stellelemente, beispielsweise Fahrpedale, mit einer sogenannten Ein-Pedal-Funktion auf. Derartige Stellelemente sind üblicherweise zwischen einem ersten Endzustand und einem zweiten Endzustand verlagerbar, wobei eine Stellung der Hybrid vehicles and electric vehicles also each have one Drive arrangement with at least one electric drive machine. Furthermore, hybrid vehicles and electric vehicles increasingly have control elements, for example accelerator pedals, with a so-called one-pedal function. Such control elements can usually be shifted between a first end state and a second end state, one position of the
Stellelemente im ersten Endzustand einem prozentualen Wert von 0 % entspricht, und die Stellung der Stellelemente im zweiten Endzustand einem prozentualen Wert von 100 % entspricht. Dabei wird im Fall eines Stellelements mit einer Ein-Pedal-Funktion ein Beschleunigungsmoment für das Kraftfahrzeug vorgegeben, wenn die Stellung des Stellelements einen prozentualen Wert aufweist, der größer ist als ein vorgegebener Schwellenwert, und ein Adjusting elements in the first final state corresponds to a percentage value of 0%, and the position of the adjusting elements in the second final state corresponds to a percentage value of 100%. In the case of an actuating element with a one-pedal function, an acceleration torque is predefined for the motor vehicle if the position of the actuating element has a percentage value that is greater than a predefined threshold value and one
Verzögerungsmoment, wenn die Stellung des Stellelements einen prozentualen Wert aufweist, der kleiner ist als der vorgegebene Schwellenwert. Delay moment when the position of the control element has a percentage value that is less than the predetermined threshold.
Offenbarung der Erfindung Disclosure of the invention
Das erfindungsgemäße Verfahren mit den Merkmalen des Anspruchs 1 hat den Vorteil, dass durch das Verfahren auch bei geringen Relativgeschwindigkeiten des Kraftfahrzeugs zum Boden ein ausreichendes Verzögerungsmoment zum Verzögern des Kraftfahrzeugs bereitgestellt werden kann. Erfindungsgemäß ist dazu vorgesehen, dass das Reibbremssystem zum Erzeugen des The method according to the invention with the features of claim 1 has the advantage that the method can provide a sufficient deceleration torque for decelerating the motor vehicle even at low relative speeds of the motor vehicle to the ground. According to the invention it is provided that the friction brake system for generating the
Verzögerungsmoments angesteuert wird, so dass das Reibbremssystem das vorgegebene Verzögerungsmoment zumindest anteilig, insbesondere vollständig, erzeugt. Das Reibbremssystem erzeugt das vorgegebene Deceleration torque is controlled so that the friction brake system generates the predetermined deceleration torque at least partially, in particular completely. The friction brake system generates the specified one
Verzögerungsmoment also entweder alleine oder in Kombination mit zumindest einer anderen Vorrichtung des Kraftfahrzeugs, die dazu ausgebildet ist, ein Verzögerungsmoment zu erzeugen. Deceleration torque either alone or in combination with at least one other device of the motor vehicle, which is designed to generate a deceleration torque.
Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass die elektrische Antriebsmaschine der Antriebsanordnung zum Erzeugen des According to a preferred embodiment it is provided that the electric drive machine of the drive arrangement for generating the
Verzögerungsmoments generatorisch betrieben wird, so dass die Delay torque is operated as a generator, so that the
Antriebsmaschine das vorgegebene Verzögerungsmoment zumindest anteilig erzeugt. Daraus ergibt sich der Vorteil, dass durch das generatorische Betreiben der elektrischen Antriebsmaschine Bremsenergie in Form von elektrischer Energie zurückgewonnen wird, wodurch der Wirkungsgrad des Kraftfahrzeugs erhöht werden kann. Insbesondere ergibt sich außerdem der Vorteil, dass das Reibbremssystem entlastet wird, wodurch ein Verschleiß des Reibbremssystems reduziert wird. Beispielsweise wird das Reibbremssystem vorzugsweise nur dann zum Erzeugen des Verzögerungsmoments angesteuert, wenn das vorgegebene Verzögerungsmoment nicht allein durch generatorisches Betreiben der elektrischen Antriebsmaschine gewährleistet werden kann, beispielsweise aufgrund einer geringen Relativgeschwindigkeit des Kraftfahrzeugs. Drive machine generates the predetermined deceleration torque at least partially. This results in the advantage that braking energy in the form of electrical energy is recovered by the generator operation of the electric drive machine, thereby increasing the efficiency of the motor vehicle can be increased. In particular, there is also the advantage that the friction brake system is relieved, whereby wear of the friction brake system is reduced. For example, the friction brake system is preferably only activated to generate the deceleration torque if the predetermined deceleration torque cannot be guaranteed solely by operating the electric drive machine as a generator, for example due to a low relative speed of the motor vehicle.
Vorzugsweise wird eine Relativgeschwindigkeit des Kraftfahrzeugs zum Boden, insbesondere die Relativgeschwindigkeit der Karosserie des Kraftfahrzeugs zum Boden, erfasst, und das vorgegebene Verzögerungsmoment in Abhängigkeit von der erfassten Relativgeschwindigkeit verändert. Daraus ergibt sich der Vorteil, dass ein Verzögerungsvorgang des Kraftfahrzeugs individuell anpassbar ist. Beispielsweise ist hierdurch eine komfortorientierte Verzögerung des A relative speed of the motor vehicle to the ground, in particular the relative speed of the body of the motor vehicle to the ground, is preferably detected, and the predetermined deceleration torque is changed as a function of the detected relative speed. This has the advantage that a deceleration process of the motor vehicle can be individually adapted. For example, this is a comfort-oriented delay of the
Kraftfahrzeugs umsetzbar. Beispielsweise wird das vorgegebene Motor vehicle implementable. For example, the default
Verzögerungsmoment verändert, wenn erfasst wird, dass eine vorgebbare Relativgeschwindigkeit überschritten beziehungsweise unterschritten wird. The deceleration torque changes when it is detected that a predeterminable relative speed is exceeded or undercut.
Insbesondere werden dabei mehrere Relativgeschwindigkeiten vorgegeben, bei deren Überschreiten und/oder Unterschreiten das Verzögerungsmoment verändert wird. Insbesondere wird das Verzögerungsmoment stufenlos mit der Relativgeschwindigkeit verändert. Wenn zusätzlich zu dem Reibbremssystem zumindest eine weitere Vorrichtung, beispielsweise die elektrische In particular, several relative speeds are specified, the deceleration torque being changed when they are exceeded and / or undershot. In particular, the deceleration torque is changed continuously with the relative speed. If, in addition to the friction brake system, at least one further device, for example the electrical one
Antriebsmaschine, zum Erzeugen des Verzögerungsmoments angesteuert wird, wird vorzugsweise der prozentuale Anteil des Verzögerungsmoments, den das Reibbremssystem beziehungsweise die zumindest eine weitere Vorrichtung erzeugt, in Abhängigkeit von der Relativgeschwindigkeit verändert. Drive machine, for generating the deceleration torque is controlled, the percentage of the deceleration torque that the friction brake system or the at least one further device generates is preferably changed as a function of the relative speed.
Beispielsweise wird der durch das Reibbremssystem erzeugte prozentuale Anteil bei einer Verringerung der Relativgeschwindigkeit erhöht.  For example, the percentage generated by the friction brake system is increased when the relative speed is reduced.
Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass das According to a preferred embodiment it is provided that the
Verzögerungsmoment bei einer Verringerung der Relativgeschwindigkeit verringert wird. Dadurch können übermäßige Aufbäumbewegungen des Deceleration torque is reduced with a reduction in the relative speed. This can cause excessive rearing movements of the
Kraftfahrzeugs beziehungsweise ein als störend empfundener Verzögerungsruck während der Verzögerung des Kraftfahrzeugs vermieden werden, sodass ein komfortables Verzögern beziehungsweise ein komfortables Anhalten (soft-stop) des Kraftfahrzeugs gewährleistet wird. Motor vehicle or a delay jolt perceived as disturbing during the deceleration of the motor vehicle are avoided, so that a Comfortable deceleration or a comfortable stopping (soft stop) of the motor vehicle is guaranteed.
Dabei ist vorzugsweise vorgesehen, dass eine erste Schwellengeschwindigkeit vorgegeben wird, wobei das Verzögerungsmoment nur dann verringert wird, wenn die erfasste Relativgeschwindigkeit geringer ist als die erste It is preferably provided that a first threshold speed is specified, the deceleration torque being reduced only if the detected relative speed is lower than the first
Schwellengeschwindigkeit. Das Verzögerungsmoment wird demnach zumindest nicht verringert, wenn zwar erfasst wird, dass sich die Relativgeschwindigkeit verringert, diese aber größer ist als die erste Schwellengeschwindigkeit. Dadurch wird gewährleistet, dass bei Relativgeschwindigkeiten des Kraftfahrzeugs, die größer sind als die erste Schwellengeschwindigkeit, ein zügiges Verzögern des Kraftfahrzeugs erreicht wird. Threshold speed. The deceleration torque is therefore at least not reduced if it is detected that the relative speed is decreasing, but this is greater than the first threshold speed. This ensures that a rapid deceleration of the motor vehicle is achieved at relative speeds of the motor vehicle that are greater than the first threshold speed.
Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass eine zweite Schwellengeschwindigkeit vorgegeben wird, die größer ist als die erste According to a preferred embodiment it is provided that a second threshold speed is specified which is greater than the first
Schwellengeschwindigkeit, wobei das Verzögerungsmoment bei der Threshold speed, the deceleration torque at
Verringerung der Relativgeschwindigkeit erhöht wird, wenn eine Reduction in relative speed is increased when a
Relativgeschwindigkeit erfasst wird, die größer als die erste Relative speed is recorded that is greater than the first
Schwellengeschwindigkeit und geringer als die zweite Schwellengeschwindigkeit ist. Durch eine derartige Vorgabe des Verzögerungsmoments wird ein besonders zügiges aber immer noch komfortables Verzögern beziehungsweise Anhalten (positiver soft-stop) des Kraftfahrzeugs erreicht. Threshold speed and less than the second threshold speed. By specifying the deceleration torque in this way, a particularly rapid but still comfortable deceleration or stopping (positive soft stop) of the motor vehicle is achieved.
Vorzugsweise wird das Verzögerungsmoment in Abhängigkeit von einer zuvor gespeicherten Kennlinie vorgegeben. Bei der Kennlinie handelt es sich insbesondere um eine in Vorversuchen ermittelte Kennlinie, die das vorgegebene beziehungsweise vorzugebende Verzögerungsmoments in Abhängigkeit von der erfassten Relativgeschwindigkeit des Kraftfahrzeugs darstellt. Daraus ergibt sich der Vorteil, dass einer Vielzahl von Relativgeschwindigkeiten des Kraftfahrzeugs jeweils ein geeignetes Verzögerungsmoment zum Erreichen eines komfortablen Verzögerns beziehungsweise Anhaltens zugeordnet werden kann. The deceleration torque is preferably specified as a function of a previously stored characteristic. The characteristic curve is, in particular, a characteristic curve determined in preliminary tests, which represents the predetermined or to be specified deceleration torque as a function of the detected relative speed of the motor vehicle. This has the advantage that a suitable deceleration torque for achieving a comfortable deceleration or stopping can be assigned to a multiplicity of relative speeds of the motor vehicle.
Vorzugsweise weist die Kennlinie dabei eine Steigung auf, die mit abnehmender Relativgeschwindigkeit größer und/oder kleiner wird. Daraus ergibt sich der Vorteil, dass ein Verzögerungs- beziehungsweise Anhaltevorgang des Kraftfahrzeugs individuell anpassbar ist. Beispielsweise werden in Abhängigkeit von einem ausgewählten Fahrmodus und/oder in Abhängigkeit von der The characteristic curve preferably has an incline that increases and / or decreases with decreasing relative speed. This has the advantage that a deceleration or stopping process of the Motor vehicle is customizable. For example, depending on a selected driving mode and / or depending on the
Ausbildung des Kraftfahrzeugs, in dem das Verfahren durch geführt wird, Kennlinien mit unterschiedlichen Steigungen und/oder Steigungsänderungen verwendet. Training of the motor vehicle in which the method is carried out, using characteristic curves with different gradients and / or gradient changes.
Vorzugsweise wird das Kraftfahrzeug durch das vorgegebene The motor vehicle is preferably determined by the predefined one
Verzögerungsmoment in den Stillstand verzögert. Hierzu ist das Verfahren besonders vorteilhaft geeignet, weil durch das Reibbremssystem auch bei geringen Relativgeschwindigkeiten des Kraftfahrzeugs beziehungsweise im Stillstand des Kraftfahrzeugs noch ein Bremsmoment erzeugt werden kann, das ausreicht, um das Kraftfahrzeug bis in den Stillstand zu verzögern Delay torque delayed to a standstill. For this purpose, the method is particularly advantageously suitable because, even at low relative speeds of the motor vehicle or when the motor vehicle is at a standstill, the friction braking system can generate a braking torque which is sufficient to decelerate the motor vehicle to a standstill
beziehungsweise um das Kraftfahrzeug im Stillstand zu halten. or to keep the motor vehicle at a standstill.
Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass ein According to a preferred embodiment it is provided that a
Mindestwert für das Verzögerungsmoment vorgegeben wird, wobei das Minimum value for the deceleration torque is specified, the
Verzögerungsmoment nicht unter den Mindestwert verringert wird. Dadurch ist einerseits gewährleistet, dass ein ausreichendes Verzögerungsmoment für die Verzögerung des Kraftfahrzeugs, insbesondere die Verzögerung des Deceleration torque is not reduced below the minimum value. This on the one hand ensures that there is sufficient deceleration torque for the deceleration of the motor vehicle, in particular the deceleration of the
Kraftfahrzeugs bis in den Stillstand, vorgegeben wird. Andererseits wird außerdem gewährleistet, dass das Kraftfahrzeug nach Erreichen des Stillstands im Stillstand gehalten wird. Weil durch die elektrische Antriebsmaschine im Stillstand des Kraftfahrzeugs kein generatorisches Verzögerungsmoment erzeugt werden kann, wird zum Halten des Kraftfahrzeugs vorzugsweise nur das Motor vehicle to a standstill is specified. On the other hand, it also ensures that the motor vehicle is kept at a standstill after it has come to a standstill. Because no regenerative deceleration torque can be generated by the electric drive machine when the motor vehicle is at a standstill, only that is preferably used to hold the motor vehicle
Reibbremssystem angesteuert. Friction brake system controlled.
Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass ein Basis- Verzögerungsmoment durch das Reibbremssystem erzeugt wird, wobei eine Differenz zwischen dem Basis-Verzögerungsmoment und dem vorgegebenen Verzögerungsmoment durch motorisches oder generatorisches Betreiben der elektrischen Antriebsmaschine zumindest im Wesentlichen ausgeglichen wird. Durch das Reibbremssystem wird demnach ein Basis-Verzögerungsmoment erzeugt, das sich von dem vorgegebenen Verzögerungsmoment unterscheidet, das also größer oder kleiner als das vorgegebene Verzögerungsmoment ist. Um die Differenz zwischen dem Basis-Verzögerungsmoment und dem vorgegebenen Verzögerungsmoment zumindest im Wesentlichen auszugleichen, insbesondere vollständig auszugleichen, wird durch die elektrische Maschine ein According to a preferred embodiment, it is provided that a base deceleration torque is generated by the friction brake system, a difference between the base deceleration torque and the predetermined deceleration torque being at least substantially compensated for by motor or generator operation of the electric drive machine. The friction brake system accordingly generates a base deceleration torque that differs from the specified deceleration torque, that is to say is greater or less than the specified deceleration torque. The difference between the base deceleration torque and the specified one The electrical machine is used to compensate for the deceleration torque at least substantially, in particular to compensate completely
Ausgleichsmoment erzeugt. Hierzu wird die elektrische Maschine motorisch betrieben, wenn das Basis-Verzögerungsmoment größer ist als das vorgegebene Verzögerungsmoment, und generatorisch, wenn das Basis- Verzögerungsmoment kleiner ist als das vorgegebene Verzögerungsmoment. Dadurch wird eine besonders präzise und schnelle Steuerung des Compensating torque generated. For this purpose, the electrical machine is operated as a motor when the base deceleration torque is greater than the predetermined deceleration torque, and as a generator when the base deceleration torque is less than the predetermined deceleration torque. This enables a particularly precise and fast control of the
Verzögerungsmoments erreicht. Insbesondere wird das Basis- Verzögerungsmoment bei einer Veränderung der Relativgeschwindigkeit konstant gehalten, so dass die vorgegebene Veränderung des Delay torque reached. In particular, the base deceleration torque is kept constant when the relative speed changes, so that the predetermined change in the
Verzögerungsmoments nur durch eine Veränderung des Ausgleichsmoments erreicht wird. Delay torque is only achieved by changing the compensation torque.
Das erfindungsgemäße Steuergerät für ein wie vorstehend beschriebenes Kraftfahrzeug zeichnet sich mit den Merkmalen des Anspruchs 12 dadurch aus, dass das Steuergerät dazu hergerichtet ist, bei bestimmungsgemäßem The control device according to the invention for a motor vehicle as described above is characterized by the features of claim 12 in that the control device is designed to operate as intended
Gebrauch das erfindungsgemäße Verfahren durchzuführen. Es ergeben sich daraus die bereits genannten Vorteile. Weitere bevorzugte Merkmale und Merkmalskombinationen ergeben sich aus dem zuvor Beschriebenen sowie aus den Ansprüchen. Use to carry out the method according to the invention. This results in the advantages already mentioned. Further preferred features and combinations of features result from what has been described above and from the claims.
Das erfindungsgemäße Kraftfahrzeug mit den Merkmalen des Anspruchs 13 weist eine Antriebsanordnung mit einer elektrischen Antriebsmaschine, ein Reibbremssystem, ein Stellelement, das zwischen einem ersten Endzustand und einem zweiten Endzustand insbesondere stufenlos verlagerbar ist, wobei eine Stellung des Stellelements im ersten Endzustand einem prozentualen Wert von 0 % entspricht und die Stellung des Stellelements im zweiten Endzustand einem prozentualen Wert von 100 % entspricht, und das erfindungsgemäße Steuergerät auf. Auch daraus ergeben sich die bereits genannten Vorteile. Weitere bevorzugte Merkmale und Merkmalskombinationen ergeben sich aus dem zuvor Beschriebenen sowie aus den Ansprüchen. The motor vehicle according to the invention with the features of claim 13 has a drive arrangement with an electric drive machine, a friction brake system, an actuating element, which can be shifted continuously between a first end state and a second end state, a position of the actuating element in the first end state having a percentage value of 0 % corresponds and the position of the control element in the second end state corresponds to a percentage value of 100%, and the control device according to the invention. The advantages already mentioned also result from this. Further preferred features and combinations of features result from what has been described above and from the claims.
Im Folgenden wird die Erfindung anhand der Zeichnungen näher erläutert. Dazu zeigen: Figur 1 ein Kraftfahrzeug in einer vereinfachten Darstellung, The invention is explained in more detail below with reference to the drawings. To show: FIG. 1 shows a motor vehicle in a simplified representation,
Figur 2 eine Übersicht über Kennlinien von verschiedenen vorteilhaften Figure 2 shows an overview of characteristic curves of various advantageous
Anhaltestrategien für das Kraftfahrzeug,  Stopping strategies for the motor vehicle,
Figur 3 ein vorteilhaftes Verfahren zum Betreiben des Kraftfahrzeugs. Figure 3 shows an advantageous method for operating the motor vehicle.
Figur 1 zeigt in einer vereinfachten Darstellung ein Kraftfahrzeug 1. Das FIG. 1 shows a motor vehicle 1 in a simplified representation
Kraftfahrzeug 1 weist vorliegend vier Räder 2 und 3 auf, wobei die Räder 2 einer Vorderradachse 4 und die Räder 3 einer Hinterradachse 5 zugeordnet sind. Außerdem weist das Kraftfahrzeug 1 eine Antriebsanordnung 6 mit einer generatorisch betreibbaren elektrischen Antriebsmaschine 7 auf. Die Motor vehicle 1 in the present case has four wheels 2 and 3, wheels 2 being assigned to a front wheel axle 4 and wheels 3 being assigned to a rear wheel axle 5. In addition, motor vehicle 1 has a drive arrangement 6 with an electric drive machine 7 that can be operated as a generator. The
Antriebsmaschine 7 ist durch ein Differenzialgetriebe 8 und Wellen 9, 10 und 11 mit den Rädern 2 der Vorderradachse 4 verbunden, so dass die Räder 2 durch die Antriebsmaschine 7 antreibbar sind. Außerdem weist das Kraftfahrzeug 1 ein Reibbremssystem 12 auf, das vorliegend den Rädern 2 der Vorderradachse 4 zugeordnete Reibbremseinrichtungen 13 zum Erzeugen eines Drive machine 7 is connected by a differential gear 8 and shafts 9, 10 and 11 to the wheels 2 of the front wheel axle 4, so that the wheels 2 can be driven by the drive machine 7. In addition, the motor vehicle 1 has a friction brake system 12, which in the present case has the friction brake devices 13 assigned to the wheels 2 of the front wheel axle 4 for generating a
Verzögerungsmoments MV aufweist. Die Reibbremseinrichtungen 13 sind vorliegend hydraulisch betätigbar. Alternativ dazu weist das Reibbremssystem 12 elektro-motorisch oder pneumatisch betätigbare Reibbremseinrichtungen 13 auf. Has delay torque MV. In the present case, the friction brake devices 13 can be actuated hydraulically. Alternatively, the friction brake system 12 has friction brake devices 13 that can be actuated by an electric motor or pneumatically.
Das in Figur 1 dargestellte Kraftfahrzeug 1 weist ein Stellelement 14 auf, das als Fahrpedal ausgebildet ist, und das zwischen einem ersten Endzustand und einem zweiten Endzustand stufenlos verlagerbar ist, wobei die Stellung des Stellelements 14 im ersten Endzustand einem prozentualen Wert von 0 % entspricht und die Stellung des Stellelements 14 im zweiten Endzustand einem prozentualen Wert von 100 % entspricht. Mittels des Stellelements 14 kann wahlweise entweder ein Beschleunigungsmoment oder ein The motor vehicle 1 shown in FIG. 1 has an actuating element 14 which is designed as an accelerator pedal and which can be shifted continuously between a first end state and a second end state, the position of the actuating element 14 in the first end state corresponding to a percentage value of 0% and the position of the actuating element 14 in the second final state corresponds to a percentage value of 100%. By means of the adjusting element 14, either an acceleration torque or a
Verzögerungsmoment MV für das Kraftfahrzeug 1 vorgegeben werden. Dabei wird ein Beschleunigungsmoment vorgegeben, wenn die Stellung des Deceleration torque MV for the motor vehicle 1 can be specified. An acceleration torque is specified when the position of the
Stellelements 14 einen prozentualen Wert aufweist, der größer ist als ein vorgegebener Schwellenwert, und ein Verzögerungsmoment MV, wenn die Stellung des Stellelements 14 einen prozentualen Wert aufweist, der kleiner ist als der vorgegebene Schwellenwert. Zur Vorgabe des Beschleunigungsmoments beziehungsweise des Actuating element 14 has a percentage value that is greater than a predetermined threshold value, and a deceleration torque MV if the position of the adjusting element 14 has a percentage value that is less than the predetermined threshold value. For specifying the acceleration torque or the
Verzögerungsmoments MV weist das Kraftfahrzeug 1 ein Steuergerät 15 auf, das mit dem Stellelement 14 einerseits und mit der Antriebsmaschine 7 und mit den Reibbremseinrichtungen 13 andererseits verbunden ist. Wenn aufgrund der Stellung des Stellelements 14 ein Beschleunigungsmoment vorgegeben wird, steuert das Steuergerät 15 die Antriebsmaschine 7 zum Erzeugen des Deceleration torque MV, motor vehicle 1 has a control unit 15, which is connected to actuating element 14 on the one hand and to drive machine 7 and to friction brake devices 13 on the other. If, based on the position of the control element 14, an acceleration torque is specified, the control unit 15 controls the drive machine 7 to generate the
Beschleunigungsmoments an. Wenn ein Verzögerungsmoment MV vorgegeben wird, steuert das Steuergerät 14 zumindest die Reibbremseinrichtungen 13 zum Erzeugen des Verzögerungsmoments MV an. Optional steuert das Steuergerät 15 auch die Antriebsmaschine 7 zum Erzeugen eines generatorischen Acceleration torque. If a deceleration torque MV is specified, the control unit 14 controls at least the friction brake devices 13 to generate the deceleration torque MV. Optionally, control unit 15 also controls drive machine 7 to generate a generator
Verzögerungsmoments MV an. Delay torque MV on.
Figur 2 zeigt Kennlinien Sl, S2, S3 und S4 von verschiedenen vorteilhaften Verzögerungsvorgängen für das Kraftfahrzeug 1. Hierzu ist das FIG. 2 shows characteristic curves S1, S2, S3 and S4 of various advantageous deceleration processes for motor vehicle 1
Verzögerungsmoment MV, das durch das Steuergerät 15 für das Kraftfahrzeug 1 vorgegeben wird, wenn die Stellung des Stellelements 14 einen prozentualen Wert aufweist, der geringer ist als der Schwellenwert, in Abhängigkeit von einer Relativgeschwindigkeit v des Kraftfahrzeugs 1 dargestellt. Wie aus Figur 2 ersichtlich ist, wird das Verzögerungsmoment MV in Abhängigkeit von der Relativgeschwindigkeit v verändert. Deceleration torque MV, which is specified by the control unit 15 for the motor vehicle 1 when the position of the control element 14 has a percentage value that is less than the threshold value, as a function of a relative speed v of the motor vehicle 1. As can be seen from FIG. 2, the deceleration torque MV is changed as a function of the relative speed v.
Gemäß den Kennlinien Sl, S2 und S3 wird das vorgegebene According to the characteristic curves Sl, S2 and S3, the specified one
Verzögerungsmoment MV bei einer Verringerung der Relativgeschwindigkeit v des Kraftfahrzeugs 1 auf einem Wert MVO konstant gehalten, wenn die Deceleration torque MV is kept constant at a value MVO when the relative speed v of the motor vehicle 1 is reduced, if the
Relativgeschwindigkeit v größer ist als eine vorgegebene Relative speed v is greater than a predetermined one
Schwellengeschwindigkeit vl. Wenn die erfasste Relativgeschwindigkeit v geringer ist als die Schwellengeschwindigkeit vl, wird das Verzögerungsmoment MV mit der Relativgeschwindigkeit v verringert. Durch das Verringern des Verzögerungsmoments MV wird ein besonders komfortables Verzögern des Kraftfahrzeugs 1, insbesondere bis in den Stillstand des Kraftfahrzeugs 1 erreicht. Insbesondere wird ein Verzögerungsruck beim Anhalten des Threshold speed vl. If the detected relative speed v is less than the threshold speed vl, the deceleration torque MV is reduced with the relative speed v. By reducing the deceleration torque MV, a particularly comfortable deceleration of the motor vehicle 1 is achieved, in particular until the motor vehicle 1 comes to a standstill. In particular, a delay jerk when stopping the
Kraftfahrzeugs 1 vermieden. Wie aus Figur 2 ersichtlich ist, wird das Motor vehicle 1 avoided. As can be seen from Figure 2, this is
Verzögerungsmoment nicht unter einen vorgegebenen Mindestwert MV1 verringert. Dadurch wird gewährleistet, dass das Kraftfahrzeug 1 im Anschluss an ein Verzögern bis in den Stillstand im Stillstand gehalten wird. Die Kennlinien Sl, S2 und S3 unterscheiden sich insofern voneinander, als dass sie in einem Relativgeschwindigkeitsbereich Dnΐ mit abnehmender Relativgeschwindigkeit jeweils unterschiedliche Steigungen beziehungsweise Steigungsänderungen aufweisen. Gemäß der Kennlinie S2 wird das Verzögerungsmoment MV linear mit der Relativgeschwindigkeit v verringert. Die Steigung der Kennlinie Sl wird im Unterschied dazu mit abnehmender Relativgeschwindigkeit v größer und die der Kennlinie S3 mit abnehmender Relativgeschwindigkeit v kleiner. Deceleration torque is not reduced below a predetermined minimum value MV1. This ensures that the motor vehicle 1 is kept at a standstill after deceleration to a standstill. The characteristics Sl, S2 and S3 differ from each other in that they have different gradients or gradient changes in a relative speed range Dnΐ with decreasing relative speed. According to the characteristic curve S2, the deceleration torque MV is reduced linearly with the relative speed v. In contrast, the slope of the characteristic curve S1 becomes larger with decreasing relative speed v and that of the characteristic curve S3 becomes smaller with decreasing relative speed v.
Die in Figur 2 dargestellte Kennlinie S4 unterscheidet sich von den Kennlinien Sl, S2 und S3 insofern, als dass zusätzlich zu einer ersten The characteristic curve S4 shown in FIG. 2 differs from the characteristic curves S1, S2 and S3 in that in addition to a first one
Schwellengeschwindigkeit v2, wobei das Verzögerungsmoment MV bei einer Verringerung der Relativgeschwindigkeit v verringert wird, wenn die Threshold speed v2, the deceleration torque MV being reduced when the relative speed v is reduced when the
Relativgeschwindigkeit v geringer ist als die erste Schwellengeschwindigkeit v2, auch noch eine zweite Schwellengeschwindigkeit v3 vorgegeben wird, die größer ist als die erste Schwellengeschwindigkeit v2, und wobei das Relative speed v is lower than the first threshold speed v2, a second threshold speed v3 is also specified, which is greater than the first threshold speed v2, and wherein
Verzögerungsmoment MV bei der Verringerung der Relativgeschwindigkeit v erhöht wird, wenn eine Relativgeschwindigkeit v erfasst wird, die größer als die erste Schwellengeschwindigkeit v2 und geringer als die zweite Deceleration torque MV is increased when the relative speed v is reduced, if a relative speed v is detected that is greater than the first threshold speed v2 and less than the second
Schwellengeschwindigkeit v3. Durch eine derartige Vorgabe des Threshold speed v3. By specifying the
Verzögerungsmoments MV wird ein besonders zügiges aber immer noch komfortables Verzögern beziehungsweise Anhalten des Kraftfahrzeugs 1 erreicht. Auch gemäß der Kennlinie S4 ist ein Mindestwert MV2 für das Delay torque MV a particularly quick but still comfortable deceleration or stopping of motor vehicle 1 is achieved. According to the characteristic curve S4 there is a minimum value MV2 for the
Verzögerungsmoment MV vorgegeben, unter den das Verzögerungsmoment MV nicht verringert wird. Deceleration torque MV is specified below which the deceleration torque MV is not reduced.
Gemäß Figur 2 entspricht die erste Schwellengeschwindigkeit vl der Kennlinien Sl, S2 und S3 der zweiten Schwellengeschwindigkeit v3 der Kennlinie S4. Die Lage der Schwellengeschwindigkeiten vl, v2 und v3 ist in Figur 2 jedoch nur beispielhaft dargestellt. Gemäß weiteren Ausführungsbeispielen der Kennlinien Sl, S2, S3 und S4 unterscheidet sich die erste Schwellengeschwindigkeit vl der Kennlinien Sl, S2 und S3 von der zweiten Schwellengeschwindigkeit v3 der Kennlinie S4. According to FIG. 2, the first threshold speed v1 of the characteristic curves S1, S2 and S3 corresponds to the second threshold speed v3 of the characteristic curve S4. The position of the threshold speeds v1, v2 and v3 is shown in FIG. 2 only as an example. According to further exemplary embodiments of the characteristic curves S1, S2, S3 and S4, the first threshold speed v1 of the characteristic curves S1, S2 and S3 differs from the second threshold speed v3 of the characteristic curve S4.
Figur 3 zeigt ein vorteilhaftes Verfahren zum Betreiben des Kraftfahrzeugs 1. In einem ersten Schritt Sl wird der prozentuale Wert der Stellung des Stellelements 14 erfasst. In einem anschließenden Schritt S2 wird ein Beschleunigungsmoment für das Kraftfahrzeug 1 vorgegeben, wenn in dem ersten Schritt S1 erfasst wird, dass der prozentuale Wert der Stellung des Stellelements 14 größer ist als der vorgegebene Schwellenwert. FIG. 3 shows an advantageous method for operating the motor vehicle 1. In a first step S1, the percentage value of the position of the control element 14 recorded. In a subsequent step S2, an acceleration torque is specified for motor vehicle 1 if it is detected in first step S1 that the percentage value of the position of the actuating element 14 is greater than the predetermined threshold value.
Wenn in dem ersten Schritt S1 jedoch erfasst wird, dass die Stellung des Stellelements 14 einen prozentualen Wert aufweist, der kleiner ist als der Schwellenwert, so wird anstelle eines Beschleunigungsmoments in Schritt S2 in einem Schritt S3 ein Verzögerungsmoment MV für das Kraftfahrzeug 1 vorgegeben. Das vorgegebene Verzögerungsmoment MV wird dabei zumindest durch die Reibbremseinrichtungen 13 des Kraftfahrzeugs 1 erzeugt. Optional wird zusätzlich auch die Antriebsmaschine 7 zum Erzeugen des However, if it is detected in the first step S1 that the position of the actuating element 14 has a percentage value that is smaller than the threshold value, a deceleration torque MV for the motor vehicle 1 is specified in a step S3 instead of an acceleration torque in step S2. The predetermined deceleration torque MV is generated at least by the friction brake devices 13 of the motor vehicle 1. Optionally, the drive machine 7 for generating the
Verzögerungsmoments MV generatorisch betrieben. Delay torque MV operated as a generator.
In einem folgenden Schritt S4 wird eine Relativgeschwindigkeit v des In a subsequent step S4, a relative speed v des
Kraftfahrzeugs 1 zum Boden erfasst. Vorliegend wird als Relativgeschwindigkeit v die Relativgeschwindigkeit der Karosserie des Kraftfahrzeugs 1 zum Boden erfasst. Motor vehicle 1 captured to the ground. In the present case, the relative speed v of the body of the motor vehicle 1 to the floor is recorded as the relative speed v.
In einem anschließenden Schritt S5 wird das aufgrund des prozentualen Wertes der Stellung des Stellelements 14, der geringer ist als der Schwellenwert, für das Kraftfahrzeug 1 vorgegebene Verzögerungsmoment MV in Abhängigkeit von der erfassten Relativgeschwindigkeit v verändert. Beispielsweise wird das In a subsequent step S5, the deceleration torque MV which is predetermined for the motor vehicle 1 on the basis of the percentage value of the position of the actuating element 14, which is less than the threshold value, is changed as a function of the detected relative speed v. For example, that
vorgegebene Verzögerungsmoment MV gemäß einer der in Figur 2 dargestellten Kennlinien Sl, S2, S3 und S4 verändert. Daraus ergibt sich jeweils ein besonders komfortabler Verzögerungsvorgang mit dem Kraftfahrzeug 1. Um die Veränderung des Verzögerungsmoments MV zu gewährleisten, wird wahlweise das durch die Reibbremseinrichtungen 13 erzeugte Verzögerungsmoment MV, das durch die Antriebsmaschine 7 erzeugte generatorische The predetermined deceleration torque MV is changed in accordance with one of the characteristic curves S1, S2, S3 and S4 shown in FIG. This results in a particularly comfortable deceleration process with the motor vehicle 1. In order to ensure the change in the deceleration torque MV, the deceleration torque MV generated by the friction brake devices 13 is optionally the generator torque generated by the drive machine 7
Verzögerungsmoment MV oder sowohl das durch die Reibbremseinrichtungen 13 als auch das durch die Antriebsmaschine 7 erzeugte Verzögerungsmoment MV verändert. Deceleration torque MV or both the deceleration torque MV generated by the friction brake devices 13 and by the drive machine 7 are changed.
Dadurch, dass die Reibbremseinrichtungen 13 zum Erzeugen des The fact that the friction brake devices 13 for generating the
Verzögerungsmoments MV angesteuert werden, kann das Kraftfahrzeug 1 bis in den Stillstand verzögert werden. Außerdem kann das Kraftfahrzeug 1 durch Ansteuern der Reibbremseinrichtungen 13 im Stillstand gehalten werden. Delay torque MV can be controlled, the motor vehicle 1 to in the standstill can be delayed. In addition, the motor vehicle 1 can be kept at a standstill by actuating the friction brake devices 13.

Claims

Ansprüche Expectations
1. Verfahren zum Betreiben eines Kraftfahrzeugs (1), das eine 1. Method for operating a motor vehicle (1), the one
Antriebsanordnung (6) mit einer elektrischen Antriebsmaschine (7), ein Drive arrangement (6) with an electric drive machine (7)
Reibbremssystem (12), insbesondere ein hydraulisches Reibbremssystem, und ein Stellelement (14) aufweist, wobei das Stellelement (14) zwischen einem ersten Endzustand und einem zweiten Endzustand insbesondere stufenlos verlagerbar ist, wobei eine Stellung des Stellelements (14) im ersten Endzustand einem prozentualen Wert von 0 % entspricht, und die Stellung des Stellelements im zweiten Endzustand einem prozentualen Wert von 100 % entspricht, mit folgenden Schritten: Friction brake system (12), in particular a hydraulic friction brake system, and an actuating element (14), the actuating element (14) being particularly continuously displaceable between a first end state and a second end state, a position of the actuating element (14) in the first end state being a percentage Corresponds to a value of 0%, and the position of the control element in the second final state corresponds to a percentage value of 100%, with the following steps:
- Vorgeben eines Beschleunigungsmoments für das Kraftfahrzeug (1), wenn die Stellung des Stellelements (14) einen prozentualen Wert aufweist, der größer ist als ein vorgegebener Schwellenwert,  - Specifying an acceleration torque for the motor vehicle (1) when the position of the control element (14) has a percentage value that is greater than a predetermined threshold value,
- Vorgeben eines Verzögerungsmoments (MV) für das Kraftfahrzeug (1), wenn die Stellung des Stellelements (14) einen prozentualen Wert aufweist, der kleiner ist als der Schwellenwert,  - Specifying a deceleration torque (MV) for the motor vehicle (1) when the position of the control element (14) has a percentage value that is less than the threshold value,
- Ansteuern des Reibbremssystems (12), so dass das Reibbremssystem (12) das vorgegebene Verzögerungsmoment (MV) zumindest anteilig, insbesondere vollständig, erzeugt.  - Controlling the friction brake system (12) so that the friction brake system (12) generates the predetermined deceleration torque (MV) at least in part, in particular completely.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die elektrische Antriebsmaschine (7) der Antriebsanordnung (6) zum Erzeugen des vorgegebenen Verzögerungsmoments (MV) generatorisch betrieben wird, sodass die Antriebsmaschine (7) das vorgegebene Verzögerungsmoment zumindest anteilig erzeugt. 2. The method according to claim 1, characterized in that the electric drive machine (7) of the drive arrangement (6) for generating the predetermined deceleration torque (MV) is operated as a generator, so that the drive machine (7) generates the predetermined deceleration torque at least in part.
3. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Relativgeschwindigkeit (v) des Kraftfahrzeugs (1) zum Boden erfasst wird, und das vorgegebene Verzögerungsmoment (MV) in Abhängigkeit von der erfassten Relativgeschwindigkeit (v) verändert wird. 3. The method according to any one of the preceding claims, characterized in that a relative speed (v) of the motor vehicle (1) to the ground is detected, and the predetermined deceleration torque (MV) is changed as a function of the detected relative speed (v).
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass das vorgegebene Verzögerungsmoment (MV) bei einer Verringerung der 4. The method according to claim 3, characterized in that the predetermined deceleration torque (MV) with a reduction in
Relativgeschwindigkeit (v) verringert wird. Relative speed (v) is reduced.
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass eine erste Schwellengeschwindigkeit (vl, v2) vorgegeben wird, wobei das vorgegebene Verzögerungsmoments (MV) nur dann verringert wird, wenn die erfasste Relativgeschwindigkeit (v) geringer ist als die erste Schwellengeschwindigkeit (vl, v2). 5. The method according to claim 4, characterized in that a first threshold speed (vl, v2) is specified, the predetermined deceleration torque (MV) being reduced only when the detected relative speed (v) is lower than the first threshold speed (vl, v2).
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass eine zweite Schwellengeschwindigkeit (v3) vorgegeben wird, die größer ist als die erste Schwellengeschwindigkeit (v2), wobei das vorgegebene 6. The method according to claim 5, characterized in that a second threshold speed (v3) is predetermined, which is greater than the first threshold speed (v2), the predetermined
Verzögerungsmoment (MV) bei der Verringerung der Relativgeschwindigkeit (v) erhöht wird, wenn eine Relativgeschwindigkeit (v) erfasst wird, die größer als die erste Schwellengeschwindigkeit (v2) und geringer als die zweite Deceleration torque (MV) is increased when the relative speed (v) is reduced when a relative speed (v) is detected that is greater than the first threshold speed (v2) and less than the second
Schwellengeschwindigkeit (v3) ist. Threshold speed (v3).
7. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Verzögerungsmoment (MV) in Abhängigkeit von einer zuvor gespeicherten Kennlinie (Sl, S2, S3, S4) vorgegeben wird. 7. The method according to any one of the preceding claims, characterized in that the deceleration torque (MV) is predetermined as a function of a previously stored characteristic curve (S1, S2, S3, S4).
8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass die Kennlinie (Sl, S2, S3, S4) eine Steigung aufweist, die mit abnehmender Relativgeschwindigkeit (v) größer und/oder kleiner wird. 8. The method according to claim 7, characterized in that the characteristic curve (Sl, S2, S3, S4) has an incline which becomes larger and / or smaller with decreasing relative speed (v).
9. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Kraftfahrzeug (1) durch das vorgegebene 9. The method according to any one of the preceding claims, characterized in that the motor vehicle (1) by the predetermined
Verzögerungsmoment (MV) in den Stillstand verzögert wird. Deceleration torque (MV) is decelerated to standstill.
10. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein Mindestwert (MV1, MV2) für das 10. The method according to any one of the preceding claims, characterized in that a minimum value (MV1, MV2) for the
Verzögerungsmoment (MV) vorgegeben wird. Deceleration torque (MV) is specified.
11. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein Basis-Verzögerungsmoment durch das 11. The method according to any one of the preceding claims, characterized in that a base deceleration torque by the
Reibbremssystem erzeugt wird, wobei eine Differenz zwischen dem Basis- Verzögerungsmoment und dem vorgegebenen Verzögerungsmoment (MV) durch motorisches oder generatorisches Betreiben der elektrischen Antriebsmaschine (7) zumindest im Wesentlichen ausgeglichen wird. Friction braking system is generated, a difference between the base deceleration torque and the predetermined deceleration torque (MV) being at least substantially compensated for by motor or generator operation of the electric drive machine (7).
12. Steuergerät (15) für ein Kraftfahrzeug (1), wobei das Kraftfahrzeug (1) eine Antriebsanordnung (6) mit einer elektrischen Antriebsmaschine (7), ein Reibbremssystem (12) und ein Stellelement (14) aufweist, wobei das 12. Control device (15) for a motor vehicle (1), the motor vehicle (1) having a drive arrangement (6) with an electric drive machine (7), a friction brake system (12) and an actuating element (14), the
Stellelement (14) zwischen einem ersten Endzustand und einem zweiten Endzustand insbesondere stufenlos verlagerbar ist, wobei eine Stellung des Stellelements (14) im ersten Endzustand einem prozentualen Wert von 0 % entspricht, und die Stellung des Stellelements (14) im zweiten Endzustand einem prozentualen Wert von 100 % entspricht, dadurch gekennzeichnet, dass das Steuergerät (15) dazu hergerichtet ist, bei bestimmungsgemäßem Gebrauch ein Verfahren nach einem der Ansprüche 1 bis 11 durchzuführen. The control element (14) can be shifted continuously between a first end state and a second end state, a position of the control element (14) in the first end state corresponding to a percentage value of 0%, and the position of the control element (14) in the second end state a percentage value corresponds to 100%, characterized in that the control device (15) is designed to carry out a method according to one of claims 1 to 11 when used as intended.
13. Kraftfahrzeug (1), mit einer Antriebsanordnung (6), die eine elektrische Antriebsmaschine (7) aufweist, einem Reibbremssystem (12) und einem 13. Motor vehicle (1), with a drive arrangement (6) which has an electric drive machine (7), a friction brake system (12) and one
Stellelement (14), wobei das Stellelement (14) zwischen einem ersten Adjusting element (14), wherein the adjusting element (14) between a first
Endzustand und einem zweiten Endzustand insbesondere stufenlos verlagerbar ist, wobei eine Stellung des Stellelements (14) im ersten Endzustand einem prozentualen Wert von 0 % entspricht, und die Stellung des Stellelements (14) im zweiten Endzustand einem prozentualen Wert von 100 % entspricht, End state and a second end state is in particular infinitely displaceable, a position of the control element (14) in the first end state corresponding to a percentage value of 0% and the position of the control element (14) in the second end state corresponding to a percentage value of 100%,
gekennzeichnet durch ein Steuergerät (15) nach Anspruch 12. characterized by a control device (15) according to claim 12.
EP19755298.7A 2018-09-04 2019-08-01 Method for operating a motor vehicle, control unit, and motor vehicle Pending EP3847068A1 (en)

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DE102018214953.4A DE102018214953A1 (en) 2018-09-04 2018-09-04 Method for operating a motor vehicle, control device, motor vehicle
PCT/EP2019/070846 WO2020048695A1 (en) 2018-09-04 2019-08-01 Method for operating a motor vehicle, control unit, and motor vehicle

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