CN100559151C - The road grade of mixing is determined system - Google Patents

The road grade of mixing is determined system Download PDF

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Publication number
CN100559151C
CN100559151C CNB2007101118782A CN200710111878A CN100559151C CN 100559151 C CN100559151 C CN 100559151C CN B2007101118782 A CNB2007101118782 A CN B2007101118782A CN 200710111878 A CN200710111878 A CN 200710111878A CN 100559151 C CN100559151 C CN 100559151C
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situation
value
gradient
time
slope
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CN101101238A (en
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M·A·泽尔比尼
G·塔梅
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B60K6/485—Motor-assist 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
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • 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
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2710/10—Change speed gearings
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention relates to a kind of adjusting and travel and comprise the driving force of determining motor vehicle driven by mixed power, calculate brake pressure value and determine whether to exist a gradient to freeze situation based on brake pressure value in ground motor vehicle driven by mixed power method of operating with a gradient.Described method comprises the operation of calculating the value of slope on described ground based on driving force when freezing situation and not existing and regulating motor vehicle driven by mixed power based on described value of slope when described further.

Description

The road grade of mixing is determined system
The relevant application of cross reference
The application requires the interim application No.60/815 of the U.S., and 151, the applying date is the right of priority of the document on June 20th, 2006.The disclosure of above-mentioned application is incorporated in this as a reference in the lump.
Technical field
The present invention relates to motor vehicle driven by mixed power, relate more specifically to a system of the angle of gradient that is used for determining the road of hybrid car travel.
Background technology
Motor vehicle driven by mixed power is to be driven by multiple propulsion system, and these propulsion system include, but are not limited to an internal combustion engine and a motor.Described motor plays the effect of motor/generator.In generator mode, described motor is to be used for to electric loading power supply or the electric energy that charges the battery by described engine driven and then generation.In motor mode, described motor replenishes described engine, provides driving moment in order to the powered vehicle power-transmission system.
In motor vehicle driven by mixed power operating period, hybrid car travel is on the road surface of the different kinds of roads gradient gradient, and road grade is road angle with respect to the horizontal plane.The gradient of described road grade often influences maneuvering performance and vehicle operation parameter.In addition, it is desired regulating some working condition of vehicle based on described road grade.
Summary of the invention
Correspondingly, the invention provides a kind of adjusting travels in the motor vehicle driven by mixed power method of operating that has on the road surface of the gradient.Described method comprises the driving force of determining motor vehicle driven by mixed power, calculates brake pressure value and determines whether to exist a gradient to freeze situation based on brake pressure value.Described method comprises the operation of calculating the value of slope on described ground based on driving force when freezing situation and not existing and regulating motor vehicle driven by mixed power based on described value of slope when described further.
Other features are, described method comprises further when existing and describedly keeps described value of slope to equal a previous value of slope when freezing situation.The situation of freezing after having transition during through a schedule time operation of described motor vehicle driven by mixed power be conditioned based on described value of slope.
Another feature is, described method comprises further show a braking opening when brake pressure value surpasses a threshold value.When described braking opening is shown, exist the described gradient to freeze situation.
Another feature is that described method comprises further based on the described brake pressure value and the speed of a motor vehicle calculates chassis damping force.Described value of slope is determined based on described chassis damping force further.
Another feature is that described method comprises that further the tangent with the merchant's of gradient power and motor vehicle driven by mixed power quality and acceleration of gravity constant product cosine calculates described value of slope.
Another feature is that described method comprises further filters described value of slope.
Other features are, described method comprises that further a plurality of gradients of monitoring freeze situation and show that the described situation of freezing does not exist when one of situation kind is untrue when described a plurality of freezing.Described a plurality of situation of freezing comprises in following at least one: the brake actuating situation, speed change is carried out situation, from time that speed change begins situation less than its threshold time, from time that the scope speed change begins situation less than its threshold time, reduce the car speed situation, slide time when being found less than the situation of its threshold time from wheel, air throttle change rate situation, change the situation of the time of beginning from air throttle less than its threshold time, braking change rate situation, change the situation of the time of beginning from braking, and pick up counting the time less than the situation of threshold time separately from fuel cut-off less than its threshold time.
The further aspect that the present invention uses will become obvious from following detailed description.Should be appreciated that described explanation of the present invention and specific embodiment, and preferred embodiment, just for illustrative purposes, anything but in order to limit this invention.
Description of drawings
The present invention will become clear fully from following detailed explanation and accompanying drawing, wherein:
Fig. 1 is the functional-block diagram of an exemplary motor vehicle driven by mixed power, and this PHEV is determined control based on road grade of the present invention and operated;
Fig. 2 is the synoptic diagram of an exemplary motor vehicle driven by mixed power, has comprised effect power in the above;
Fig. 3 is a process flow diagram, this flowchart text road grade of the present invention determine the illustrated steps that control is performed; And
Fig. 4 is an example modules functional-block diagram, and this schematic module is carried out road grade of the present invention and determined control.
Embodiment
The explanation of following specific embodiment in fact just schematically, anything but to the restriction of the present invention and application or utilization.For clarity sake, same in the accompanying drawings Reference numeral is represented similar elements.Here use, term module refers to special IC (ASIC), electronic circuit, processor (shared, special use, or cluster) and the memory of carrying out one or more softwares or canned software, combinational logic circuit, or other suitable elements that above-mentioned functions is provided.
Referring now to Fig. 1,, schematically motor vehicle driven by mixed power 10 comprises an engine 12 and a motor 14, its drive speed transmission 16.Air is by air throttle 13 inspiration engines 12, and the position of air throttle 13 is regulated by throttle actuator 15.Described air and fuel mix, described air/fuel mixture in cylinder (not shown) internal combustion to produce driving moment.Motor 14 replenishes described engine 12 to produce the driving moment of drive speed transmission 16.So, fuel efficiency increases and the discharging minimizing.Engine 12 is to be connected by belt generating-starter (BAS) system 18 with motor 14.More precisely, described motor 14 is operating as a starter (motor just) and an alternator (generator just) and is connected with engine 12 with wheel system by a band.Engine 12 and motor 14 comprise belt pulley 20,22 separately, and belt pulley 20,22 is by being with 24 to connect rotation.Belt pulley 20 connects and rotation with the bent axle 26 of engine 12.
In a pattern, engine 12 drive motor 14 and then produce power are used for to energy storage device (ESD) 28 chargings.In another pattern, motor 14 is used to the energy drives engine 12 from described ESD28.Described ESD28 can include, but not limited to a battery or a ultracapacitor.Selectively, described BAS system 18 can replace with one flywheel-dyastart (FAS) system (not shown), this system comprises a motor between engine and described variator or a chain or cogwheel gearing operationally, and described cogwheel gearing is between motor 14 and bent axle 26.
Described variator 16 can include, but are not limited to, a manual variator, an automatic transmission, a continuous change transmission (CVT) and an auto-manual variator (AMT).Driving moment is transmitted 26 variators 16 by coupling arrangement 30 from engine crankshaft 26.Described coupling arrangement 30 can include, but are not limited to, and depends on a power clutch or a torque converter of kind of the variator of use.Described variator 16 is used to drive the driving moment of transmission shaft 32 by an amplification in a plurality of ratio of gear.
One control module 34 is regulated the operation of vehicle 10.Described control module 34 control fuel spray and igniting and then optionally start and the cylinder of inactive engine 12.More precisely, when vehicle is in when static, the cylinder neither one of engine 12 is lighted a fire (just stopping using) and engine 12 stops.When vehicle launch (just from static acceleration), motor 14 drives described bent axle and then accelerates rolling motor 12 to one idling and then the acceleration of beginning vehicle.During vehicle needed low driving moment, described cylinder misfired and described valve is deactivated.Driving moment provides by motor 14.When inactive, be cut off to the fuel and the igniting of engine 12 cylinders.Further, the circulation of the open and close of air inlet and vent valve can be under an embargo and then suppress the air-flow in the cylinder.
One accelerator pedal 36 is provided.One pedal position sensor 38 produces a pedal position signal in response to the position of described accelerator pedal 36 and based on this.Provide a brake pedal 40, and a brake pedal position sensor 42 produces a pedal position signal in response to the position of described brake pedal 40 and based on it.Described control module 34 is based on the pressure in described brake pedal position signal operation brake system 43 and then the adjustment brake system, and brake system is regulated the damping force of clamping device (not shown) successively.One brake position sensor 45 is provided in brake system 43 and produces a brake pressure signal (BPS) in response to the brake fluid pressure in master cylinder downstream.
Road grade of the present invention determines to control the angle of gradient (θ) of the road in determining to travel.The described angle of gradient can be expressed as a signed percent grade gradient or θ tangent of an angle value, wherein 100% gradient angle of gradient (100%tan (45 °)=100% just) that equals 45 °.For example:, one 4 ° of angles of gradient equal 1,99% gradient (tan (4 °)=0.0699 just; The 0.0699100%=6.99% gradient).Furtherly, the positive gradient is equivalent to a gradient of going up a slope and negative slope is equivalent to a descending gradient.
Referring to Fig. 2, the exemplary power that acts on vehicle has been described schematically.Correspondingly, total tractive force equation is:
∑F＝ma＝F DRIVE-F GRADE-F AERO-F ROLL-F BRAKE
F DRIVEBe driving force and definite according to following relationship:
F DRIVE = T d r TIRE
Wherein: T d=axle moment of torsion; And
r TIRE=tire rolling radius.
F GRADEBe gradient power and definite according to following relationship:
F GRADE＝mgsin(θ)
Wherein: the m=vehicle mass (for example, calibration mass }; With
G=acceleration of gravity (9.81m/s just, 2.
F AEROBe air resistance and definite according to following relationship:
F AERO = c d Aρ V VEH 2 2
Wherein: c d=vehicle the coefficient that floats;
The A=cross-sectional area of vehicle;
ρ=atmospheric density the function of air pressure and temperature (for example, for); And
V VEH=car speed (KPH).
F ROLLBe the resistance to rolling of tire and determine according to following relationship:
F ROLL＝c rmg?cos(θ)
Wherein: c r=described vehicles roll resistance coefficient; With
Cos (θ)=1 is used for drivable road grade angle.
F BRAKEBe described chassis brake system power and the culvert number that is defined as described BPS.More precisely, F BRAKEDetermine based on following relationship:
F BRAKE = T BRAKE r TIRE
T BRAKEBe a retarding torque calibration value, it is determined according to the table of comparisons based on the speed of a motor vehicle and BPS.
In above-mentioned-relation, the unique the unknown of sin (θ).Correspondingly, the real-time estimate of a road gradient can be carried out based on following relationship:
θ＝tan(sin -1X)
Wherein: X=F GRADE/ (m*g)
F GRADEDetermine at first based on following relationship:
F GRADE＝F DRIVE-F ROLL-F AERO-F BRAKE-ma
Wherein: a is a vehicle acceleration;
θ determines according to following relationship then:
θ = tan ( sin - 1 ( F GRADE m · g ) )
θ can be filtered so that a θ (θ who filters to be provided FILT).θ FILTCan determine as the packeting average value of θ based on following relationship:
θ FILT = ( θ 1 + θ 2 + θ 3 + . . . . . . + θn n )
Wherein: n is the average of ring.
Road grade of the present invention is determined the multiple situation that the control monitoring will be described in detail below, and optionally sets gradient power freeze flag (FLAG based on it FRZ).Described a plurality of situation is in response to those situations that cause the unexpected change of vehicle operation parameter, and the vehicle operation parameter will influence determining of road grade significantly.If one of described situation is real, θ is fixed on determined value last time.In case FLAG FRZBe set (for example, equal 1 and show that θ should freeze), the timer (t that thaws UNFRZ) be activated.At t UNFRZReach a threshold time (t THR) back FLAG FRZBe disengaged setting (for example, setting equals 0).So, θ is only at t THRKeep in (threshold time) freezing.
Described a plurality of situation includes but are not limited to, and whether braking starts, whether be in speed-change process, from the time that speed change begins, from the time that the scope speed change begins, the speed of a motor vehicle, slide the found time from wheel, air throttle change just/negative ratio, from described air throttle change just/negative time than beginning, braking change just/negative ratio, from described braking change just/negative time than beginning, and from the cut time of fuel.If brake pressure is greater than a threshold brake pressure, if speed change is carried out, if from last time speed change time less than a threshold time, if from time of range (for example at stop (P), neutral (N), fall back (R) and drive change between (D)), if the speed of a motor vehicle is less than a threshold value speed of a motor vehicle (V VEH(V THR)) if or slide time of (this slip can utilize traditional abs sensor to detect) less than its threshold time, FLAG from wheel FRZBe set.If described throttle position is also monitored and the plus or minus rate of change of described throttle position greater than its threshold value FLAG FRZBe set.Surpass its threshold time FLAG if surpass the time that threshold value separately begins from the plus or minus rate of change that changes FRZAlso be set.At last, close the time of (for example being passed to hybrid power engine-off (HEOFF pattern)) timing less than its threshold time FLAG from fuel FRZAlso be set.
Control module 34 is regulated the operation of vehicle based on road grade.For example, if described road grade surpasses a limit road grade, described control module 34 can not turned off described engine 12 and enter described HEOff pattern, even if the described HEOff pattern of other vehicle operation parameter indicating is suitable.So, described engine 12 keeps on precipitous road grade initiatively.In other words, described control module 34 can optionally be started mountain region-holding device (for example, described clamping device, a redundant transmission clutch coupling and/or a parking ratchet) based on the road grade value.In addition, described control module 34 can be regulated the ratio of gear of variator 16 based on described road grade value.For example,, select a low gear ratio, if particularly vehicle is in a cruise control pattern for precipitous descending road grade.In addition, the idle speed of engine 12 can be regulated and then suppress and turn over behind the vehicle based on road grade.For example, described engine idle speed can be proportional with road grade.
Referring to Fig. 3, determine that by road grade the illustrative steps that control is carried out will be described in detail.In step 300, described power (for example, F is determined in control DRIVE, F ROLL, F GRADE, F AEROAnd F BRAKE) as mentioned above.In step 304, control is calculated θ based on described power.Determine described road grade at step 306 controlled filter device θ and in step 308.
In step 310, control determines whether that any described situation of freezing is real.If the described situation neither one that freezes is real, is controlled at step 312 and sets FLAG FRZEqual 0, control finishes.If describedly freeze to have in the situation one or more to be real, to be controlled at step 314 and to set FLAG FRZ Equal 1.In step 316, control starting t UNFRZDetermine whether t in step 318 control UNFRZEqual t THRIf t UNFRZBe not equal to t THR, being controlled at step 320 increases t UNFRZAnd return step 318.If t UNFRZEqual t THR, be controlled at step 322 and recover the definite and control end of road grade.
Referring to Fig. 4, determine that by described road grade the example modules that control is carried out will be described in detail.Described example modules comprises a T dDetermination module 400, one F DRIVEDetermination module 402, one F GRADEDetermination module 404, F AERODetermination module 406, one F ROLLDetermination module 408, one F BRAKEDetermination module 410, one a road gradient determination modules 412 and a vehicle control module 414.
Describedly determine T based on engine operating parameter dT dDetermination module 400 includes, but are not limited to rotations per minute, map and TPS.Described F DRIVEDetermination module 402 is based on Td and other vehicle parameters (r for example TIRE) determine F DRIVESuch vehicle parameter can be kept in the memory, maybe can be determined.With regard to r TIRE, for example, r TIRECan utilize the tire pressure trace routine to determine.Described F GRADEAnd F ROLLDetermination module 404,408 is determined F respectively GRADEAnd F ROLL, as mentioned above.
Described F AERODetermination module 406 is determined F based on vehicle operation parameter and environmental parameter AERO, vehicle operation parameter and environmental parameter include, but are not limited to the speed of a motor vehicle, atmospheric pressure (P BARO) and temperature (T AIR).Described F BRAKEDetermination module 410 is determined F based on the BSP and the speed of a motor vehicle BRAKEDescribed road grade determination module 412 is determined road grade based on aforesaid various power.Described road grade determination module 412 is also monitored the various inputs (for example, BPS, TPS, the speed of a motor vehicle, gearshift, failure of fuel etc.) of the situation of freezing in response to road grade.Described vehicle control module 414 is regulated the operation of vehicle based on described road grade.
Those skilled in the art are appreciated that from above-mentioned explanation the sufficient instruction of the present invention can carry out with various forms.So although invention is described in conjunction with special example, therefore real scope of the present invention will can not limited.Because at the described accompanying drawing of research, other improvement will become obvious for a person skilled in the art on the basis of described instructions and subsequent claim.

Claims (19)

1. the gradient of the hybrid electric vehicle on the ground that is used to travel is determined system, comprising:
Determine first module of motor vehicle driven by mixed power driving force;
Determine whether to exist the gradient to freeze situation and based on brake pressure value when there not being described second module of calculating described ground inclination value when freezing situation based on described driving force; Wherein a plurality of situations of freezing comprise in following at least one: the brake actuating situation, speed change is carried out situation, from the speed change situation of time that pick up counting less than its threshold time, from the scope speed change situation of time that pick up counting less than its threshold time, reduce the car speed situation, slide when being found timing time less than the situation of its threshold time from wheel, air throttle change rate situation, change the situation of timing time from air throttle less than its threshold time, braking change rate situation, change the situation of timing time from braking less than its threshold time, and from the fuel cut-off situation of time less than its threshold time that pick up counting; Wherein value of slope is calculated as the merchant's of gradient power and motor vehicle driven by mixed power quality and acceleration of gravity product the tangent value of cosine; With
Regulate the three module of described motor vehicle driven by mixed power operation based on described value of slope.
2. the gradient as claimed in claim 1 is determined system, and wherein when described when freezing situation and existing, second module keeps the described gradient to be worth equaling a value of slope the preceding.
3. the gradient as claimed in claim 2 is determined system,
It is characterized in that the operation of described motor vehicle driven by mixed power is conditioned based on described value of slope when the situation of freezing schedule time after having transition finishes.
4. the gradient as claimed in claim 1 is determined system,
Wherein one braking opening is shown when described brake pressure value surpasses a threshold value, when the braking opening is shown, exists the described gradient to freeze situation.
5. the gradient as claimed in claim 1 is determined system,
Comprise that further wherein said value of slope is determined based on described chassis damping force further based on the four module of described brake pressure value and car speed calculating chassis damping force.
6. the gradient as claimed in claim 1 is determined system, comprises further filtering described value of slope.
7. the gradient as claimed in claim 1 is determined system, and a plurality of gradients of wherein said second module monitors are freezed situation and shown that the described situation of freezing does not exist when in the situation one is untrue when described a plurality of freezing.
8. an adjusting is travelled and is had the ground motor vehicle driven by mixed power method of operating of a gradient, comprising:
Determine to state the motor vehicle driven by mixed power driving force;
Calculate brake pressure value;
Determine whether to exist the gradient to freeze situation based on described brake pressure value, wherein a plurality of situations of freezing comprise in following at least one: the brake actuating situation, speed change is carried out situation, from the speed change situation of time that pick up counting less than its threshold time, from the scope speed change situation of time that pick up counting less than its threshold time, reduce the car speed situation, from the slide situation of its threshold time of timing time when being found of wheel, air throttle change rate situation, change the situation of timing time from air throttle less than its threshold time, braking change rate situation, change the situation of timing time from braking less than its threshold time, and from the fuel cut-off situation of time less than threshold time that pick up counting;
Calculate the value of slope on described ground based on described driving force when described when freezing situation and not existing, wherein said value of slope is calculated as the merchant's of gradient power and motor vehicle driven by mixed power quality and acceleration of gravity product the tangent value of cosine; With
Regulate the operation of described motor vehicle driven by mixed power based on described value of slope.
9. method as claimed in claim 8,
Comprise further when the described situation of freezing exists, keep the described gradient to be worth equaling a value of slope the preceding.
10. method as claimed in claim 9,
Comprise further, when the situation of freezing schedule time after having transition finishes, regulate the operation of described motor vehicle driven by mixed power based on described value of slope.
11. method as claimed in claim 8,
Comprise that further one braking opening is shown when described brake pressure value surpasses a threshold value, when the braking opening is shown, exist the described gradient to freeze situation.
12. method as claimed in claim 8,
Comprise further based on described brake pressure value and car speed and calculate chassis damping force, wherein said value of slope is determined based on described chassis damping force further.
13. method as claimed in claim 8 comprises further and filters described value of slope.
14. method as claimed in claim 8 comprises further:
Monitor a plurality of gradients and freeze situation; And when described a plurality of freezing shows that the described situation of freezing does not exist when in the situation one is untrue.
15. regulate the motor vehicle driven by mixed power method of operating based on ground inclination for one kind, vehicle ' comprises on described ground:
Determine the driving force of motor vehicle driven by mixed power;
Calculate brake pressure value;
Determine whether to exist the gradient to freeze situation based on described brake pressure value, wherein a plurality of situations of freezing comprise in following at least one: speed change is carried out situation, from the speed change situation of time that pick up counting less than its threshold time, from the scope speed change situation of time that pick up counting less than its threshold time, reduce the car speed situation, from the slide situation of its threshold time of timing time when being found of wheel, air throttle change rate situation, change the situation of timing time from air throttle less than its threshold time, braking change rate situation, change the situation of timing time from braking less than its threshold time, and from the fuel cut-off situation of time less than threshold time that pick up counting;
Calculate the value of slope on described ground based on described driving force when described when freezing situation and not existing, wherein said value of slope is calculated as the merchant's of gradient power and motor vehicle driven by mixed power quality and acceleration of gravity product the tangent value of cosine;
One braking opening is shown when described brake pressure value surpasses a threshold value, when the braking opening is shown, exists the described gradient to freeze situation.
When described when freezing situation and existing, keep the described gradient to be worth equaling a value of slope the preceding; With
Suppress of the transformation of described motor vehicle driven by mixed power based on described value of slope to the engine cut-off pattern.
16. method as claimed in claim 15 comprises further, regulates the operation of described motor vehicle driven by mixed power when the situation of freezing schedule time after having transition finishes based on described value of slope.
17. method as claimed in claim 15,
Comprise further based on described brake pressure value and car speed and calculate chassis damping force, wherein said value of slope is determined based on described chassis damping force further.
18. method as claimed in claim 15 comprises further and filters described value of slope.
19. method as claimed in claim 15 comprises further:
Monitor a plurality of gradients and freeze situation; And when described a plurality of freezing shows that the described situation of freezing does not exist when in the situation one is untrue.
CNB2007101118782A 2006-06-20 2007-06-20 The road grade of mixing is determined system Expired - Fee Related CN100559151C (en)

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