CN101559772B - Auxiliary downgrade controlling method for hybrid electric vehicle - Google Patents

Auxiliary downgrade controlling method for hybrid electric vehicle Download PDF

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Publication number
CN101559772B
CN101559772B CN2009100852373A CN200910085237A CN101559772B CN 101559772 B CN101559772 B CN 101559772B CN 2009100852373 A CN2009100852373 A CN 2009100852373A CN 200910085237 A CN200910085237 A CN 200910085237A CN 101559772 B CN101559772 B CN 101559772B
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China
Prior art keywords
motor
speed
vehicle
entire car
car controller
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CN2009100852373A
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Chinese (zh)
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CN101559772A (en
Inventor
罗禹贡
韩云武
李克强
连小珉
杨殿阁
郑四发
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清华大学
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Priority to CN2009100852373A priority Critical patent/CN101559772B/en
Publication of CN101559772A publication Critical patent/CN101559772A/en
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Publication of CN101559772B publication Critical patent/CN101559772B/en

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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/10Internal combustion engine [ICE] based vehicles
    • Y02T10/40Engine management systems
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/62Hybrid vehicles
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/40Application of hydrogen technology to transportation, e.g. using fuel cells

Abstract

The invention relates to an auxiliary downgrade controlling method for a hybrid electric vehicle, which comprises the following steps that: (1) an auxiliary ramp controlling system is arranged and comprises a finished vehicle controller, a motor, a motor controller, an engine, an engine controller, a hydraulic braking device and a hydraulic braking device controller; (2) the finished vehicle controller acquires the position of an accelerator pedal, the position of a braking pedal, the position of a gear shift and the information of vehicle speed in real time to judge whether the vehicle entersa ramp assisting program; and (3) the finished vehicle controller calculates the corresponding brake torque through the variable quantity of the vehicle speed; and according to the battery SOC, the b rake moment of the motor, the vehicle speed, the state of a clutch and the gear shift of a speeder, the reverse drawing of the motor and the engine and the brake moment of the hydraulic braking systemare uniformly and dynamically coordinated to keep the vehicle speed in relative stability. The method lightens the fatigue degree of the operation of a driver and also improves the driving safety and the fuel economy of the vehicle.

Description

A kind of auxiliary downgrade controlling method of hybrid vehicle
Technical field
The present invention relates to a kind of driver assistance technology of automobile, particularly about a kind of auxiliary downgrade controlling method of hybrid vehicle.
Background technology
Along with the raising that the increase of automobile pollution and people require the safety and the traveling comfort of vehicle drive, the active safety of automobile (driver assistance technology) has become one of research emphasis of auto-industry circle.Hybrid vehicle descending ancillary technique is (promptly in the descending process, chaufeur is totally released under the situation of brake pedal and acceleration pedal, vehicle keeps speed of a motor vehicle technology relatively stable or that no longer increase by programming control) because of alleviating the operation burden of chaufeur, can realize braking energy feedback again, have a good application prospect and using value.Existing auxiliary downgrade controlling method has three kinds: the descending aux. controls that 1, jointly controls the conventional truck that realizes low speed constant (value that vehicle is intrinsic) after selecting the descending supplemental button by driving engine and hydraulic brake system; 2, reclaim maximization and the maximum at the uniform velocity descending control of hybrid vehicle that turns to target of total braking energy recovery with braking energy; 3, realize the at the uniform velocity descending control of hybrid vehicle by the lock torque of regulating motor.
But the shortcoming that above-mentioned three kinds of auxiliary downgrade controlling methods exist is: 1, the control method of conventional truck, can not realize in real time and the sloping road aux. controls under the arbitrary speed that field of application is narrow.2, the auxiliary downgrade controlling method of existing hybrid vehicle is enough big and the enough greatly prerequisite hypothesis of battery SOC (battery charge state) with the braking force of motor, and this and actual condition are not inconsistent, and can't apply.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of auxiliary downgrade controlling method that can reach the hybrid vehicle of safety and fuel economy optimum.
For achieving the above object, the present invention takes following technical scheme: a kind of auxiliary downgrade controlling method of hybrid vehicle, it may further comprise the steps: 1) a sloping road supplementary controlled system is set, and it comprises entire car controller, motor and controller thereof, driving engine and controller thereof and hydraulic brake system and controller thereof; 2) information of the accelerator pedal position of the real-time collection vehicle of entire car controller, brake pedal position, gear positions and the speed of a motor vehicle, when the value of accelerator pedal position and brake pedal position sensor is zero, starts sloping road supplementary controlled system and enter sloping road aux. controls program; 3) entire car controller calculates corresponding brake torque by the variable quantity of the speed of a motor vehicle, unify according to the gear of the state of the lock torque of battery SOC, motor, the speed of a motor vehicle, power-transfer clutch and change-speed box again that dynamic coordinate motor, driving engine are counter to be dragged and the lock torque of hydraulic brake system, the speed of a motor vehicle is kept relative stability.
In execution in step 3) time, it comprises following content:
Speed of a motor vehicle when (1) the entire car controller registration of vehicle starts sloping road supplementary controlled system is designated as initial velocity, and the difference that the present speed of collection vehicle simultaneously in real time, and do contrast with initial velocity, record present speed subtract with initial velocity is Δ V:
A, if Δ V less than zero, then returns sloping road aux. controls program entry;
B, if Δ V greater than zero, then enters motor regenerative braking control program;
(2) entire car controller continues the present speed of real-time collection vehicle, and calculates Δ V:
A, if Δ V less than zero, then returns sloping road aux. controls program entry;
B, if Δ V greater than zero, then enters motor regenerative braking control program: entire car controller is checked the lock torque and the battery soc of motor:
1. as if 85% of maximum braking torque that does not reach motor or battery SOC, then entire car controller checks vehicles and whether is in sliding state:
I, if be not in sliding state, then finish sloping road aux. controls program;
Ii, if be in sliding state, then carry out the regulating control of motor regenerative braking moment and enter motor regenerative braking control program once more;
2. as if 85% of maximum braking torque that has reached motor or battery SOC, then enter driving engine anti-dragged brake control program;
(3) engaging clutch, change-speed box return to former gear, and entire car controller continues the present speed of real-time collection vehicle simultaneously, and calculate Δ V:
A, if Δ V less than zero, then returns sloping road aux. controls program entry;
B, if Δ V greater than zero, then enters driving engine anti-dragged brake control program: entire car controller is according to the anti-towing tension square of the gear check engine of the rotating speed of driving engine and change-speed box:
1. if do not reach the maximum anti-towing tension square of driving engine, then entire car controller checks vehicles and whether is in sliding state:
I, if be not in sliding state, then finish sloping road aux. controls program;
Ii, if be in sliding state, then carry out the regulating control of the anti-towing tension square of driving engine and enter driving engine anti-dragged brake control program once more;
2. if reached the maximum anti-towing tension square of driving engine, then enter the hydraulic braking control program;
(4) entire car controller continues the present speed of real-time collection vehicle, and calculates Δ V:
A, if Δ V less than zero, then returns sloping road aux. controls program entry;
B, if Δ V greater than zero, then enter the hydraulic braking control program: entire car controller checks vehicles and whether still is in sliding state:
I, if be not in sliding state, then return sloping road aux. controls program entry;
Ii, if be in sliding state, then carry out the regulating control of hydraulic braking moment and enter the hydraulic braking control program once more.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the inventive method is when not stepping on acceleration and brake pedal generation acceleration/accel as vehicle driving downhill person, take all factors into consideration the demand of chaufeur and the running state of vehicle, motor, driving engine are counter to be dragged and hydraulic braking moment keeps relative stability the speed of a motor vehicle by coordinating, thereby make chaufeur attentively controlling party to, not only alleviate the degree of fatigue of driver's operation, and improved the ageing and safety of speed of a motor vehicle control.2, the present invention calculates corresponding brake torque by the variable quantity of real-time collection vehicle speed, unify according to the gear of the state of the lock torque size of the SOC of battery, motor, the speed of a motor vehicle, power-transfer clutch, change-speed box again that dynamic coordinate motor, driving engine are counter to be dragged and the lock torque of hydraulic brake system, realized that braking energy reclaims maximization, has improved the economy of fuel oil.
Description of drawings
Fig. 1 is a diagram of circuit of the present invention
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
Sloping road of the present invention supplementary controlled system comprises entire car controller, motor and controller thereof, driving engine and controller thereof and hydraulic brake system and controller thereof.Motor, driving engine and hydraulic brake system are subjected to entire car controller at the upper strata co-operative control by each self-controller and inner control logic control thereof between the three, the control program of above-mentioned all controllers is finished by mcu programming.
As shown in Figure 1, auxiliary downgrade controlling method of the present invention may further comprise the steps:
1, information such as the accelerator pedal position of the real-time collection vehicle of entire car controller, brake pedal position, gear positions and the speed of a motor vehicle, when the value of accelerator pedal position and brake pedal position sensor is zero, starts sloping road supplementary controlled system and enter sloping road auxiliary routine.
2, entire car controller calculates corresponding brake torque by the variable quantity of the speed of a motor vehicle, unify according to the gear of the state of the lock torque of battery SOC, motor, the speed of a motor vehicle, power-transfer clutch and change-speed box again that dynamic coordinate motor, driving engine are counter to be dragged and the lock torque of hydraulic brake system, the speed of a motor vehicle is kept relative stability, and it specifically comprises following content:
Speed of a motor vehicle when 1) the entire car controller registration of vehicle starts sloping road supplementary controlled system is designated as initial velocity, the present speed of collection vehicle simultaneously in real time, and with the initial velocity contrast, the difference that the record present speed subtracts with initial velocity is Δ V:
(1) if Δ V less than zero, then returns sloping road aux. controls program entry;
(2) if Δ V greater than zero, then enters motor regenerative braking control program.
2) the car load control unit continues the present speed of real-time collection vehicle, and calculates Δ V:
(1) if Δ V less than zero, then returns sloping road aux. controls program entry;
(2) if Δ V greater than zero, then enters motor regenerative braking control program: entire car controller is checked the lock torque and the battery soc of motor:
1. as if 85% of maximum braking torque that does not reach motor or battery SOC, then entire car controller checks vehicles and whether is in sliding state:
A, if be not in sliding state, then finish sloping road aux. controls program;
B, if be in sliding state, then carry out the regulating control of motor regenerative braking moment and enter motor regenerative braking control program once more;
2. as if 85% of maximum braking torque that has reached motor or battery SOC, then enter driving engine anti-dragged brake control program.
3) engaging clutch, change-speed box return to former gear, and entire car controller continues the present speed of real-time collection vehicle simultaneously, and calculate Δ V:
(1) if Δ V less than zero, then returns sloping road aux. controls program entry;
(2) if Δ V greater than zero, then enters driving engine anti-dragged brake control program: entire car controller is according to the anti-towing tension square of the gear check engine of the rotating speed of driving engine and change-speed box:
1. if do not reach the maximum anti-towing tension square of driving engine, then entire car controller checks vehicles and whether is in sliding state:
A, if be not in sliding state, then finish sloping road aux. controls program;
B, if be in sliding state, then carry out the regulating control of the anti-towing tension square of driving engine and enter driving engine anti-dragged brake control program once more;
2. if reached the maximum anti-towing tension square of driving engine, then enter the hydraulic braking control program.
4) entire car controller continues the present speed of real-time collection vehicle, and calculates Δ V:
(1) if Δ V less than zero, then returns sloping road aux. controls program entry;
(2) if Δ V greater than zero, then enter the hydraulic braking control program: the car load control unit checks vehicles and whether still is in sliding state:
1. if be not in sliding state, then return sloping road aux. controls program entry;
2. if be in sliding state, then carry out the regulating control of hydraulic braking moment and enter the hydraulic braking control program once more.
The present invention only describes with the foregoing description; the structure of each parts, the position is set and connects and all can change to some extent; on the basis of technical solution of the present invention; all improvement and equivalents of individual component being carried out according to the principle of the invention all should not got rid of outside protection scope of the present invention.

Claims (1)

1. the auxiliary downgrade controlling method of a hybrid vehicle, it may further comprise the steps:
1) a sloping road supplementary controlled system is set, it comprises entire car controller, motor and controller thereof, driving engine and controller thereof and hydraulic brake system and controller thereof;
2) information of the accelerator pedal position of the real-time collection vehicle of entire car controller, brake pedal position, gear positions and the speed of a motor vehicle, when the value of accelerator pedal position and brake pedal position sensor is zero, starts sloping road supplementary controlled system and enter sloping road aux. controls program;
3) entire car controller calculates corresponding brake torque by the variable quantity of the speed of a motor vehicle, unify according to the gear of the state of the lock torque of battery charge state, motor, the speed of a motor vehicle, power-transfer clutch and change-speed box again that dynamic coordinate motor, driving engine are counter to be dragged and the lock torque of hydraulic brake system, the speed of a motor vehicle is kept relative stability, specifically comprises following content:
Speed of a motor vehicle when (1) the entire car controller registration of vehicle starts sloping road supplementary controlled system is designated as initial velocity, and the while is the present speed of collection vehicle in real time, and does contrast with initial velocity, and the difference of record present speed and initial velocity is Δ V:
A, if Δ V less than zero, then returns sloping road aux. controls program entry;
B, if Δ V greater than zero, then enters motor regenerative braking control program;
(2) entire car controller continues the present speed of real-time collection vehicle, and calculates Δ V:
A, if Δ V less than zero, then returns sloping road aux. controls program entry;
B, if Δ V greater than zero, then entire car controller is checked the lock torque and the battery charge state of motor:
1. as if 85% of maximum braking torque that does not reach motor or battery charge state, then entire car controller checks vehicles and whether is in sliding state:
I, if be not in sliding state, then finish sloping road aux. controls program;
Ii, if be in sliding state, then carry out the regulating control of motor regenerative braking moment and enter motor regenerative braking control program once more;
2. as if 85% of maximum braking torque that has reached motor or battery charge state, then enter driving engine anti-dragged brake control program;
(3) engaging clutch, change-speed box return to former gear, and entire car controller continues the present speed of real-time collection vehicle simultaneously, and calculate Δ V:
A, if Δ V less than zero, then returns sloping road aux. controls program entry;
B, if Δ V greater than zero, then entire car controller is according to the anti-towing tension square of the gear check engine of the rotating speed of driving engine and change-speed box:
1. if do not reach the maximum anti-towing tension square of driving engine, then entire car controller checks vehicles and whether is in sliding state:
I, if be not in sliding state, then finish sloping road aux. controls program;
Ii, if be in sliding state, then carry out the regulating control of the anti-towing tension square of driving engine and enter driving engine anti-dragged brake control program once more;
2. if reached the maximum anti-towing tension square of driving engine, then enter the hydraulic braking control program;
(4) entire car controller continues the present speed of real-time collection vehicle, and calculates Δ V:
A, if Δ V less than zero, then returns sloping road aux. controls program entry;
B, if Δ V greater than zero, then entire car controller checks vehicles and whether still is in sliding state:
I, if be not in sliding state, then return sloping road aux. controls program entry;
Ii, if be in sliding state, then carry out the regulating control of hydraulic braking moment and enter the hydraulic braking control program once more.
CN2009100852373A 2009-06-04 2009-06-04 Auxiliary downgrade controlling method for hybrid electric vehicle CN101559772B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009100852373A CN101559772B (en) 2009-06-04 2009-06-04 Auxiliary downgrade controlling method for hybrid electric vehicle

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CN101559772A CN101559772A (en) 2009-10-21
CN101559772B true CN101559772B (en) 2011-07-20

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CN102390378B (en) * 2011-08-01 2013-12-11 清华大学 Driver intention identification method in downhill assist control of hybrid electric vehicle
US8634939B2 (en) * 2011-09-13 2014-01-21 Ford Global Technologies, Llc Method and system for vehicle speed control
DE102012217988A1 (en) * 2012-10-02 2014-04-03 Robert Bosch Gmbh Method for controlling vehicle in shift operation, involves estimating necessary target dragging moment to keep vehicle in sliding operation in operating mode, and adjusting output power of combustion engine of vehicle upon estimation
CN103171557B (en) * 2013-03-19 2016-01-20 清华大学 A kind of hybrid electric vehicle engine auxiliary braking connection control method
CN103241238B (en) * 2013-05-14 2015-08-26 清华大学 Hybrid electric vehicle descending auxiliary braking based on subjective intention and safety exits method
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