CN102205846A - Running speed adjustor for motor vehicle - Google Patents

Running speed adjustor for motor vehicle Download PDF

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Publication number
CN102205846A
CN102205846A CN2011100836734A CN201110083673A CN102205846A CN 102205846 A CN102205846 A CN 102205846A CN 2011100836734 A CN2011100836734 A CN 2011100836734A CN 201110083673 A CN201110083673 A CN 201110083673A CN 102205846 A CN102205846 A CN 102205846A
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CN
China
Prior art keywords
self
temporary transient
propelled vehicle
moving velocity
drive system
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Pending
Application number
CN2011100836734A
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Chinese (zh)
Inventor
C·奥伯恩德费尔
T·施伦德
L·霍特曼
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Robert Bosch GmbH
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Robert Bosch GmbH
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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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0676—Engine temperature
    • 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
    • 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
    • B60W2552/20—Road profile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management 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
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

Abstract

The invention relates to a running speed adjustor for a motor vehicle, which is provided with a control device 12 that is configured to allow a temporary deviation of a prescribed expected speed according to at least a current value of the running state parameter influencing the energy consumption of the a drive system of the motor vehicle; and the invention relates to a control system for a motor vehicle hybrid drive system having the speed adjustor.

Description

The moving velocity regulating control that is used for self-propelled vehicle
Technical field
The present invention relates to a kind of moving velocity regulating control that is used for self-propelled vehicle.
Background technology
The known moving velocity regulating control with a control setup, this control setup is configured and is used for: the desired speed that the speed setting to of this self-propelled vehicle can be selected by the intervention to the drive system of this self-propelled vehicle by chaufeur.
Known on the other hand moving velocity regulating control has one and is used to measure the position of a self-propelled vehicle that travels in front and measures and the positioning apparatus of the distance of this self-propelled vehicle, wherein the moving velocity regulating control has a control setup, it is configured and is used for: select an object that is located by positioning apparatus as object and by the intervention of the drive system of this self-propelled vehicle and/or brake system being controlled the acceleration/accel of this self-propelled vehicle, so that make with the distance adjustment to of object to (motoring condition: follow and travel) on the set a distance, and this control setup and also being configured is used for: when object does not exist with the speed setting of this self-propelled vehicle to expectation speed (mode of operation: freely travel).This distance and speed regulator are also referred to as ACC system (adaptive cruise control).Positioning apparatus comprises at least one radar sensor, but by its measuring distance not only, but and the relative velocity of measurement target object.The moving velocity of this self-propelled vehicle will adapt to the self-propelled vehicle that travels in front that is detected in following the mode of operation that travels, and wherein desired speed constitutes a upper limit of moving velocity.
Summary of the invention
Up-hill journey is the big circuit pack of consumption of fuel except acceleration phase.When up-hill journey, ought remain on hoisting work under the situation on the desired speed of setting regularly and will decide to cause significantly the increasing of instantaneous energy consumption of drive system on the gradient.
Except the gradient of track, also there are other running environment parameter or other motoring condition parameter will cause the instantaneous of energy consumption to increase.
Task of the present invention is: propose a kind of moving velocity regulating control, it can realize the mode of travelling of saving in energy.
To make contributions to the solution of this task by a kind of moving velocity regulating control that is used for self-propelled vehicle according to the present invention, this moving velocity regulating control is provided with a control setup, and this control setup is configured and is used for: permit a temporary transient deviation to the desired speed set according at least one currency of motoring condition parameter of energy consumption that influences the drive system of self-propelled vehicle.This control setup can be configured and be used in the case: the corresponding currency according to a plurality of such motoring condition parameters is permitted temporary transient deviation.
Be interpreted as a deviation of short duration, pitch time for notion " temporary transient deviation ".The permission of this deviation can finish after for example (again) obtains standard value at least one motoring condition parameter.Especially can automatically realize end by control setup to the permission of temporary transient deviation.Especially adjustable ground keeps the desired speed set during deviation.
For example control setup is such control setup, and it is configured and is used for: at least at a mode of operation with the speed setting of this self-propelled vehicle to expectation speed.This desired speed for example can be selected by chaufeur.
Preferably control setup is configured and is used for: permit one to the desired speed the set temporary transient deviation of growth in time according at least one currency of motoring condition parameter of energy consumption that influence drive system of self-propelled vehicle with extending.Be interpreted as one little by little or the deviation of increment ground increase for extending deviation that ground increases in time.Therefore not saltus step ground realization in single step of deviation.
Preferably control setup is configured and is used for: cause, promptly cause temporary transient deviation the desired speed of setting, for example control one with the temporary transient deviation of the corresponding moving velocity of temporary transient deviation that is allowed to the desired speed of setting.In other words, the moving velocity regulating control is not to use the desired speed of setting and is to use a desired speed to temporary transient desired speed of its out-of-position or setting to add temporary transient deviation.For example both can in " freely travelling " mode of operation, temporary transient desired speed regulated as moving velocity under the situation of an ACC system, also can be in " follow and travel " mode of operation used as the upper limit of moving velocity.
Control setup preferably is configured and is used for: the driving power of the drive system by limiting this self-propelled vehicle control one with the temporary transient deviation of the corresponding moving velocity of negative temporary transient deviation of permitting to the desired speed of setting.Especially control setup preferably is configured and is used for: described moving velocity need not carry out brake regulation ground Be Controlled to the brake system of this self-propelled vehicle to the temporary transient deviation of the desired speed of setting.For example can realize by the delayed-action of motor vehicle air resistance and/or by frictional loss.
Described at least one motoring condition parameter is a physical parameter preferably.Below the motoring condition parameter of some physics will be described with demonstrating.Can distinguish the parameter of running environment parameter and interior of motor vehicles for the motoring condition parameter.Can be regarded as a parameter that relates to automotive environment for an automotive environment parameter.Preferably described at least one motoring condition parameter comprises at least one following motoring condition parameter: the track gradient in the self-propelled vehicle surrounding environment, height profile, ambient temperature, air humidity.The hoisting work that the track gradient and height profile will be done by at up-hill journey the time when a given definite moving velocity or the gradient that causes during at descent run directly influence the instantaneous energy consumption of automotive driving system from power.Ambient temperature and air humidity also can influence the energy consumption of the combustion engine of drive system.Described influence is relevant with moving velocity or driving power.
Preferably described at least one motoring condition parameter is a motoring condition parameter that locates of not considering another self-propelled vehicle.In other words, at least one motoring condition parameter does not comprise the self-propelled vehicle data that relate to other self-propelled vehicle.
The motoring condition parameter of the interior of motor vehicles of an energy consumption that influences automotive driving system for example can be the oil temperature of the combustion engine of drive system.
Other favourable structure of the present invention and further configuration provide in the dependent claims.
Description of drawings
Express embodiments of the invention and being described in detail in the following description in the accompanying drawings.
Fig. 1: have block diagram according to the moving velocity control system of moving velocity regulating control of the present invention;
Fig. 2: the velocity profile of the curve that travels of a height profile and a relative time variation.
The specific embodiment
System shown in Fig. 1 comprise a radar sensor form be used to measure the position of a self-propelled vehicle that travels in front and measure positioning apparatus 10 with the distance of this self-propelled vehicle, reach a control setup 12 with ACC regulon 14.This control setup is carried out the function of known ACC system and is decided drive system 16 or brake system are intervened on traffic, so that regulate the acceleration/accel of self-propelled vehicle in this wise, promptly when positioning apparatus 10 is not measured the self-propelled vehicle that travels in front in own track, the self-propelled vehicle of oneself is adjusted on the desired speed by the chaufeur selection.When positioning apparatus 10 is determined at least one self-propelled vehicle that travels in front in own track, then will be chosen as at one at the self-propelled vehicle that directly travels previously and follow the object that is used for distance adjustment in the mode of operation that travels by regulon 14, and regulate the acceleration/accel of self-propelled vehicle in this wise, promptly suitable follow this object to set a distance with one.Should for example determine to set a distance by so-called time slot, time gap in other words, object passes through same point on this track with the self-propelled vehicle of oneself with this time gap.To reach in this way to set a distance adaptive to corresponding moving velocity.Time gap for example can be chosen in certain gauge by chaufeur.
Control setup 12 with ACC regulon is made of an electronic data processing system in known manner and additionally comprises a control unit 20 according to the present invention, here it is represented as a frame that separates, but it can constitute by an appropriate software assembly in the ACC regulon 14 in practice.Control unit 20 for example receives the information from the track gradient of a sensor device 22 that is used to detect at least one detection limit relevant with the track gradient at vehicle position place.Sensor device 22 for example comprises an acceleration pick-up that is used to detect the acceleration/accel of own self-propelled vehicle, especially longitudinal acceleration sensor that is used to detect the longitudinal acceleration of own self-propelled vehicle, or the acceleration pick-up of the acceleration/accel on short transverse that is used to detect own self-propelled vehicle, be also referred to as the Z sensor.Sensor device 22 for example can be converted to the track gradient at vehicle position place by the detection limit that acceleration pick-up detects and export as the track grade information.This sensor device 22 for example can be intervened the self-propelled vehicle data for this reason, the change curve data of for example current driving speed.The track grade information convertiblely for example relates to the component that is summed up as upward slope or descent run of longitudinal acceleration.Longitudinal acceleration sensor for example can be the part of ESP (electronic stability program) system.Therefore existing longitudinal acceleration sensor can combinedly use.
Conversion ground control unit 20 can be equipped with and be used for: calculate the track grade information by travelling dynamically to measure, for example calculate according to a travel conditions model.
Control unit 20 is configured and is used for: determine desired speed v to setting according to the currency of the track gradient SetTemporary transient deviation delta v, will describe in detail as the back.When determining this temporary transient deviation delta v, ACC regulon 14 will be considered this deviation, and its mode is it and the desired speed v that sets SetBe superimposed as a temporary transient desired speed v t: v t=v Set+ Δ v.
In other words, in the mode of operation that freely travels, moving velocity is set in temporary transient desired speed v tOn, reach this temporary transient desired speed v in following the mode of operation that travels tConstitute a temporary transient upper limit of moving velocity.
But under the situation of negative temporary transient deviation (Δ v＜0) in order to make speed adaption not carry out brake regulation to brake system 18 in temporary transient desired speed.But the restriction of driving power that may be by drive system 16 reduces moving velocity, and its mode for example is driving power is not improved or to improve than the required driving power of desired speed that keeps original setting at least lessly.
As below describing in detail, control setup is configured and is used for: permit and cause a desired speed v to setting according to the currency of the track gradient SetExtend the temporary transient deviation delta v that ground increases in time.This will be below by Fig. 2 explanation with demonstrating.
Fig. 2 is the height profile of the curve that travels of a summary of expression in the part thereon.The relation of expression height h and time t among the figure.Fig. 2 represents in its underpart according to the desired speed v that sets SetTemporarily be superimposed as temporary transient desired speed v tDesired speed v over time.V in an example shown Set=100 kilometers/hour.
(track does not have and goes up a slope or the descending on even keel extends among the t＜t1) in the stage 1.To not have Δ v and can determine (or Δ v=0).ACC regulon 14 is adjusted to moving velocity the desired speed v of setting SetOn.
(self-propelled vehicle travels uphill among the t＜t3) in the stage 2.This gradient for example is 6%.Control setup 12 is permitted a desired speed v to setting in this stage SetExtend the temporary transient deviation delta v that ground increases in time.Therewith correspondingly when up-hill journey the driving power of drive system do not increase or-and remain on v usually SetOn compare-have increasing in a small amount so that can reduce of the influence of the track gradient to expenditure of energy by the restriction that drives.Temporary transient in the case deviation delta v Change Example in time is as relevant with the currency of the track gradient.Especially for example the currency with the track gradient is relevant for the speed that the temporary transient deviation delta v that permits increases.For example temporary transient deviation delta v by 0 beginning step by step or approximate continuity ground reduce with a speed, this speed is for example corresponding to the component of a setting of the driven acceleration/accel in ramp that works on the ramp when the up-hill journey.This component for example can preestablish or select by the choosing by chaufeur of a mode of operation of control setup 12.
Here control unit 20 is configured: only permit temporary transient deviation delta v in a limited variation range.Fig. 2 expresses a lower limit Δ v with demonstrating MinAnd upper limit Δ v Max(reach this lower limit Δ v during t1＜t2＜t3) at moment t2 Min, and temporary transient deviation delta v is maintained on this value.Upper limit Δ v MaxFor example the currency with the track gradient irrespectively is always 10 kilometers/hour.Lower limit Δ v MinFor example for example can select according to following table 1 with relevant the reaching of currency of the track gradient:
Table 1
Figure BSA00000466156500061
Lower limit Δ v when the gradient is 6% for example Min=-(100km/h 10%), so that in t2＜t＜t3 time gap, have: v t=v Set+ Δ v Min=100km/h-10km/h=90km/h.The speed that temporary transient deviation delta v increases especially adapt to estimated usually ramp length and represent a suitable road horsepower with decline by speed reach energy-conservation between trade off.T2 and t3 draw close together constantly in the ideal case, so that reach lower limit Δ v on the end points in ramp Min
When control unit when intervening the adjusting of moving velocity with the predetermined temporary transient deviation of Δ v, for example will show by 24 pairs of chaufeurs of man machine interface.This man machine interface for example comprises and is provided with respective symbol or the ring or the read out instrument of strip accordingly on (standard) analog quantity velocity indicator in the combination instrument dish for this purpose.This man machine interface 24 for example also can comprise a key or a switch, can connect or the function of closing control unit by it.This for example can realize by selecting a dynamic mode for the moving velocity regulating control.Therefore control unit can be effective in an ECO pattern.
This deviation comes to an end behind the terminal point of ramp, and will reuse for moving velocity and regulate the desired speed that sets.
In described example, selectively upper limit Δ v is set with a value greater than 0 Max, so that allowance is to the desired speed v of setting when descent run SetSelect an overgauge, promptly permit one and surpass the speed of setting desired speed.This will be below by the stage among Fig. 23 (t3＜t＜t5) and stage 4 (t5＜t＜t6) illustrate.
At first when having the descent run of the enough big gradient, produced a desired speed v who always accelerates to setting SetThe self-propelled vehicle acceleration/accel.At Δ v MaxUnder＞0 the situation when continuing descent run by the ramp from the foundation that power has produced a superfluous speed, do not consume the additional drives energy of drive system in other words.If reaching upper limit Δ v to moment t4 MaxSituation under, still have a track descending as illustrated in fig. 2, then this moment just brake system is carried out brake regulation to be adjusted in for example 110 kilometers/hour moving velocity v t=v Set+ Δ v MaxOn.
To the descending of t5 end constantly.In the stage 4, carry out exhausting of the superfluous speed set up.Because this can obtain the saving of energy once more.
(superfluous speed exhausts among the t＞t6), and ACC regulon 14 and for example is adjusted to moving velocity the desired speed v of setting like that in the stage 1 in the stage 5 SetOn.
Only the currency with running gradient was relevant when temporary transient deviation delta v changed in described example, and the adjusting function that for example can adjust by of ACC regulon 14 on the mode of evenly travelling is carried out boundary value Δ v in practice MinAnd Δ v MaxAsymptotic expression or " soft " form approaching.
In addition can be to lower limit Δ v MinThe value relevant with the current track gradient additionally determine one and be used for this lower limit Δ v MinAbsolute lower limit.
Man machine interface 24 also can be equipped with and be used for: realize border Δ v by chaufeur MinAnd/or Δ v MaxAnd/or be used for lower limit Δ v MinThe adjustment of value of absolute lower limit, for example regulate parts and adjust by one.The value that can between the value described in the last example and zero, demarcate described border by a roller turner bite for example.Can realize that thus the velocity deviation that allows is adaptive to the classification of the travel conditions of expectation, for example better adaptive to the magnitude of traffic flow.
Described embodiment also can be in the drive system that for example has an electrical motor or have be used in the hybrid drive system of a combustion engine and an electrical motor auxiliary energy-conservation.
According to the drive system of another embodiment self-propelled vehicle is that a hybrid drive system and the first's drive system 16 that comprises a combustion engine form and one comprise second portion drive system 26 at least one electrical motor and that dot in Fig. 1.The control system of this hybrid drive system comprises that a control setup 12 and one are used to regulate the driving power of corresponding part drive system 16,26 or the device of driving torque.This device for example is the device of hybrid coordinator 27 forms and the function of for example also for example bearing a traditional hybrid coordinator for the part of control setup 12.This hybrid coordinator 27 for example can be combined in the ACC control apparatus 27 or conversion ground for example is arranged in the independent control setup of self-propelled vehicle.
Control setup 12 for example also constitutes and is used for: regulate the driving power of corresponding driving system 16,26 according at least one motoring condition parameter, the currency of for example track gradient of energy consumption that influences the drive system of self-propelled vehicle.This for example can be by realizing the adjusting of respective drive power according to temporary transient deviation delta v, temporary transient deviation itself then with the motoring condition parameter correlation.Control setup is correspondingly controlled hybrid coordinator 27.At least one motoring condition parameter and/or temporary transient deviation delta v for example can be the input of hybrid coordinator 27.For example control setup, especially hybrid coordinator 27 is provided to be used for: the relative share that temporarily improves the direct motor drive power of this drive system according at least one motoring condition parameter that influences the energy consumption of automotive driving system.
For example during the up-hill journey in the stage 2 of Fig. 2 owing to make with respect in order to keep v by reducing energy requirement that temporary transient desired speed reduces SetBy the share that hybrid coordinator 27 is set, reduce and increase by the relative share of the required driving power of electrical motor of second portion drive system 26 by the relative share of the required driving power of combustion engine of first's drive system 16.Selectively also can limit by first's drive system 16 required driving powers, for example be limited on the current value, and can correspondingly improve, so that cause temporary transient deviation delta v by the required driving power of the electrical motor of second portion drive system 26.Even can apply whole driving powers by second portion drive system 26.Therefore can surmount instantaneous energy-conservationly in this embodiment, realize the conservation of fuel that always further cuts down the consumption of energy.
When as the stage 3 at Fig. 2 in descent run the time allow positive temporary transient deviation delta v, then selectively during the overgauge that allows to closed-centre system 28 chargings of this mixed system.Control setup 12 is configured and is used for for this purpose: control the part drive system 26 of electricity in this wise, kinergety is stored in the closed-centre system 28, be used for regeneration in other words.
Control setup 12 selectively is configured and is used for: according to the temporary transient deviation of the desired speed of permitting setting by the skillful currency of described motoring condition and according to the charge condition of closed-centre system 28, for example when charge condition surpasses a definite threshold value.In Fig. 1, dot: the charge condition of control unit 20 identification closed-centre systems 28.Thus for example can be in electricity travels mode of operation, in the higher charge condition of closed-centre system, need not or carry out up-hill journey with the less minus deviation Δ v that sets desired speed, promptly not or have little speed loss, because may will reach the fully charged state of closed-centre system 28 here anyway soon by regenerative brake in the future.Only when charge condition is lower than given threshold value, just carry out energy-conservation in mode recited above all sidedly.
To the currency of the track gradient alternatively or additionally control unit 20 when determining temporary transient deviation delta v, also can alternatively or additionally consider one or more running environment parameters described below to the currency of the track gradient.For example control unit 20 can be provided with an interface to navigationsystem 30, but the information by height profile in the track around its machines motor-car.This information selectively is used to determine the temporary transient deviation delta v that is allowed with the track grade information of sensor device.For example temporary transient deviation over time can be relevant with the change curve of the height profile of estimating.The growth that for example temporary transient deviation delta v extends in time adapts to the length of the track rising of expectation.Therefore can consider that the track around the self-propelled vehicle raises.
When for example detecting the information of speed limit, then selectively under the situation of the speed limit of considering a regulation, determine upper limit Δ v by interface to navigationsystem 30 MaxFor example can one not speed limit apart from section on a big upper limit Δ v is set MaxSpeed limit itself does not relate to the running environment parameter of a physics, in the case the temporary transient deviation delta v that is allowed determine also will be according to the running environment parameter of physics, as raising or height profile carries out.
Selectively before raising, a track just set up the superfluous speed that surpasses the desired speed of setting reaching according to the information of the height profile in track.Energy consumption is descended.
When determining temporary transient deviation delta v, can consider an ambient temperature and/or an air humidity that detects by humidity measuring instrument 34 that detects by heat indicator 32 according to another example control unit 20. Sensor 32,34 for example can relate to the sensor of motor vehicle air conditioning system, and they can jointly be used.For example handling a deviation temporarily permitting under the environmental conditions that causes consumption of fuel to increase the desired speed of setting based on another fuel mix of combustion engine.For example can by extend in time temporary transient deviation that ground changes, especially one extend the deviation that reduces in time and limit the acceleration/accel that travels.
Heat indicator can be provided to detect the oily temperature or the engine temperature of the combustion engine of drive system in another example, and control unit 20 can be configured and is used for: the currency of considering oily temperature or engine temperature when the temporary transient deviation of determining the desired speed that sets.For example under the situation of engine cold, temporarily determine a minus deviation to the desired speed of setting, especially one is extended the temporary transient deviation reduce in time and limits the acceleration/accel that travels, so as under the cold engine situation the king-sized high driving power of restriction consumption of fuel.
Control unit can be configured and be used for: consider a plurality of described motoring condition parameters for definite temporary transient deviation.For example can determine each one value, and for example the aviation value of a weighting of these single values is defined as the temporary transient deviation delta v that allowed each motoring condition parameter that will consider to the minus deviation of setting desired speed.Conversion ground for example can be defined as the single value of minimum (the most negative) the temporary transient deviation delta v that allowed.
The moving velocity control system has an ACC regulon in described example, but replace it convertiblely a moving velocity regulon for example is set, and its adjusting function is for example corresponding to the mode of operation of described ACC regulon " freely travelling ".10 of positioning apparatus no longer need.

Claims (11)

1. the moving velocity regulating control that is used for self-propelled vehicle, be provided with a control setup (12), this control setup is configured to: permit temporary transient deviation to the desired speed of setting according at least one currency of motoring condition parameter of energy consumption that influences the drive system of self-propelled vehicle.
2. according to the moving velocity regulating control of claim 1, wherein, described control setup (12) is configured to: permit the desired speed the set temporary transient deviation of increase in time according at least one currency of motoring condition parameter of energy consumption that influences the drive system of self-propelled vehicle with extending.
3. according to the moving velocity regulating control of claim 2, wherein, the temporal change of described temporary transient deviation is relevant with the currency of described at least one motoring condition parameter.
4. according to each moving velocity regulating control in the above claim, wherein, described control setup (12) is configured to: permit the described temporary transient deviation in a limited region of variation.
5. according to the moving velocity regulating control of claim 4, wherein, at least one border of described region of variation is relevant with the currency of described at least one motoring condition parameter.
6. according to each moving velocity regulating control in the above claim, wherein, described control setup (12) is configured to: to temporary transient desired speed of desired speed stack of described setting, this temporary transient desired speed has the described temporary transient deviation to the desired speed of described setting.
7. according to each moving velocity regulating control in the above claim, be provided with and be used for the self-propelled vehicle that travels is in front carried out location and is used to measure positioning apparatus (10) with the distance of this self-propelled vehicle, wherein, described control setup (12) is such control setup, this control setup be configured to select one by the object of described positioning apparatus (10) location as object and by the intervention of the drive system (16) of this self-propelled vehicle and/or brake system (18) being controlled the acceleration/accel of this self-propelled vehicle, so that make with the distance adjustment to of described object on the set a distance, this control setup also is configured to: when not having object with the speed setting of this self-propelled vehicle to described desired speed.
8. according to each moving velocity regulating control in the above claim, wherein, described control setup (12) is configured to: the driving power of the drive system (16) by limiting this self-propelled vehicle control moving velocity to the desired speed of described setting, with a negative corresponding temporary transient deviation of the temporary transient deviation that is allowed.
9. according to each moving velocity regulating control in the above claim, wherein, described at least one motoring condition parameter comprises at least one running environment parameter.
10. according to each moving velocity regulating control in the above claim, wherein, described at least one motoring condition parameter comprises the track gradient.
11. be used for the control system of the hybrid drive system of self-propelled vehicle, this hybrid drive system has the part drive system (16) of at least one combustion engine and the part drive system (26) of an electrical motor, and this control system has in the above claim of basis each moving velocity regulating control and has one and is used to regulate corresponding part drive system (16; 26) driving power or the device of driving torque (27), wherein, described device (27) is set for: according at least one influence self-propelled vehicle drive system energy consumption the motoring condition parameter currency and/or according to the driving power or the driving torque of regulating corresponding driving system (16,26) based on the temporary transient deviation to the desired speed of described setting of this motoring condition parameter.
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