CN102275508B - 插电式电动车辆联锁装置 - Google Patents
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- 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
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
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- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- 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
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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
- B60W20/50—Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18054—Propelling the vehicle related to particular drive situations at stand still, e.g. engine in idling state
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
- H01H3/16—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch adapted for actuation at a limit or other predetermined position in the path of a body, the relative movement of switch and body being primarily for a purpose other than the actuation of the switch, e.g. for a door switch, a limit switch, a floor-levelling switch of a lift
- H01H3/161—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch adapted for actuation at a limit or other predetermined position in the path of a body, the relative movement of switch and body being primarily for a purpose other than the actuation of the switch, e.g. for a door switch, a limit switch, a floor-levelling switch of a lift for actuation by moving a closing member, e.g. door, cover or lid
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/93—Conjoint control of different elements
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Abstract
本发明提供了一种插电式电动车辆联锁装置。为了防止当在电线组件连接着的同时将车辆开走时对用于给插电式电动车辆充电的电线组件造成损坏,可提供一种联锁装置来禁用车辆。这种联锁装置可基于覆盖充电插座的保护门被打开或者检测到电线组件被插入。然而,根据本公开的实施例,在车辆处于已经启动的状态的情况下,防止联锁以免禁用车辆。即,当未指示电线组件被连接到车辆或者车辆处于已经启动的状态时,防止车辆的意外禁用。
Description
技术领域
本公开涉及与电动车辆上的充电系统相关联以使得车辆在充电期间不能被开走的联锁装置。
背景技术
连接到壁装电源插座以给电池充电的电动车辆有时设置有联锁装置,以使得当电动车辆的电线组件(cord set)被插入到壁装电源插座中时防止车辆启动。由于车辆可能依赖于正被充电,因此存在这样的顾虑,即,在电线组件仍然连接着的同时开走车辆的情况下,可能会损坏电线组件和/或车辆。
联锁装置可以是连接到覆盖车辆的插座的保护门的开关。当开关指示保护门被打开时,防止开走车辆。在另一种选择中,车载电子控制单元(ECU)确定电线组件是否被连接着,如果是,则防止开走车辆。
故意破坏者或其它第三方可能会通过打开保护门或者通过将某装置插入到车辆的插座中从而误导ECU的与电线组件相关联的逻辑来干扰车辆的运行能力。这种情况不仅对车辆操作者不便,而且可能会使得车辆操作者束手无策(如果车辆操作者不能检测到阻碍车辆运行的问题的话)。
发明内容
为了克服至少一个问题,用于插电式车辆的联锁装置包括:当检测到来自于电线组件指示器的否定结论时,使得车辆能够被启用;在车辆一直处于已经启动的状态的同时,当在检测到来自于电线组件指示器的否定结论之后立即检测到来自于电线组件指示器的肯定结论时,使得车辆能够被启用;在车辆处于未被启动状态的同时,当检测到来自于电线组件指示器的肯定结论时,禁用车辆。在一个实施例中,使得车辆能够被启用就是允许车辆的动力系响应于车辆操作者的动作来给车轮提供推进以启动车辆。在一个实施例中,车辆处于启动状态是当车辆处于扭矩产生模式之时。或者说,启动状态包括车辆的变速器处于前进档和倒车档中的一个。
车辆具有连接到车轮的至少一个电动机,通过防止电动机将推进力提供到车轮来执行禁用车辆。车辆还可包括连接到车轮的内燃发动机。禁用车辆还可包括防止内燃发动机将推进力提供到车轮。
车辆具有带有保护门的充电插座以及靠近保护门安装的开关,保护门提供到充电插座的入口。通过所述开关来提供电线组件指示。或者,电线组件指示器基于对与连接到车辆上的插座的电线组件一致的电特性的检测。
用于插电式车辆的联锁装置包括电线组件指示器以及连接到车辆的动力系和电线组件指示器的电子控制单元。当电线组件指示器指示充电电线连接至车辆并且车辆未被启动时,电子控制单元的联锁程序禁用动力系;当车辆已启动时,电子控制单元的联锁程序防止动力系禁用。当车辆处于扭矩产生模式时,车辆被启动,从而车辆的操作者可选择性地命令车轮处的推进,而不进行与电线组件指示器相关的操作。联锁装置还可包括:充电插座,连接到车辆;充电门,连接到车辆并防止当充电门处于关闭位置时接入到充电插座;开关,连接到充电门并电连接到电子控制单元。来自于开关的信号指示门是打开还是关闭,开关是电线组件指示器。在替代实施例中,联锁装置包括连接到车辆并电连接到电子控制单元的充电插座。电子控制单元检测插头是否与充电插座连接,插头的检测包括由电线组件指示器指示。电子控制单元防止当车辆当前已启动时禁用车辆,而不管电线组件指示器的状态如何。联锁装置还可包括连接到车辆并电连接到电子控制单元的充电插座以及在车舱内的操作者指示器。当电线组件指示器指示插头被连接到充电插座时,电子控制单元打开操作者指示器。
根据替代实施例,用于插电式车辆的联锁方法包括:当从电线组件指示器检测到肯定结论并且车辆处于未启动状态时,防止车辆进入扭矩产生模式;响应于来自于电线组件指示器的否定结论和车辆当前处于已启动状态中的一种而允许车辆进入扭矩产生模式。通过禁用车辆的动力系和防止连接到车辆的变速器接入任何前进档或倒车档中的一种来防止扭矩产生模式。车辆具有适于接纳用于给车辆充电的电线组件的插座,车辆具有覆盖插座的保护门,车辆具有靠近保护门的开关,电线组件指示器基于来自于开关的指示保护门是否打开的信号。车辆具有适于接纳用于给车辆充电的电线组件的插座,并且电线组件指示器基于检测连接到插座的电线组件的存在的情况。
扭矩产生模式是能够通过车辆操作者压下连接到车辆的加速踏板的命令来推进车辆的模式。根据另一实施例,扭矩产生模式是车辆操作者选择性地命令车辆的动力系来推进车辆的车辆状态。
附图说明
图1是插电式混合动力电动车辆的示意图;
图2是描绘本公开的一个实施例的流程图。
具体实施方式
如本领域的那些普通技术人员所将理解的,参照任一附图所示出和描述的实施例的各种特征可与在另一个图或多个其它图中示出的特征相结合,以产生未被明确示出和描述的替代实施例。示出的特征的结合为典型应用提供代表性实施例。然而,与本公开的教导一致的对特征的各种结合和修改可能是特定应用或实施所期望的。本领域普通技术人员可认识到与本公开一致的类似的应用或实施,例如,其中的组件按照与图中的实施例中示出的顺序稍微不同的顺序布置的那些应用或者实施。本领域普通技术人员将认识到,本公开的教导可适用于其它应用或实施。在图1中,以插电式混合动力电动车辆(HEV)10作为示例示出了车辆的示意图。在一种类型的HEV中,动力系11包括内燃发动机12、单向离合器14、发电机16、行星齿轮组18和电动机20。动力系11连接到差速器22。差速器22连接到具有驱动车轮24的轴。车辆10还具有从动车轮26。
图1中的HEV具有高电压电池28,该高电压电池连接到发电机16和电动机20。电子控制单元(ECU)30连接到发动机12、单向离合器14、发电机16、电动机20和电池28。在图1中,示出了一个ECU 30。然而,对于车辆10而言,具有涉及分布式计算的多个ECU而不是具有一个ECU是很常见的。为了说明的目的和便于描述,就一个ECU描述计算和控制功能,而应理解这样的功能可以在多个处理器中被分开。
作为插电式车辆,车辆10具有带有保护门34的电插座32,在图1中示出了保护门34处于打开位置。车辆10具有充电器,在图1中,该充电器被集成到电插座32内,但是在替代实施例中,所述充电器可以为单独的模块。在车辆10上靠近保护门34之处设置针形开关(pin switch)35。当未进行充电时,保护门34使电插座远离环境中的污物、灰尘和湿气。充电电线组件36包括:电路连接器(electrical coupler)38,在充电期间,电路连接器38与插座32连接;两段式电线40,在两段电线40之间置有电动车辆供电设备(EVSE)42。在一些实施例中,EVSE 42包括保险丝、继电器(relay)、变压器和具有处理能力的电路板。电线组件36还包括插头44,插头44可被插入到壁装电源插座46中。
图1中的车辆10是HEV;但是在替代实施例中,车辆10是纯电池的电动车辆。此外,其它HEV架构也在本公开的范围内。
如果车辆10在电线组件36连接到车辆10时被启动并被开走,则电线组件36会被损坏。为了避免这种损坏,可提供一种联锁系统,在该联锁系统中,ECU 30响应于电线组件指示器(即,指示电线组件是否连接到车辆)来防止车辆10被开走。在一个实施例中,二位式针形开关35向ECU 30指示保护门是打开还是关闭。保护门打开则提供电线组件连接到车辆的指示。在保护门被用作充电指示器的实施例中,不管电线组件是否确实连接到车辆也不管是否确实在进行充电,都采取联锁动作。在一些实施例中,ECU 30向操作者指示器50提供信号,从而车辆的操作者被通知并且能够留意该故障。操作者指示器50可提供文本信号、符号信号、语音信号(oral signal)或任何合适的信号,以给车辆10的操作者指示故障。
在替代实施例中,ECU 30检测电路连接器是否与插座32连接。这可通过与针形开关35相似的靠近插座32的开关来实现,当安装了靠近插座32的开关时,电路连接器38使该开关动作。在另一实施例中,ECU 30基于电特性检测电线组件是否与插座32连接。与插座32或电特性相关联的针形开关的针脚受压(depression)为电线组件指示器的一个实施例。与保护门的针形开关35一样,指示电路连接器的存在或者指示确定的电特性的改变的靠近插座32的针形开关可被用作电线组件指示器。对于针形开关的针脚的意外受压或者电路连接器38的替代物与插座32连接而言,其中任一个均将会在电线组件指示器中提供关于电线组件是否确实连接到车辆的肯定结论。电路连接器38的替代物可包括具有一个或多个组件的器件(element),该器件与插座32匹配并仿效电线组件36的电特性,使得ECU 30检测到电线组件的存在。例如,所述器件可匹配电线组件36的电阻特性。
由于门34和插座32在车辆10的外部,所以恶作剧者在门34提供电线组件指示器信号的实施例中通过打开门34而使车辆禁用,或者恶作剧者通过突然插入含有某些电路以提供电线组件指示的电插头而使车辆禁用。或者,不知情的第三方也可能由于(例如)当断开电线组件36时忘记去关门34或者门34卡在衣服上而导致门34打开而意外地使车辆禁用。在另一示例中,轻微车祸可能使得保护门34打开,并因此使车辆10禁用。在车辆10(例如)停在车库中的情况下,操作者指示器50给操作者提供信息以解决防止车辆10被开走的情况。然而,这种联锁在车辆10已启动时存在问题。例如,如果车辆10在交通灯处停下并且行人撞到汽车导致保护门34打开,则车辆10就被禁用了,这至少对车辆操作者而言是不方便的。当车辆10已经启动时(即,在电线组件极不可能被插入的情况下),期望防止联锁以免使车辆禁用。如果在这种情况下电线组件指示器提供肯定结论,则它极有可能提供错误的指示(即,电线组件竟然连接到了车辆10)。通过打开门或者将假的插头连接到车辆插座,可能会相反地(instead)提供肯定的结论,即,误测。
在图2中,根据本公开的一个实施例的流程图始于步骤100。在框102中,确定车辆是否已被启动。在一个实施例中,在点火开关接通(即,车辆的操作者已经使用车辆的钥匙来使车辆进入如下状态:能够使得车辆在接入档位并给加速踏板提供输入时运动)时启动车辆。一些车辆没有设置点火钥匙,而是靠按钮启动的,这仅当点火系统检测到车辆内的带有合适的代码的射频识别装置或其它合适的装置并且操作者已经按下了按钮以启动车辆时才是允许的。在这种情况下,点火开关接通指车辆操作者可以通过接入档位并压下加速踏板来使车辆运动的状态。这种启动的状态与车辆所关联的电动机或者内燃发动机是否正在运转(rotating)无关。例如,如果车辆中设有内燃发动机和电动机,则当车辆在交通灯处停下时,电动机和内燃发动机均可运转。尽管如此,由于操作者可仅通过压下加速踏板(在没有应用制动器的情况下)来请求推进,因此认为车辆是已启动的。这种已启动的状态另外可被称为扭矩产生模式或推进就绪模式。这里,被禁用的车辆指使得不能通过常规的操作者动作来推进车辆的车辆。常规的操作者动作是那些使得车辆进入扭矩产生模式的动作,例如,将变速器挂到一个档位,松开制动踏板和/或压下加速踏板。在背景技术的系统中,一旦出现联锁情况,车辆就被禁用,并且直到联锁情况被解除才能启用。可通过操作者留意导致联锁情况的情形来使车辆能够启用。然而,对于本公开的目的,不将克服联锁情况的这种动作认为是使车辆进入扭矩产生模式的常规的操作者动作。此外,这种常规的操作者动作不包括车辆操作者或者其它参与者从车舱的外部所采取的行为。在车舱的外部所发生的这种非常规的动作可包括(例如)拔下电线组件36、关闭保护门34。
再次参照图2,如果在框102中出现肯定的结论,则控制流程进行到框104,在框104中检测电线组件36与插座32连接的指示。如果发现这种指示,则控制流程进行至框106,在框106中将警告消息显示在操作者指示器上。这种消息可以是文本消息、语音消息(oral message)、鸣响、指示灯等。框104中的否定结论和框106使控制流程进行到框108,在框108中,防止联锁并允许车辆继续保持已启动的状态。
如果框102中为否定结论,则控制流程进行到框110,在框110中,确定电线组件是否与插座32连接。如果框110中为肯定结论,则控制流程进行至框112,在框112中,开启联锁,这意味着车辆被禁用。在一个实施例中,通过禁用动力系(即,使得发动机和电动机都不能运转)而使车辆禁用。在另一个实施例中,可允许动力系运转以提供辅助功能(secondary function),但是通过防止使变速器离开驻车档来禁用车辆。控制流程从框112进行到框114,在框114中确定是否存在尝试启动。如果是,则在框116中激活操作者指示器消息,以给操作者提供关于故障的信息,从而操作者可矫正该情形并解除导致联锁的情况。如果框114中为否定结论,则控制流程进行到框118,在框118中允许车辆充电。
如果框110中为否定结论,则控制流程进行到框120,在框120中,不开启联锁,从而当车辆操作者给出这种启动(启用)命令时,将允许车辆开动(启用)。程序可继续运行,控制流程从框108、118和120中的任意一个返回至框102。
虽然已经详细描述了最佳方式,但是熟悉本领域的技术人员将认识到在权利要求的范围内的各种替代设计和实施例。在一个或多个实施例已经被描述为提供优点或者在一个或多个期望的特性方面优于其它实施例和/或背景技术的情况下,本领域普通技术人员将认识到在各种特征中可进行折衷,以实现期望的系统属性,这可取决于特定的应用或实施。这些属性包括但不限于:成本、强度、耐用性、寿命周期成本、可销售性、外观、封装、尺寸、维修保养方便性、重量、可制造性、易装配性等。可根据应用来选择合适的折衷。被描述为在一个或多个特性方面预期比其它实施例差的实施例并不在权利要求所述的本公开的范围之外。
Claims (10)
1.一种用于插电式车辆的联锁装置,包括:
电线组件指示器;以及
电子控制单元,连接到车辆的动力系和所述电线组件指示器,并被配置为:当所述电线组件指示器指示充电电线被连接着并且车辆未被启动时,所述电子控制单元禁用所述动力系;在车辆已经启动之后当所述电线组件指示器指示充电电线被连接着时,所述电子控制单元防止所述动力系被禁用。
2.如权利要求1所述的用于插电式车辆的联锁装置,其中,车辆已经启动包括车辆处于扭矩产生模式,从而车辆的操作者能够选择性地命令车轮处的推进而不进行与所述电线组件指示器相关联的操作。
3.如权利要求1所述的用于插电式车辆的联锁装置,还包括:
充电插座,连接到车辆;
充电门,连接到车辆并且防止当所述充电门处于关闭位置时接入到所述充电插座;
开关,连接到所述充电门并电连接到所述电子控制单元,其中,来自于所述开关的信号指示所述充电门是打开还是关闭,所述开关包括所述电线组件指示器。
4.如权利要求1所述的用于插电式车辆的联锁装置,还包括:
充电插座,连接到所述车辆并电连接到所述电子控制单元,其中,所述电子控制单元检测所述充电插座是否连接有插头,并且所述插头的检测包括由所述电线组件指示器指示。
5.如权利要求1所述的用于插电式车辆的联锁装置,其中,不管所述电线组件指示器的状态如何,当所述车辆当前已被启动时,所述电子控制单元防止禁用所述车辆。
6.如权利要求1所述的用于插电式车辆的联锁装置,还包括:
充电插座,连接到车辆并电连接到所述电子控制单元;
在车舱内的操作者指示器,其中,所述操作者指示器电连接到所述电子控制单元,其中,当所述电线组件指示器指示插头被连接到所述充电插座时,所述电子控制单元打开所述操作者指示器。
7.一种用于插电式车辆的联锁方法,包括:
当从电线组件指示器检测到肯定结论并且车辆处于未启动状态时,防止车辆进入扭矩产生模式;
响应于来自于电线组件指示器的肯定结论同时车辆当前处于已启动状态允许车辆进入扭矩产生模式。
8.如权利要求7所述的用于插电式车辆的联锁方法,其中,通过禁用车辆的动力系或者防止连接到车辆的变速器接入任何前进档或后退档来防止所述扭矩产生模式。
9.如权利要求7所述的用于插电式车辆的联锁方法,其中,所述车辆具有适于接纳用于给车辆充电的电线组件的插座,所述车辆具有用于覆盖插座的保护门,所述车辆具有靠近保护门的开关,所述电线组件指示器基于来自于开关的指示保护门是否打开的信号。
10.如权利要求7所述的用于插电式车辆的联锁方法,其中,所述车辆具有适于接纳用于给车辆充电的电线组件的插座,所述电线组件指示器基于检测连接到插座的电线组件的存在的情况。
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US9108517B2 (en) | 2015-08-18 |
US20110178663A1 (en) | 2011-07-21 |
US8649928B2 (en) | 2014-02-11 |
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