CN104553816B - The retarding method and control device of motor vehicle with electric driver - Google Patents
The retarding method and control device of motor vehicle with electric driver Download PDFInfo
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- CN104553816B CN104553816B CN201410587569.2A CN201410587569A CN104553816B CN 104553816 B CN104553816 B CN 104553816B CN 201410587569 A CN201410587569 A CN 201410587569A CN 104553816 B CN104553816 B CN 104553816B
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The method for the reducing speed of motor vehicle that the present invention relates to a kind of for making to have electric driver and corresponding control device, the motor vehicle are included in steerable accelerator pedal and brake pedal in terms of driver, and this method has the following steps implemented in terms of motor vehicle：Determine the end of the manipulation of accelerator pedal；Determine the manipulation of accelerator pedal at the end of, to make reducing speed of motor vehicle slide recycling in the range of setting with do not manipulate accelerator pedal matching slide recycling torque；In brake activation pedal, keep slide recycling in the case of, improve the deceleration of motor vehicle, wherein continue keep with do not manipulate accelerator pedal matching slide recycling torque；Determine the manipulation for then recalling brake pedal；Determine recall the manipulation of brake pedal when, in response to recalling the manipulation of brake pedal, using with do not manipulate accelerator pedal matching slide recycling torque as starting point, reduction slide recycling torque.
Description
Technical field
The motor vehicle that the present invention relates to a kind of with electric driver, such as pure electric vehicle or with electric driver and
The retarding method of the hybrid vehicle of internal combustion engine.The invention further relates to a kind of corresponding control devices.
Background technology
In the motor vehicle with electric driver, when the motor of electric driver is run with generator, motor vehicle is dynamic
It can be converted into electric energy and store into the electric storage means (typically accumulator or capacitor) of electric driver.Motor vehicle
Kinetic energy to electric energy conversion be also referred to as electricity recycling.In order to recycle, setting recycling torque, the recycling torque are supported on motor
The movement of motor vehicle processed and make reducing speed of motor vehicle.
In brake activation pedal so that in the active brake of reducing speed of motor vehicle, returning by electric driver can be utilized
It receives.In addition, in order to make reducing speed of motor vehicle, recycling that can also be used in and slide in operation.In this case, terminating accelerator pedal
Manipulation when setting motor vehicle slide recycling torque, thus make reducing speed of motor vehicle.
It can be stated that not being that just recycling torque M is slided in setting in the manipulation for being fully completed accelerator pedalSreku, but
It has just been set when recalling the manipulation of accelerator pedal and when also a small amount of accelerator pedal manipulates and has slided recycling torque MSreku；It is right
This, slides recycling torque MSrekuMagnitude rise with the decline that accelerator pedal manipulates and terminate accelerator pedal manipulation
When reach its maximum value MSreku,m.Therefore, vehicle deceleration can quantitatively be made by recalling the manipulation of accelerator pedal.In this regard,
Exemplary curves of the driving moment M about accelerator pedal angle FPW is schematically described in Fig. 1.It is less than in small accelerator pedal angle FPW
FPWTHWhen generate and bear driving moment, magnitude of the negative driving moment, which is equal to, slides recycling torque MSreku.It it is 0 ° at accelerator pedal angle
When generate maximum (when terminating the manipulation of accelerator pedal) and slide recycling torque MSreku,m；By the maximum slide recycling torque with
Accelerator pedal matching is not manipulated.Recycling torque M is slided with the maximum for not manipulating accelerator pedal matchingSreku,mCan be selectively
With velocity correlation, wherein typically slide recycling torque M in middling speed or high-speed rangeSreku,mDecline.
Also referred to as recycling is slided sliding running recycling.It for example can also be refering to patent document for sliding recycling
DE102011108446A1。
It is diagrammatically depicted in fig. 2 for utilizing retarding moment M in the traditional scheme for sliding recyclingVWith slide back
Receive torque MSrekuIllustrative curve on time t；In this scenario, the retarding moment MVFor make vehicle deceleration and
It is reversed with driving moment.The retarding moment MVCorresponding to dotted line；It is described to slide recycling torque MSrekuCorresponding to dotted lines.When
Carve t1Place, terminates the manipulation of accelerator pedal, to which then recycling torque M is slided in setting on electric driverSreku=MSreku,m
As retarding moment MV, this slides recycling torque and works along the direction opposite with the direction of motion of running vehicle, and
Thus make vehicle deceleration.If driver is in moment t2Locate brake activation pedal, can improve and be had built up by sliding recycling
Deceleration.Such as hydraulic service brake device is unclamped by brake activation pedal.Here, being set in addition to electric driver
And that continues to keep slide recycling torque MSreku=MSreku,mExcept, the braking moment M of running brakeBAlso it works.
Here it can be seen that sliding recycling torque MSrekuHorizontal MSreku,mRelative to directly being slided back in foundation at the moment
Receive torque MSreku=MSreku,mIt can slightly be improved (after the time tl soon) at the time of later, because sliding recycling torque water
Flat MSreku,mCan be and velocity correlation.
Selectively, in moment t2Place, can also be triggered other than sliding recycling can be by the quantitative system of brake pedal
Dynamic recycling, wherein recycle torque M except slidingSreku=MSreku,mExcept additional brake recycle torque setting in unshowned electricity
In driving device.Recycling level of torque M is slided with describedSreku,mDifference, the braking recycling torque are relevant to brake pedal
Position and so as to be quantified by driver.Subsequently, as sliding recycling torque MSreku=MSreku,mWith braking recycling torque
Summation obtains the recycling torque on electric driver.
In moment t3Place driver recalls braking maneuver again, in this case, by reducing via running brake
The braking moment M of foundationB(and optionally reducing braking recycling torque) reduces retarding moment MV.In moment t4Terminate system in place
After the manipulation of dynamic pedal, continues holding with sliding for accelerator pedal matching is not manipulated and recycle torque MSreku=MSreku,mEffectively simultaneously
And vehicle continues with retarding moment MVBraking.
It also shows herein, slides recycling torque MSreku,mLevel in moment t4Place in foundation relative to directly sliding recycling
Torque MSreku,m(in moment t at the time of later1Soon later it can slightly improve), because sliding recycling level of torque MSreku,m
It is and velocity correlation.
After the manipulation for terminating brake pedal, if driver wants retarding moment MVIt falls below and slides recycling power
The horizontal M of squareSreku,m, such as the target at determining target residence point is braked, driver must manipulate acceleration again and step on
Plate, so as to explicitly be braked by manipulating accelerator pedal implementation goal in low-level.This is in fig. 2 from moment t5It rises
It is raw.
In order to make retarding moment MVLevel of torque M is recycled less than slidingSreku,mAnd it is above-mentioned from brake pedal to accelerator pedal
Necessary transformation however mean the additional conditions for driver.It is more applicable in, if in the behaviour for terminating brake pedal
Recycling level of torque M is slided after verticalSreku,mAnd to remaining retarding moment MV=MSreku,mIt is high.If slided back
Receive level of torque MSreku,mIt is high, slowing down within the scope of low deceleration in the case of a pedal control can be by recalling
The manipulation of accelerator pedal generates and just must brake activation pedal in higher deceleration.However terminating brake pedal
Manipulation after, keep high and slide recycling level of torque MSreku,m, this slides recycling level of torque and is braked by additional manipulation
Pedal could reduce.
Invention content
Task of the invention lies in provide a kind of method for making reducing speed of motor vehicle, in the method, terminating to brake
After the manipulation of pedal in the case where not manipulating accelerator pedal again, less than sliding recycling moment values MSreku,mIn the case of
It realizes and slows down.In addition, present invention aims at provide the control device of the relative configurations for motor vehicle.
The first aspect of the present invention is related to a kind of method of the reducing speed of motor vehicle for making to have electric driver.The machine
Motor-car is included in steerable accelerator pedal and brake pedal in terms of driver.The motor vehicle allows to slide recycling, wherein should
Motor vehicle so constructs so that terminate accelerator pedal manipulation when by with do not manipulate accelerator pedal matching slide recycling torque
(such as see in Fig. 1 and slide recycling level of torque MSreku,m) be set on electric driver.
The method has following steps：In the first step, determine that driver is over acceleration in terms of motor vehicle
The manipulation of pedal；This for example can be by the other feature parameter of evaluation accelerator pedal angle or the position for evaluating accelerator pedal come real
It is existing.And then, setting slides recycling torque (such as in Fig. 2 with do not manipulate accelerator pedal matching in the range of sliding recycling
In in moment t1M is set laterSreku,m).It is possible that the manipulation in the manipulation for recalling accelerator pedal in brake pedal is smaller
When, be previously set and slided recycling torque, but this slide recycling torque be less than then set and do not manipulate accelerator pedal phase
That matches slides recycling torque (Fig. 1 is for example seen to this).
And then in (t at the time of for example opinion in fig. 2 to this of brake activation pedal in terms of driver2).In brake activation
After pedal, improve the deceleration of motor vehicle, wherein continue keep with do not manipulate accelerator pedal matching slide recycling torque.
What the raising of deceleration for example can originally be set by the braking moment of hydraulic service brake device and/or be additional to
The electric driver braking recycling torque for sliding recycling torque causes, as being illustrated in combination with fig. 2.
And then, determining that driver recalls manipulation (such as t at the time of opinion in Fig. 2 of brake pedal in terms of motor vehicle3)。
This for example can by evaluate brake pedal position characteristic parameter (such as brake-pedal travel or brake pedal angle) or
It is realized by the inlet pressure that evaluation is connected between main braking cylinder and the modulator for hydraulic of hydraulic service brake device.
After recalling the manipulation of brake pedal, such as braking moment and/or electricity by reducing hydraulic service brake device
The braking recycling torque of driving device reduces the deceleration of motor vehicle.But unlike that the scheme described in Fig. 2, according to this hair
It is bright in the range of reducing deceleration, with do not manipulate accelerator pedal matching slide recycling torque (see the M in Fig. 2Sreku,m)
For starting point, also reduce set slide recycling torque.
Also reduced in the manipulation for recalling brake pedal set slide recycling torque, driver can pass through as a result,
Brake pedal quantify in a wider context retarding moment and thus can also regulation retarding moment be less than and do not manipulate acceleration and step on
What plate matched slides recycling torque (see the M in Fig. 2Sreku,m).As a result, if driver wants that setting retarding moment is less than and does not grasp
What vertical accelerator pedal matched slides recycling torque, and driver can also especially merely target be smart by brake activation pedal
It really stops, without manipulating accelerator pedal again.Therefore, in addition to being braked by running brake, driver also may be used
Quantitatively to slide recycling by brake pedal.
In the manipulation for recalling brake pedal, with the characteristic parameter of brake activation pedal it is substantially proportional reduce and slide
Recycle torque.Such as it can proportionally be dropped with brake-pedal travel or with brake pedal angle in the manipulation for recalling brake pedal
It is low to slide recycling torque.For example, if brake-pedal travel or brake pedal angle reduce by 10% relative to current actuated position,
It is preferred that sliding recycling torque also substantially reduces by 10%.Replace brake-pedal travel or substitution brake pedal angle, it can also be with string
Inlet pressure between connection main braking cylinder and the modulator for hydraulic of hydraulic service brake device, which proportionally reduces, slides recycling torque.
The inlet pressure is the characteristic parameter of brake activation pedal and can be determined by so-called inlet pressure transducer.
In the manipulation for recalling brake pedal, preferably reduces as follows and slide recycling torque：Terminating brake pedal
Manipulation when, slide recycling torque reduce to essentially zero.When terminating the manipulation of brake pedal, such as not only running brake
Braking moment and slide recycling torque reduce to essentially zero.
If driver subtracts by must be stepped on again during reduction deceleration of loosening the brake to improve again
Speed, can also with the characteristic parameter of brake activation pedal proportionally, such as proportionally improved with inlet pressure and slide recycling
And thus improve slide recycling torque magnitude.Selectively, sliding recycling can also be maintained at by lowering deceleration
In the level reached and driver mainly subtracts by hydraulic braking active force and alternately through desired by braking recycling generation
The raising of speed.
The second aspect of the present invention is related to a kind of method of the reducing speed of motor vehicle for making to have electric driver, wherein
In principle when terminating the manipulation of brake pedal by electric driver making the range for sliding recycling of reducing speed of motor vehicle
It is interior foundation with do not manipulate accelerator pedal matching slide recycling torque.
, whereas if determine from accelerator pedal to brake pedal so-called manipulated (especially quickly and/or have
The manipulated of power), it prevents and does not manipulate sliding for accelerator pedal matching and recycle the foundation of torque (however this need not be for each
Kind manipulated is applicable in).Therefore, according to the execution of the method, then no longer exist at all in stationary state and slide back
Torque is received, or slides recycling torque present in stationary state and slides recycling power less than what is set in other cases
Square.Recycling is slided it can be stated that not had by the prevention, or is slided back with incremental by the prevention
It receives the recycling of sliding that torque starts and is reduced to zero again, or by the foundation for preventing to stop to slide recycling torque and by mesh
Before until it is established slide recycling torque be maintained at less than with do not manipulate accelerator pedal matching slide recycling torque (see Fig. 2
In MSreku,m) level.
As long as the method cannot react fast enough and when determining manipulated with do not manipulate accelerator pedal matching
The recycling torque that slides be set, this can also selectively be reduced, and especially fully be reduced to zero or can also
Optionally drop to smaller numerical value, the numerical value be less than with do not manipulate accelerator pedal matching slide recycling torque.
Therefore in this case, slide recycling during braking by brake pedal decrescence or reduce.
By being prevented when carrying out the manipulated by accelerator pedal to brake pedal and not manipulating accelerator pedal matching
Slide the foundation of recycling torque reduces this and slides recycling torque again in other words, can by the retarding moment that brake pedal is set to
Under not by with do not manipulate accelerator pedal matching slide recycling torque limited.It replaces, can also be set by brake pedal small
It slides recycling torque in this and determines retarding moment.Driver can quantitatively be subtracted in a wider context thus by brake activation pedal
Turn of speed square, this is especially advantageous for target braking.In order to slow down, in brake activation pedal, replace hydraulic service brake
The braking of device is recycled other than the braking of hydraulic service brake device using can pass through the quantitative braking of brake pedal.
It establishes when terminating the manipulation of accelerator pedal in principle and does not manipulate sliding for accelerator pedal matching and recycle torque
Design, when slowing down due in accumulator of the energy back to electric driver of recycling, relative to not allowing to slide recycling
Deceleration causes smaller energy deficit.However, if it is determined that brake pedal manipulated, can prevent it is described foundation or again
Recycling is slided in reduction, to driver can by brake pedal in a wider context quantify retarding moment, without to this again
Secondary manipulation accelerator pedal.
According to a preferred embodiment, not instead of in each manipulated, only meeting one or more really
It fixes in manipulated then, prevents the foundation for sliding recycling or reduce again to slide recycling.Such as with quick braking
When transformation and the emergency braking of strong braking maneuver feature, the foundation for sliding recycling or importing should be prevented to slide the drop of recycling
It is low.
Such as the presence of sufficiently fast braking transformation is determined according to one or more criterion.As long as manipulated is fast enough
It carries out, then realizes the prevention and the reduction.For sufficiently fast manipulated, such as it must simultaneously meet following criterion：
The gradient magnitude of the gradient magnitude at accelerator pedal angle or the other feature parameter of the position of accelerator pedal, which is more than, to be determined
Threshold value,
The identification (such as about accelerator pedal angle) of the zero-bit of accelerator pedal, and
The identification of the zero-bit of accelerator pedal is less than threshold value until the duration of Δ t between the manipulation of brake pedal.
Additionally or replace ground, the presence of brake pedal strong enough is determined according to one or more criterion.Only
It is strong enough to want brake pedal, then realizes the prevention or the reduction.To should guard against：Lightly manipulating
When brake pedal, prevent or reduce to slide recycling.For brake pedal strong enough, such as must simultaneously meet following
Criterion：
Brake gradient and be more than determining threshold value, braking gradient be for example related to the inlet pressure of brake fluid system gradient or
The gradient of brake-pedal travel, and
Brake level is more than threshold value, and brake level is for example related to inlet pressure or brake-pedal travel.
Transformation fast enough is being carried out from accelerator pedal to brake pedal and is carrying out corresponding strong brake pedal behaviour
When vertical, establishing slide recycling or what is had built up slides recycling and can be withdrawn, to which driver can pass through braking
Pedal, which undertakes, to be braked and quantifies motor vehicle deceleration in a wider context.
Two methods for first aspect according to the invention and second aspect are it can be stated that terminating brake pedal
After manipulation, if driver does not step on accelerator pedal and wheel is still rolling, recycling is slided and to slide back
Receiving torque can become strong gradually again.Described become gradually for sliding recycling torque by force can be about the time or about running section with true
Fixed slope realizes, the slope on the slope can be relevant to one or more different boundary conditions, such as running section
Current hill grade (level traveling or traveling of going down the hill).
Correspondingly it can be stated that checking：Terminate the manipulation of brake pedal, and then without manipulating accelerator pedal, and
And wheel is still rolling.As long as these conditions all meet, slides recycling torque and rise again, especially rise to and do not manipulate
What accelerator pedal matched slides recycling torque.As above-mentioned, the rising is about the time or about running section slope shape real
It is existing.
The third aspect of the present invention is directed to a kind of control device, the method for implementing first aspect according to the invention.
The control device setting is used for, and determines the end of the manipulation of accelerator pedal, such as by evaluating accelerator pedal angle
Or the other feature parameter of the position of evaluation accelerator pedal.Determine the manipulation of accelerator pedal at the end of, in control device side
Face to make reducing speed of motor vehicle slide recycling in the range of setting with do not manipulate accelerator pedal matching slide recycling torque.
Even if in and then brake activation pedal, also continue to keep with do not manipulate accelerator pedal matching slide recycling torque.As long as
Brake pedal has been manipulated, then and then determines the recalling to the manipulation of brake pedal in terms of control device, such as by commenting
Valence brake pedal position.Determine recall the manipulation of brake pedal when, with do not manipulate accelerator pedal matching slide recycling power
Square is starting point, and recycling torque is slided in reduction.
The control device is, for example, drive control device and brake monitor.The drive control device determines accelerator pedal
It the end of manipulation and sets and slides recycling torque with what the manipulation device of accelerator pedal matched.The brake monitor determines system
It the manipulation of dynamic pedal and back to back recalls.In the manipulation for recalling brake pedal, the brake monitor is controlled to the driving
Device processed sends out the regulation (such as rated moment) for sliding recycling torque for reducing and having set.
The above embodiment for the method for the present invention according to first aspect present invention is also applied in the corresponding way
By the control device of the present invention of third aspect present invention.By the advantageous reality that explanation is not known herein of the control device of the present invention
Apply example corresponding in the present inventive method it is stated that advantageous embodiment.
The fourth aspect of the present invention is directed to a kind of control device, the method for implementing second aspect according to the invention.
Control device setting is used for, determine the manipulation of accelerator pedal at the end of, making reducing speed of motor vehicle
Slide recycling in the range of establish with do not manipulate accelerator pedal matching slide recycling torque.However, if in control device
When aspect determines manipulated, the especially quick and/or strong manipulated by accelerator pedal to brake pedal, prevention
With do not manipulate accelerator pedal matching slide recycling torque foundation, as long as with do not manipulate accelerator pedal matching slide back
Receive torque it has been established that then reduce with do not manipulate accelerator pedal matching slide recycling torque.
The control device is, for example, drive control device and brake monitor.The drive control device is for example to control for brake
Device provides the information of the information of each accelerator pedal gradient and the zero-bit of accelerator pedal.The brake monitor is determined to brake pedal
Manipulation and measure the duration between accelerator pedal zero-bit and brake activation pedal.The brake monitor is for example also surveyed
Amount braking gradient and brake pressure are horizontal.Then brake monitor is determined according to these information, if has been carried out from accelerator pedal
To the sufficiently fast of brake pedal and manipulated strong enough.If it is the case, brake monitor is controlled to driving
Device processed, which is sent out, to be prevented foundation from sliding recycling torque or reduces the regulation for sliding recycling torque.
The above embodiment for the method for the present invention according to second aspect of the present invention is also applied in the corresponding way
By the control device of the present invention of fourth aspect present invention.By the advantageous reality that explanation is not known herein of the control device of the present invention
Apply example corresponding in the present inventive method it is stated that advantageous embodiment.
Description of the drawings
The present invention is described by attached drawing below according to multiple embodiments.Wherein：
Fig. 1 shows curves of the driving moment M about the exemplary schematic of accelerator pedal angle FPW；
Fig. 2 shows for using in sliding traditional scheme of recycling, retarding moment MVTorque M is recycled with slidingSreku
The curve of exemplary schematic on time t；
Fig. 3 shows the flow chart of the embodiment for the method for the present invention according to first aspect present invention；
Fig. 4 shows the retarding moment M in the embodiment for the method for the present invention according to first aspect present inventionVWith slide
Recycle torque MSrekuThe curve of exemplary schematic on time t；
Fig. 5 shows the retarding moment M in the embodiment for the method for the present invention according to second aspect of the present inventionVWith slide
Recycle torque MSrekuThe curve of exemplary schematic on time t.
Specific implementation mode
Fig. 1 and Fig. 2 have been described above.
Illustrate the embodiment of the method for the present invention according to first aspect present invention by Fig. 3 and Fig. 4 below.It retouches in figure 3
State the example process of the method.Fig. 4 shows retarding moment M in the described embodimentVTorque M is recycled with slidingSrekuWhen
Between illustrative schematical curve on t.The retarding moment MVCorresponding to dotted line；It is described to slide recycling torque MSrekuAccordingly
In dotted lines.The above-mentioned description for Fig. 2 is until moment t3It is also applied for Fig. 4.
In the step 110 of Fig. 3, for example, by evaluate accelerator pedal FPW come determine manipulate accelerator pedal end and
Then t at the time of from Fig. 41It rises, establishes and slide recycling torque M corresponding to accelerator pedal angle FPW=0Sreku=MSreku,m(see
Step 120).In the manipulation for recalling accelerator pedal when accelerator pedal angle is smaller, it can provide to slide recycling power in advance
Square, the magnitude for sliding recycling torque are less than MSreku,m(see Fig. 1).
In driver in moment t2When brake activation pedal, can improve by slide recycling have built up deceleration (see
Step 130).By brake activation pedal, such as triggers hydraulic service brake device and establish braking moment MB, the braking moment with
Electric driver slides recycling level of torque MSreku,mIt is added.Continue to keep sliding recycling torque after brake activation pedal
Horizontal MSreku,m。
The raising of deceleration can also for example be additional to or replace the braking moment of hydraulic service brake device by being additional to
The original electric driver braking recycling torque for sliding recycling torque set causes, as being illustrated in combination with fig. 2.
In moment t3Place, driver start to recall the manipulation of brake pedal again.This is in step 140 it is seen, for example, logical
Cross the inlet pressure of the signal or evaluation of evaluation brake-pedal-travel sensor between series connection main braking cylinder and modulator for hydraulic
Inlet pressure transducer signal.After recalling the manipulation of brake pedal, by connecting, main braking cylinder reduces brake pressure
And to reduce the braking moment M established by running brakeB.In addition, in step 150, to slide recycling torque water
Flat MSreku,mIt is described to slide recycling torque M for starting pointSrekuWith the characteristic parameter of brake activation pedal proportionally, for example with
Brake-pedal travel or the inlet pressure between series connection main braking cylinder and modulator for hydraulic proportionally reduce.Terminating to brake
After the manipulation of pedal, in moment t4Place, the braking moment M of running brakeBIt reduces to essentially zero (using braking recycling power
In the case of square, zero) braking recycling torque is also reduced to.In addition, sliding recycling torque MSrekuIt reduces to essentially zero.
After the manipulation for terminating brake pedal, as long as and then not manipulating accelerator pedal and wheel is also rolling, then
Slide recycling torque MSrekuIt is risen in time t upslope shape and slides recycling level of torque MSreku,m(see Fig. 3 and step
160).In moment t5Place, which reaches, slides recycling level of torque MSreku,m.Slide recycling level of torque MSreku,mSlope shape raising
It can also be in moment t4Just start after the determining duration later.
Illustrate the embodiment of the method for the present invention according to second aspect of the present invention by Fig. 5 below.
Fig. 5 shows retarding moment M in this embodimentVTorque M is recycled with slidingSrekuExemplary signal on time t
Linearity curve.Retarding moment MVCorresponding to dotted line；Slide recycling torque MSrekuCorresponding to dotted lines.
In moment t9Place, driver start to recall the manipulation of accelerator pedal.In moment t10Place, terminates the behaviour of accelerator pedal
It is vertical.By terminating the manipulation of accelerator pedal, establishing has desired value MSreku,mSlide recycling torque MSreku(in moment t10Before
It can have built up to have and slide recycling torque M compared with Small object valueSreku).In this embodiment, it is carried out from acceleration as long as determining
For pedal to brake pedal, the additionally effectively quick manipulation transformation of realization brake pedal, that is just establishing slides recycling
Torque MSrekuIt is reduced to zero again.In moment t11Place starts brake activation pedal；In the near future, the braking moment of running brake
MBRise, wherein slide recycling torque M by what is just establishedSrekuThe braking moment M just establishedBGenerate retarding moment.
Fast transforms from accelerator pedal to brake pedal are realized having determined that and brake pedal is by accordingly effectively
After manipulation, in moment t12Place starts to slide recycling torque M by what is just establishedSrekuIt is reduced to value of zero.The reduction can be non-
It often soon, is especially mutated ground or is carried out corresponding to slope land.Then in MSrekuPass through braking moment M when=0BConstitute decelerative force
Square MV.In moment t13Place driver recalls the manipulation of brake pedal again, in moment t14Place driver is over brake pedal
Manipulation.After the manipulation for terminating brake pedal, recycling torque M is slidedSrekuIt is risen in time t upslope shape and slides recycling
Moment values MSreku,mAs long as and then not manipulating accelerator pedal and wheel still rolling.Slide recycling moment values MSreku,mIt is oblique
The raising of domatic can also be in moment t4Just start after the determining duration later.
It is described just to establish as long as manipulated carries out and be and then not adequate to brake activation pedal fast enough
Slide recycling torque MSrekuIn above-mentioned reduction in moment t12Place carries out.
In order to determine sufficiently fast manipulated, such as detect, if while meeting following criterion：
The magnitude of the gradient at accelerator pedal angle is more than determining threshold value,
Identify the zero-bit (such as about accelerator pedal angle) of accelerator pedal, and
Accelerator pedal zero-bit is identified until the duration of Δ t manipulated between accelerator pedal is less than threshold value；Brake pedal
Manipulating can be sensed by the signal of braking signal switch, the inlet pressure between series connection main braking cylinder and modulator for hydraulic
The signal of device or the signal identification of brake-pedal-travel sensor.
For determining brake pedal strong enough, such as detect, if while meeting following criterion：
Brake gradient and be more than determining threshold value, braking gradient be for example related to the inlet pressure of brake fluid system gradient or
The gradient of person's brake-pedal travel, and
Brake level is more than threshold value, and brake level is for example related to inlet pressure or brake-pedal travel.
Claims (15)
1. the method for the reducing speed of motor vehicle for making to have electric driver, it is steerable which is included in driver's aspect
Accelerator pedal and brake pedal, this method have the following steps implemented in terms of motor vehicle：
Determine the end of the manipulation of (110) accelerator pedal；
Determine the manipulation of accelerator pedal at the end of, to make reducing speed of motor vehicle slide recycling in the range of set
(120) and do not manipulate accelerator pedal matching slides recycling torque (MSreku,m)；
In brake activation pedal, in the case where keeping sliding recycling, the deceleration of (130) motor vehicle is improved, wherein continue
Holding recycles torque (M with sliding for accelerator pedal matching is not manipulatedSreku,m)；
Determine that (140) then recall the manipulation of brake pedal；
Determine recall the manipulation of brake pedal when, in response to recalling the manipulation of brake pedal, with do not manipulate accelerator pedal phase
That matches slides recycling torque (MSreku,m) it is starting point, it reduces (150) and slides recycling torque (MSreku)。
2. according to the method for claim 1, wherein when the manipulation of brake pedal is recalled in determination, with brake activation pedal
Characteristic parameter relatively reduce and slide recycling torque (MSreku)。
3. according to the method for claim 2, wherein with the characteristic parameter of brake activation pedal it is substantially proportional reduce
Slide recycling torque (MSreku)。
4. according to the method for claim 1, wherein when terminating the manipulation of brake pedal, slide recycling torque (MSreku)
Substantially it is reduced to zero.
5. according to the method for claim 2, wherein when terminating the manipulation of brake pedal, slide recycling torque (MSreku)
Substantially it is reduced to zero.
6. according to the method for claim 3, wherein when terminating the manipulation of brake pedal, slide recycling torque (MSreku)
Substantially it is reduced to zero.
7. the method for the reducing speed of motor vehicle for making to have electric driver, it is steerable which is included in driver's aspect
Accelerator pedal and brake pedal, wherein when terminating the manipulation of accelerator pedal, by the electric driver motor-driven to make
It is established in the range of recycling that vehicle slowed down slide and slides recycling torque (M with do not manipulate accelerator pedal matchingSreku,m), this method
With as follows the step of additionally implementing in terms of motor vehicle：
Determine the manipulated from accelerator pedal to brake pedal；
When determining manipulated from accelerator pedal to brake pedal, prevent to slide recycling with do not manipulate accelerator pedal matching
Torque (MSreku,m) foundation, as long as sliding recycling torque (M with do not manipulate accelerator pedal matchingSreku,m) it has been established that
It then reduces and does not manipulate sliding for accelerator pedal matching and recycle torque (MSreku,m)。
8. according to the method for claim 7, wherein check depositing for sufficiently fast manipulated according to one or more criterion
, as long as and implement manipulated fast enough, then realize the prevention or the reduction.
9. according to the method for claim 7, wherein check that brake pedal strong enough is grasped according to one or more criterion
Vertical presence, as long as and be not adequate to brake activation pedal, then inhibit or reduce to slide recycling.
10. according to the method for claim 8, wherein check brake pedal strong enough according to one or more criterion
The presence of manipulation, as long as and be not adequate to brake activation pedal, then inhibit or reduce to slide recycling.
11. according to the method described in any one of claims 1 to 10 comprising additional step：
It determines：The manipulation of brake pedal has terminated, and and then accelerator pedal is not manipulated and wheel is still rolling, and
As long as these conditions it has been determined that as long as improve (160) and slide recycling torque.
12. according to the method described in any one of claims 1 to 10 comprising additional step：
It determines：The manipulation of brake pedal has terminated, and and then accelerator pedal is not manipulated and wheel is still rolling, and
As long as these conditions it has been determined that as long as will slide recycling torque (MSreku) it is increased to and does not manipulate the cunning of accelerator pedal matching
Row recycling torque (MSreku,m)。
13. according to the method described in any one of claims 1 to 10, wherein in the manipulation for recalling accelerator pedal, do not having
In the case of the manipulation for terminating accelerator pedal, it has been set and has slided recycling torque (MSreku), the magnitude for sliding recycling torque is small
In terminating to set when the manipulation of accelerator pedal and slide recycling torque (M with do not manipulate accelerator pedal matchingSreku,m)
Magnitude.
14. for the control device of the motor vehicle with electric driver, which has steerable in terms of driver
Accelerator pedal and brake pedal, wherein the control device setting is used for：
Determine the end of the manipulation of accelerator pedal；
Determine the manipulation of accelerator pedal at the end of, to make in the range of sliding recycling of reducing speed of motor vehicle, setting with
Do not manipulate accelerator pedal matching slides recycling torque (MSreku,m), even if in and then brake activation pedal, also continue to protect
It holds and does not manipulate sliding for accelerator pedal matching and recycle torque (MSreku,m)；
Determine the manipulation for recalling brake pedal；And
Determine recall the manipulation of brake pedal when, in response to recalling the manipulation of brake pedal, with do not manipulate accelerator pedal phase
That matches slides recycling torque (MSreku,m) it is starting point, recycling torque (M is slided in reductionSreku)。
15. for the control device of the motor vehicle with electric driver, which has steerable in terms of driver
Accelerator pedal and brake pedal, wherein the control device setting is used for：When terminating the manipulation of accelerator pedal, making
Reducing speed of motor vehicle slide recycling in the range of, establish and slide recycling torque (M with do not manipulate accelerator pedal matchingSreku,m),
The control device, which is also set up, to be used for：
Determine the manipulated from accelerator pedal to brake pedal；
When determining manipulated from accelerator pedal to brake pedal, prevent to slide recycling with do not manipulate accelerator pedal matching
Torque (MSreku,m) foundation, as long as sliding recycling torque (M with do not manipulate accelerator pedal matchingSreku,m) it has been established that
It then reduces and does not manipulate sliding for accelerator pedal matching and recycle torque (MSreku,m)。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE201310221979 DE102013221979A1 (en) | 2013-10-29 | 2013-10-29 | Delaying a motor vehicle with electric drive |
| DE102013221979.2 | 2013-10-29 |
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| CN104553816A CN104553816A (en) | 2015-04-29 |
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| DE102015223006A1 (en) | 2015-11-20 | 2017-05-24 | Bayerische Motoren Werke Aktiengesellschaft | Changing a Schubrekuperation a motor vehicle with at least one electric machine |
| CN109591802B (en) * | 2017-09-29 | 2021-02-23 | 比亚迪股份有限公司 | Hybrid electric vehicle and energy feedback control method and system thereof |
| DE102018217142A1 (en) | 2018-10-08 | 2020-04-09 | Audi Ag | Brake system for at least temporarily electrically powered vehicle, motor vehicle with such a brake system and brake control method |
| CN111284491B (en) * | 2018-12-06 | 2022-12-30 | 博世汽车部件(苏州)有限公司 | Adjustment method and adjustment device for coasting recovery torque and vehicle |
| DE102019103375A1 (en) * | 2019-02-11 | 2020-08-13 | Bayerische Motoren Werke Aktiengesellschaft | Control unit for providing a one-pedal feeling and / or crawl function |
| CN110385997B (en) * | 2019-06-26 | 2021-03-26 | 江铃汽车股份有限公司 | Energy recovery method and system |
| CN112519587A (en) * | 2020-12-03 | 2021-03-19 | 宁波拓普集团股份有限公司 | Braking energy distribution method for electric automobile |
| DE102021126804A1 (en) * | 2021-10-15 | 2023-04-20 | Bayerische Motoren Werke Aktiengesellschaft | Method of operating a brake control system, brake control system, computer program and computer-readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19607823C1 (en) * | 1996-03-01 | 1997-08-21 | Bosch Gmbh Robert | Braking control device and method for electrically-driven motor vehicle |
| US7311163B2 (en) * | 2004-11-16 | 2007-12-25 | Eaton Corporation | Regeneration and brake management system |
| DE102007018733A1 (en) * | 2007-04-20 | 2008-10-23 | Volkswagen Ag | Speed function determining method for deceleration of vehicle i.e. car, involves determining speed function, which describes speed of vehicle from initial speed to target-end speed over deceleration distance |
| US7795825B2 (en) * | 2008-09-15 | 2010-09-14 | Caterpillar Inc | Over-voltage and under-voltage management for electric drive system |
| DE102011108446B4 (en) | 2011-07-23 | 2019-12-12 | Volkswagen Ag | Method and device for recuperation for a vehicle |
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