CN109969186A - For running the method and control equipment of electric vehicle or hybrid vehicle - Google Patents

For running the method and control equipment of electric vehicle or hybrid vehicle Download PDF

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Publication number
CN109969186A
CN109969186A CN201811345195.8A CN201811345195A CN109969186A CN 109969186 A CN109969186 A CN 109969186A CN 201811345195 A CN201811345195 A CN 201811345195A CN 109969186 A CN109969186 A CN 109969186A
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China
Prior art keywords
crawling
torque
uphill starting
maximum allowable
functional requirement
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Granted
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CN201811345195.8A
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CN109969186B (en
Inventor
克里斯蒂安·阿伦斯
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ZF Friedrichshafen AG
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ZF Friedrichshafen AG
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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
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W30/18027—Drive off, accelerating from standstill
    • 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
    • B60W30/18063—Creeping
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0657—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/103—Speed 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18058—Creeping
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention relates to the methods and control equipment for running electric vehicle or hybrid vehicle, these vehicles have the drive train including motor, when there is no accelerator pedal manipulation, actual torque is provided on the output via motor by crawling and uphill starting function, which depends on the rated moment in control side by crawling and uphill starting functional requirement.According to the present invention, the change of the acceleration generated on the output dependent on actual torque is known herein.Maximum allowable crawling and uphill starting torque are known dependent on acceleration change.When being less than maximum allowable crawling and uphill starting torque by the rated moment of crawling and uphill starting functional requirement, then make to be remained unchanged by the rated moment of crawling and uphill starting functional requirement.When being greater than maximum allowable crawling and uphill starting torque by the rated moment of crawling and uphill starting functional requirement, then it will be decreased to 0 by the rated moment of crawling and uphill starting functional requirement or be decreased to about 0.

Description

For running the method and control equipment of electric vehicle or hybrid vehicle
Technical field
The present invention relates to the methods for running electric vehicle or hybrid vehicle.Moreover, it relates to be used for Run the control equipment of electric vehicle or hybrid vehicle.
Background technique
When the driver of electric vehicle or hybrid vehicle is in the acceleration of driver side manipulation also referred to as gas pedal When pedal, therefore it is expected dependent on driver pedal manipulation and dependent on driver, pass through electric vehicle or hybrid vehicle Motor actual torque is provided on the output.The actual torque being intended to provide dependent on driver can be by simple Security function monitors.
Electric vehicle and hybrid vehicle using crawling and uphill starting function are known.When driver side not There are when accelerator pedal manipulation, then actual torque is provided on the output by crawling and uphill starting function, the actual torque Dependent in control side target torque as required by crawling and uphill starting function.As a result, when vehicle is run in level land It should be able to realize that the crawling of vehicle starts.When vehicle goes up a slope operation on slope, retroversion of the vehicle on slope thus should be by It avoids, and preferably also can be realized crawling of the vehicle on slope and start.
It, can be defeated by motor when electric vehicle or hybrid vehicle use this crawling and uphill starting function High actual torque is provided in outlet.Difficulty so far is to be existed in the monitoring of control side by crawling and uphill starting function The actual torque provided on output end is sensed this is because usually not installing obliquity sensor in a motor vehicle by the inclination angle It is operation or operation of going up a slope on slope in level land that device can detect vehicle with measuring technique.
However, run dependent on whether electric vehicle or hybrid vehicle run in level land or go up a slope on slope, One and to be that the same actual torque but has the function of in terms of vehicle acceleration different.Thus, for example when vehicle is flat When running in ground and providing excessively high torque within the too long period, the undesirable uncontrolled of vehicle can be caused Accelerate.This is unfavorable.Therefore there are following demands: the actual forces provided on the output by crawling and uphill starting function Square is monitored in terms of its admissibility or safety.
Method for eliminating the crawling torque in hybrid vehicle there is known by 10 2,015 202 107 A1 of DE. It is proposed according to the prior art, applies crawling torque on wheel, and then braking moment is applied on wheel.As It is more than the reaction of calibrated threshold value to braking moment and motor is prevented to generate crawling torque.
Summary of the invention
Based on this, a kind of for running the new side of electric vehicle or hybrid vehicle the task of the present invention is providing Method and control equipment.
The task is solved by the method according to independent claims and control equipment.Dependence is known according to the present invention Change in the acceleration that actual torque generates on the output.Maximum allowable crawling and slope are known dependent on acceleration change Start to walk torque in road.When the target torque by crawling and uphill starting functional requirement is less than maximum allowable crawling and uphill starting power When square, then make to be remained unchanged by the target torque of crawling and uphill starting functional requirement.It is wanted when by crawling and uphill starting function It, then will be by crawling and uphill starting functional requirement when the target torque asked is greater than maximum allowable crawling and uphill starting torque Target torque is decreased to 0 or is decreased to about 0.Control equipment is configured to implement each step of this method.
Allow with control equipment according to the method for the present invention to (such as same by motor by crawling and uphill starting function Step or asynchronous machine) actual torque that is provided on the output end of electric vehicle or hybrid vehicle carry out it is simply and reliable Monitoring in terms of safety.Thus, it is possible to avoid the uncontrolled acceleration of hybrid vehicle or electric vehicle.Know and depends on The acceleration that actual torque generates on the output changes.Change dependent on acceleration and determines that maximum allowable crawling and ramp rise Walk torque, wherein the target torque for requiring control side is compared with maximum allowable crawling and uphill starting torque, to determine Target torque, which is to maintain, constant to be still decreased to 0 or is decreased to about 0.
Here, when being greater than maximum allowable crawling and uphill starting by the target torque of crawling and uphill starting functional requirement When torque, using the present invention, by by the target torque of crawling and uphill starting functional requirement stepwise or ramp type reduce To 0 or it is decreased to about 0.Therefore the uncontrolled acceleration of motor vehicle can safely and reliably be avoided.
According to the scheme that is advantageously improved, maximum allowable crawling and uphill starting torque are known as follows: being exported The acceleration change generated on end is bigger, and maximum allowable crawling and uphill starting torque is with regard to smaller.It therefore can be to avoid motor-driven The uncontrolled acceleration of vehicle.
According to being advantageously improved scheme, detected with time period 1 by the target of crawling and uphill starting functional requirement Torque.Know that the acceleration generated on the output dependent on actual torque changes and maximum allowable within time second round Crawling and uphill starting torque, time second round be adjustable more times bigger than time period 1, wherein maximum allowable Crawling and uphill starting torque and by the ratio between crawling and the target torque of uphill starting functional requirement more preferably second It is carried out in cycle time.It therefore can be to avoid the uncontrolled acceleration of motor vehicle.
According to scheme is advantageously improved, maximum allowable crawling and ramp are known by the indicatrix of control side storage Start to walk torque.Therefore it can particularly securely and simply know maximum allowable crawling and uphill starting torque.
The present invention is allowed for the actual forces provided on the output dependent on crawling and uphill starting function via motor Inspection in terms of the simple and steady safety of square, the actual torque is dependent on desired target torque.The present invention does not need The senser element at the inclination angle of motor vehicle.
Detailed description of the invention
Preferred improvement project is obtained by dependent claims and subsequent specification.The embodiment of the present invention is by attached drawing It elaborates, the invention is not limited to these embodiments.Herein:
Fig. 1 is shown for executing indicatrix of the invention；
Fig. 2 shows for illustrating first time chart of the invention；
Fig. 3 is shown for illustrating the second time chart of the invention；And
Fig. 4 is shown for illustrating third time chart of the invention.
Specific embodiment
The present invention relates to the sides for running the electric vehicle or hybrid vehicle with the drive train including motor Method.Moreover, it relates to the control equipment for executing this method.
Here, the present invention relates to the details of the crawling of electric vehicle or hybrid vehicle and uphill starting function, wherein Torque is provided on the output by motor.
When driver side is manipulated there is no accelerator pedal, and braking also furthermore preferably ought be not present in driver side When pedal control, by crawling and uphill starting function, provided on the output end of vehicle via the motor of drive train practical Torque.This actual torque provided on the output depends on the target in control side by crawling and uphill starting functional requirement Torque.
Although even if when there is no accelerator pedals to manipulate, there are when brake pedal, side can also be being controlled by compacted The target torque that capable and uphill starting function calculating goes out or requires in the output of control side.But only also ought no longer there be brake pedal When manipulation or brake pedal reduce, just the target torque of side requirement will controlled defeated by crawling and uphill starting function Actual torque is converted in outlet.
(wherein, pass through to improve crawling and the safety of uphill starting function of electric vehicle or hybrid vehicle Motor provides actual torque on the output) and propose according to the present invention, know dependent on actual torque on the output The acceleration of generation changes.
The acceleration of vehicle can be known by the speed of the measurement of vehicle, wherein acceleration is to lead the single order time of speed Number.Acceleration change be acceleration first time derivative, or perhaps the second time derivative of speed.
Change dependent on the acceleration known to know maximum allowable crawling and uphill starting torque.This preferably passes through It is realized in the comprehensive characteristics curve of control side storage or in the indicatrix of control side storage.Therefore, Fig. 1 exemplarily shows this Kind changes Δ a for acceleration and draws maximum allowable crawling and ramp wherein in the indicatrix 1 of control side storage Walk torque MMAX。
Change known maximum dependent on acceleration when being less than by the target torque of crawling and uphill starting functional requirement When the crawling and uphill starting torque of permission, make to be remained unchanged by the target torque of crawling and uphill starting functional requirement, and Actual torque is provided on the output based on the target torque.
On the contrary, changing when being greater than by crawling and uphill starting function in the target torque that control side requires dependent on acceleration It, will be by the target torque of crawling and uphill starting functional requirement when becoming the maximum allowable crawling and uphill starting torque known It is decreased to 0 or is decreased to about 0.It is therefore cut off via the driving of the motor of drive train.
The simple and steady security function for crawling and uphill starting function may be implemented using the present invention.The function It can be suitable in the case where not needing to know using it senser element at inclination angle of motor vehicle operation originally.According to this hair Therefore bright method not seek knowledge knows inclination angle locating for hybrid vehicle or electric vehicle or gradient.
Other details of the invention is then described referring to figs. 2 to 4 signal flow graph.
Multiple time graphs are drawn about time t in figures 2,3, and 4 and move towards 2,3,4 and 5, i.e., move towards 2 using time graph The time trend for drawing the target torque required by crawling and uphill starting function in control side, moves towards 3 using time graph and draws Change the maximum allowable crawling known and uphill starting torque M dependent on acceleration outMAXTime trend, utilize the time Curve moves towards the time trend for the speed that 4 draw electric vehicle or hybrid vehicle, and moves towards 5 using time graph and draw The time of the acceleration of electric vehicle or hybrid vehicle is moved towards.
Fig. 2 shows curve for following situation and moves towards 2,3,4 and 5, in this case, electric vehicle or hybrid vehicle In ramp in upward slope direction and should crawling start.By the motor of the drive train of electric vehicle or hybrid vehicle Actual torque is provided on the output, which depends on the target required by crawling and uphill starting function in control side Torque 2.In the case where curve moves towards to improve speed in 4 meaning and the case where moving towards 5 generation acceleration according to curve Under, the actual torque provided on the output leads to the starting of motor vehicle.Change Δ dependent on acceleration know or generation A knows maximum allowable crawling and uphill starting torque M by the indicatrix 1 of Fig. 1MAXOr 3, in the uphill starting of Fig. 2 In the case where be constant.At this in Fig. 2, the target torque 2 of side requirement is being controlled always by crawling and uphill starting function In maximum allowable crawling and 3 or less uphill starting torque.Therefore begun by the target torque 2 of crawling and uphill starting functional requirement It is less than maximum allowable crawling and uphill starting torque 3 eventually.In this case, make by the mesh of crawling and uphill starting functional requirement Mark torque 2 remains unchanged, and provides actual torque to pass through motor on the output dependent on it.
Fig. 3 shows curve for following situation and moves towards 2,3,4 and 5, in this case, electric vehicle or hybrid vehicle It crawling should be started in level land.For this purpose, requiring target torque 2, electric vehicle in control side by crawling and uphill starting function again Or hybrid vehicle motor depend on the output the target torque construct or provide actual torque.The actual torque Lead to the change of the speed 4 of motor vehicle and the change of acceleration 5.Acceleration dependent on generation changes, further through the feature of Fig. 1 Curve 1 knows maximum allowable crawling and uphill starting torque 3.In Fig. 3, by the target of crawling and uphill starting functional requirement Torque 2 is also consistently less than maximum allowable crawling and uphill starting torque 3, to make by crawling and uphill starting functional requirement Target torque 2 remains unchanged, to provide actual torque on the output dependent on it.
Fig. 4 shows the malfunction of crawling and uphill starting function, can use and identifies according to the method for the present invention, especially It is ought for example in order in level land crawling start and require excessively high and practical be for uphill starting function only When the target torque of permission.Fig. 4 moves towards 2 using curve and illustrates dependent on crawling and uphill starting function in the requirement of control side Target torque.Dependent on the target torque 2, actual torque is provided on the output, which leads to speed on the output The change of degree 4 and the change of acceleration 5.Change Δ a dependent on the acceleration known, and in the feelings of the indicatrix 1 using Fig. 1 Maximum allowable crawling and uphill starting torque 3 are known under condition.
In Fig. 4, in time point t1, it is greater than by the target torque 2 of crawling and uphill starting functional requirement maximum allowable Crawling and uphill starting torque 3.In Fig. 4, even if in time point t2 (the Key dithering time Δ of the restriction i.e. after time point t1 T) be also such situation, thus be not to maintain by the target torque 2 of crawling and uphill starting functional requirement it is constant, but according to The present invention is decreased to 0 or is decreased to about 0.About 0 is meant that, target torque can and 0 deviation limit numerical value.
In Fig. 4, when the target torque 2 by crawling and uphill starting functional requirement is greater than maximum allowable crawling and ramp When the torque 3 that starts to walk, 2 ramp type of target torque is decreased to 0 or is decreased to about 0.
However, it is also possible that stepwise reducing target torque 2.
By being obtained in the indicatrix 1 of Fig. 1 of control side storage, know as follows maximum allowable crawling and Uphill starting torque 3 or MMAX: the acceleration generated on output end changes bigger, the maximum allowable crawling and uphill starting power of Δ a Square is with regard to smaller.
In a particularly preferred design of the invention, by the target torque 2 of crawling and uphill starting functional requirement with Time period 1 is detected, and especially every 10ms detection is primary.The acceleration generated on the output dependent on actual torque Change and the maximum allowable crawling dependent on this and uphill starting torque 3 are known in time second round, the second round More times of the time integer being adjustable bigger than time period 1.Time second round especially 300ms.By crawling and ramp The target torque 2 of starting functional requirement and the maximum allowable crawling and uphill starting torque known dependent on acceleration change 3 comparison especially carries out in the clock cycle of time second round.If since what is known within time second round adds Speed change and there are the lasting changes of acceleration, it require that target torque 2 be excessively high, to should no longer export Other torque is constructed on end.
The present invention is additionally related to the control equipment for running electric vehicle or hybrid vehicle, wherein control is set It is ready for use on execution according to the method for the present invention.
When there is no accelerator pedal manipulation, equipment is controlled by crawling and uphill starting function and knows target torque.Such as Fruit furthermore also be not present brake pedal, it require that target torque 2 converted by motor, to provide reality on the output Border torque.Control equipment knows that the acceleration generated on the output dependent on actual torque changes, and depends on acceleration Change to know maximum allowable crawling and uphill starting torque 3.Control equipment compares target torque 2 and maximum allowable crawling With uphill starting torque 3.When the target torque 2 by crawling and uphill starting functional requirement is less than maximum allowable crawling and ramp When the torque 3 that starts to walk, then controlling equipment remains unchanged desired target torque 2.On the contrary, when desired target torque 2 is greater than When maximum allowable crawling and uphill starting torque, then controls equipment and desired target torque is decreased to 0 or is decreased to about It is 0.
Control equipment is preferably used to the electric motor control equipment of motor.The control equipment includes for executing according to this The mechanism of the method for invention, the i.e. mechanism of the mechanism and software aspects of hardware aspect.Data-interface is considered as the mechanism of hardware aspect, To exchange data with the component (therefore such as with motor) for participating in implementation according to the method for the present invention.In addition, being used for data The processor of processing and the memory stored for data are considered as the mechanism of hardware aspect.For executing according to the method for the present invention Program module be considered as the mechanisms of software aspects.
Reference signs list
1 indicatrix
The trend of 2 desired target torques
The trend of 3 maximum allowable crawlings and uphill starting torque
The trend of 4 speed
The trend of 5 acceleration

Claims (10)

1. the method for running electric vehicle or hybrid vehicle, the electric vehicle or hybrid vehicle have The drive train of motor,
Wherein, when there is no accelerator pedal manipulation when, by crawling and uphill starting function via the motor on the output Actual torque is provided, the actual torque depends on the target torque (2) in control side by crawling and uphill starting functional requirement, It is characterized in that,
Know that the acceleration generated on the output dependent on actual torque changes,
Maximum allowable crawling and uphill starting torque (3) are known dependent on acceleration change,
When the target torque (2) by crawling and uphill starting functional requirement is less than maximum allowable crawling and uphill starting torque (3) when, then make to be remained unchanged by the target torque (2) of crawling and uphill starting functional requirement,
When the target torque (2) by crawling and uphill starting functional requirement is greater than maximum allowable crawling and uphill starting torque (3) when, then it will be decreased to 0 by the target torque (2) of crawling and uphill starting functional requirement or be decreased to about 0.
2. the method according to claim 1, wherein when the target torque by crawling and uphill starting functional requirement It (2), will be by the target torque of crawling and uphill starting functional requirement when being greater than maximum allowable crawling and uphill starting torque (3) (2) stepwise or ramp type be decreased to 0 or be decreased to about 0.
3. method according to claim 1 or 2, which is characterized in that know maximum allowable crawling and slope as follows Road starting torque (3): the acceleration change generated on the output is bigger, and maximum allowable crawling and uphill starting torque is got over It is small.
4. according to the method in any one of claims 1 to 3, which is characterized in that bent by the feature in the storage of control side Line (1) knows maximum allowable crawling and uphill starting torque (3).
5. method according to claim 1 to 4, which is characterized in that detected with period 1 time by compacted Capable and uphill starting functional requirement target torque (2),
Know that the acceleration generated on the output dependent on actual torque changes and maximum allowable within time second round Crawling and uphill starting torque (3), time second round are more times be adjustable bigger than time period 1.
6. the control equipment for running electric vehicle or hybrid vehicle, the electric vehicle or hybrid vehicle have Drive train including motor,
Wherein, when there is no accelerator pedal manipulation, the control equipment is by crawling and uphill starting function on control side It is required that target torque (2), depends on the target torque, the motor provides actual torque on the output,
It is characterized in that,
The control equipment knows that the acceleration generated on the output dependent on actual torque changes,
The control equipment changes dependent on acceleration to know maximum allowable crawling and uphill starting torque (3),
When the target torque (2) by crawling and uphill starting functional requirement is less than maximum allowable crawling and uphill starting torque (3) when, the control equipment makes to be remained unchanged by the target torque (2) of crawling and uphill starting functional requirement,
When the target torque (2) by crawling and uphill starting functional requirement is greater than maximum allowable crawling and uphill starting torque (3) when, the control equipment will be decreased to 0 by the target torque (2) of crawling and uphill starting functional requirement or be decreased to about It is 0.
7. control equipment according to claim 6, which is characterized in that the control equipment is by the spy in the storage of control side Sign curve (1) knows maximum allowable crawling and uphill starting torque (3).
8. control equipment according to claim 6 or 7, which is characterized in that the control equipment is known most as follows The crawling and uphill starting torque (3) allowed greatly: the acceleration that generates on the output change bigger, maximum allowable crawling and Uphill starting torque is with regard to smaller.
9. the control equipment according to any one of claim 6 to 8, which is characterized in that when by crawling and uphill starting function When the target torque (2) that can be required is greater than maximum allowable crawling and uphill starting torque (3), the control equipment will be by crawling With the target torque (2) of uphill starting functional requirement stepwise or ramp type be decreased to 0 or be decreased to about 0.
10. control equipment according to any one of claims 6 to 9, which is characterized in that the control equipment was with first week Time phase detects the target torque (2) by crawling and uphill starting functional requirement,
The control equipment knows that the acceleration generated on the output dependent on actual torque changes within time second round With maximum allowable crawling and uphill starting torque (3), time second round is bigger than time period 1 to adjust More times of section.
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