CN112455422A - 混合动力车辆及其行驶控制方法 - Google Patents

混合动力车辆及其行驶控制方法 Download PDF

Info

Publication number
CN112455422A
CN112455422A CN202010848573.5A CN202010848573A CN112455422A CN 112455422 A CN112455422 A CN 112455422A CN 202010848573 A CN202010848573 A CN 202010848573A CN 112455422 A CN112455422 A CN 112455422A
Authority
CN
China
Prior art keywords
route
average
load
soc
travel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010848573.5A
Other languages
English (en)
Inventor
姜志勋
李载文
朴俊泳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hyundai Motor Co
Kia Corp
Original Assignee
Hyundai Motor Co
Kia Motors Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hyundai Motor Co, Kia Motors Corp filed Critical Hyundai Motor Co
Publication of CN112455422A publication Critical patent/CN112455422A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
    • 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
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/12—Controlling the power contribution of each of the prime movers to meet required power demand using control strategies taking into account route information
    • 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
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • 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
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • 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
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • 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
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B60W10/023—Fluid clutches
    • 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
    • B60W10/04—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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • 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
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • 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
    • B60W40/04—Traffic conditions
    • 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
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/112—Roll movement
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3469—Fuel consumption; Energy use; Emission aspects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B60K2006/4825—Electric machine connected or connectable to gearbox input shaft
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/13—Mileage
    • 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
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/408—Traffic behavior, e.g. swarm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2710/24—Energy storage means
    • B60W2710/242—Energy storage means for electrical energy
    • B60W2710/244—Charge state
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

本发明涉及一种混合动力车辆及其行驶控制方法，该行驶控制方法包括以下步骤：通过控制器获取车辆当前以电动车辆EV模式行驶的当前路线以及在当前路线前方与当前路线连接的前方路线中的每一个的路线信息；基于所获取的路线信息，计算当前路线的第一平均行驶负载和前方路线的第二平均行驶负载；响应于确定第二平均行驶负载大于第一平均行驶负载，基于第二平均行驶负载和预设的行驶模式切换基准，确定最小所需充电状态SOC；以及根据基于第一平均行驶负载在当前路线中以EV模式行驶所需的第一平均驱动功率，以及基于最大SOC降低率的最大EV驱动功率，通过控制器确定是否改变行驶模式切换基准，以满足进入前方路线时的最小所需SOC。

Description

混合动力车辆及其行驶控制方法
技术领域
本发明涉及一种混合动力车辆及其行驶模式控制方法，更具体涉及一种用于改变行驶模式切换基准以提高燃料效率的混合动力车辆及其行驶模式控制方法。
背景技术
通常，混合动力电动车辆(HEV)是指使用主要包括发动机和电动机在内的两个动力源的车辆。与仅包括内燃机的车辆相比，HEV具有优异的燃料效率和发动机性能，并且还有利于减少排放，因此近年来得以积极地开发。
这种混合动力车辆根据用于驱动车辆的动力传动系，以两种模式行驶。其中一种模式是车辆仅使用电动机行驶的电动车辆(EV)模式，而另一种模式是操作电动机和发动机两者以获取动力的混合动力电动车辆(HEV)模式。混合动力车辆基于行驶条件在两种模式之间切换。
通常基于动力传动系的效率特性来执行行驶模式之间的切换，以使燃料效率或行驶效率最大。然而，当在当前道路上可以以EV模式行驶车辆时，无论前方是否存在高负载行驶区间，普通混合动力车辆都将以EV模式行驶。换句话说，混合动力车辆一直以EV模式行驶，直到充电状态(SOC)达到预设的最小维持SOC为止，该最小维持SOC是即使SOC减小也切换到用于系统保护等的HEV模式的基准。
然后，当高负载行驶区间开始时，如果难以通过驱动发动机来为电池充电，则SOC维持在低水平或减小到最小维持SOC以下。即使可以通过驱动发动机来为电池充电，当从EV模式强制切换到HEV模式以对电池进行充电从而确保预定SOC时，燃油效率也会降低。
发明内容
因此，本发明提供一种有效改变行驶模式的方法以及用于执行该方法的混合动力车辆。特别地，本发明提供一种基于前方道路的行驶负载来改变行驶模式的方法，以及用于执行该方法的混合动力车辆。
由这些实施方式解决的技术问题不限于上述技术问题，并且根据以下描述，本文中未描述的其他技术问题对于本领域技术人员而言将变得显而易见。
根据本发明的目的，如本文具体体现和广泛描述的，混合动力车辆的行驶控制方法可以包括以下步骤：获取车辆当前以电动车辆EV模式行驶的当前路线以及在当前路线前方与当前路线连接的前方路线中的每一个的路线信息；基于所获取的路线信息，计算当前路线的第一平均行驶负载和前方路线的第二平均行驶负载；当第二平均行驶负载大于第一平均行驶负载，基于第二平均行驶负载和预设的行驶模式切换基准，确定最小所需充电状态SOC；以及根据基于第一平均行驶负载在当前路线中以EV模式行驶所需的第一平均驱动功率，以及基于最大SOC降低率的最大EV驱动功率，确定是否改变行驶模式切换基准，以满足进入前方路线时的最小所需SOC。
在本发明的另一方面，混合动力车辆可以包括：导航系统，被配置成提供与车辆当前以电动车辆(EV)模式行驶的当前路线以及在当前路线前方与当前路线连接的前路线中的每一个有关的路线信息；以及混合动力控制器，被配置为：基于所获取的路线信息，计算当前路线的第一平均行驶负载和前方路线的第二平均行驶负载。
此外，该控制器可被配置成，当确定第二平均行驶负载大于第一平均行驶负载，基于第二平均行驶负载和预设的行驶模式切换基准，确定最小所需充电状态SOC；以及根据基于第一平均行驶负载在当前路线中以EV模式行驶所需的第一平均驱动功率，以及基于最大SOC降低率的最大EV驱动功率，确定是否改变行驶模式切换基准，以满足进入前方路线时的最小所需SOC。
附图说明
附图示出本发明的示例性实施方式，与说明书一起用于解释本发明的原理，其中附图被包括以提供对本发明的进一步理解并且被并入并构成本申请的一部分。在附图中：
图1是示出可应用本发明示例性实施例的混合动力车辆的动力传动系结构的示例的视图；
图2是示出可应用本发明示例性实施例的混合动力车辆的控制系统的示例的框图；
图3是用于解释根据本发明的示例性实施例，根据当前路线和前方路线之间的行驶负载改变的模式切换基准的改变的概念的视图；
图4是示出根据本发明示例性实施例的改变模式切换基准的操作的示例的流程图；以及
图5是示出根据本发明示例性实施例，输出表明模式切换基准被改变的信息的形式的示例的视图。
具体实施方式
可以理解的是，本文所使用的术语“车辆”或“车辆的”或者其它相似术语包括一般的机动车辆，例如包括运动型多功能车(SUV)、公共汽车、卡车、各种商用车辆在内的乘用车辆，包括各种艇和船在内的水运工具，以及航空器等，并且包括混合动力车辆、电动车辆、插电式混合电动车辆、氢动力车辆和其它替代燃料车辆(例如，从石油以外的资源取得的燃料)。如本文所提及的，混合动力车辆是具有两种或更多种动力源的车辆，例如兼备汽油动力和电动力的车辆。
虽然示例性实施例被描述为使用多个单元来执行示例性过程，但是应理解，示例性过程也可以由一个或多个模块执行。另外，应理解术语控制器/控制单元是指包括存储器和处理器的硬件装置，并且被专门编程以执行本文所述的过程。存储器配置为存储模块，并且处理器具体配置为执行所述模块，以执行下面进一步说明的一个或多个过程。
此外，本发明的控制逻辑可以实现为包含由处理器、控制器/控制单元等执行的可执行程序指令的计算机可读介质上的非暂时性计算机可读介质。计算机可读介质的示例包括但不限于ROM、RAM、光盘(CD)-ROM、磁带、软盘、闪存驱动器、智能卡以及光学数据存储设备。计算机可读介质还可以分布在网络连接的计算机系统中，使得计算机可读介质以分布式方式存储和执行，例如通过远程信息处理服务器或控制器局域网(CAN)。
本文所使用的术语仅用于说明特定实施例的目的，而非旨在限制本发明。如本文所使用的，除非上下文明确表明，否则单数形式“一个”、“一种”和“该”旨在同样包括复数形式。将进一步理解的是，当在本说明书中使用时，词语“包括”和/或“包含”规定所述特征、整数、步骤、操作、元件和/或组件的存在，但不排除一个或多个其它特征、整数、步骤、操作、元件、组件和/或其群组的存在或添加。如本文所使用的，术语“和/或”包括一个或多个相关列出项目的任何和所有组合。
除非特别说明或从上下文明显可见，如本文所使用的，词语“约”应理解为在本领域的正常容差范围内，例如在平均值的2倍标准偏差内。“约”可理解为在所述值的10％、9％、8％、7％、6％、5％、4％、3％、2％、1％、0.5％、0.1％、0.05％或0.01％内。除非从上下文另外明确，否则本文提供的所有数值均由词语“约”修改。
在下文中，将参考附图详细描述本发明的示例性实施例，以便于本领域技术人员容易地实施。然而，本发明可以以各种方式实现，并且不限于在此描述的示例性实施例。在附图中，为了清楚地描述本发明，将省略与本发明的描述无关的部分，并且在整个说明书中相似的部分由相似的附图标记表示。
本发明提出通过将当前行驶区间的行驶负载与前方行驶区间的行驶负载进行比较，当前方行驶区间的行驶负载增加时，基于前方行驶区间的行驶负载以及当前充电状态(SOC)和当前行驶区间的行驶负载，设置用于切换行驶模式的基准。
在描述根据本发明的示例性实施例的设置用于切换行驶模式的基准的方法之前，将说明适用于示例性实施例的混合动力车辆的结构和控制系统。首先，将参照图1描述可应用本发明的示例性实施例的混合动力车辆的结构。图1是示出可应用本发明的示例性实施例的混合动力车辆的动力传动系结构的示例的视图。
图1示出采用并联型混合动力系统的混合动力车辆的动力传动系，其包括安装在内燃机(ICE)110和变速器150之间的电动机140(或驱动电动机)和发动机离合器130。在这种车辆中，通常情况下，当驾驶员在起动车辆后踩踏加速器时，在发动机离合器130打开的同时，利用电池的电力来驱动电动机140，并且电动机的动力通过变速器150和主减速器(FD)160传递，从而使车轮移动(即，EV模式)。随着车辆逐渐加速，进一步需要高驱动力，在这种情况下，可以操作辅助电动机(或起动发电电动机120)以驱动发动机110。
因此，当发动机110和电动机140的转速彼此相同时，发动机离合器130接合，使得发动机110和电动机140两者都驱动车辆(即，从EV转换为HEV模式)。当满足预定的发动机关闭条件(例如，车辆减速)时，发动机离合器130打开并且发动机110停止(即，从HEV模式转换为EV模式)。另外，混合动力车辆将车轮的驱动力转换成电能以对电池进行充电，这被称为制动能量再生或再生制动。
起动发电电动机120在发动机起动时可以用作起动电动机，并且在发动机起动之后或者在发动机关闭期间回收旋转能量时可以用作发电机。因此，起动发电电动机120也可以被称为混合动力起动发电机(HSG)，并且在必要时可以被称为辅助电动机。
图2中示出了包括前述动力传动系的车辆的控制器之间的关系。图2是示出可应用本发明示例性实施例的混合动力车辆的控制系统的示例的框图。
参照图2，在可应用本发明的示例性实施例的混合动力车辆中，内燃机110可以由发动机控制器210操作，起动发电电动机120和电动机140的扭矩可以由电动机控制单元(MCU)220调节，并且发动机离合器130可以由离合器控制器230操作。特别地，发动机控制器210可被称为发动机管理系统(EMS)。另外，变速器150可以由变速器控制器250操作。根据需要，起动发电电动机120和电动机140可以由不同的单独电动机控制器来操作。
每个控制器可以连接至混合动力控制单元(HCU)240，该混合动力控制单元240被配置成作为高级控制器来执行整体模式切换过程，并且可被配置成将切换行驶模式所需的信息以及在换档期间操作发动机离合器所需的信息，和/或执行发动机关闭所需的信息提供给HCU240，或者根据来自HCU 240的控制信号来执行操作。
具体地，HCU 240可被配置为基于车辆的行驶状态来确定是否切换模式。例如，混合动力控制器可被配置为确定发动机离合器(EC)130的打开时间，并且在EC打开时调节液压压力(在湿式EC的情况下)或扭矩容量(在干式EC的情况下)。HCU240可被配置成确定EC状态(例如，锁止、打滑、打开等)，并且调节发动机110的燃料喷射的停止时间。混合动力控制器可被配置为将用于调节起动发电电动机120的扭矩的扭矩命令发送到MCU 220，以关闭发动机并控制发动机旋转能量的回收。此外，HCU 240可被配置成在执行行驶模式切换期间确定模式切换条件，并且操作用于模式切换的下层控制器。
对于本领域的普通技术人员显而易见的是，控制器之间的前述关系以及控制器的功能/分类是示例性的，因此不限于这些术语。例如，HCU 240可以通过允许除HCU 240之外的任何其他控制器中的任何一个来提供相应的功能来实现，也可以通过两个或多个其他控制器来分配并提供相应功能来实现。
在下面的描述中，将使用路线(link)的概念来描述行驶区间。该路线可以指基于速度限制、平均坡度、道路类型等来区分的路段或变化点。根据本发明的示例性实施例，该路线可以用作路段。因此，路线的改变可以与行驶负载的改变紧密相关。例如，在速度限制为80Km/h的道路上将当前速度限制改变为100Km/h的点，可视为路线改变点。
因此，当路线改变时，其表明由于道路特性的改变而导致车辆负载改变，因此，根据本发明的示例性实施例，当设置用于切换行驶模式的基准时，可以以路线为单位确定行驶负载。可以通过导航系统获取与路线有关的信息，例如，路线的位置和长度、道路类型、速度限制、用于在相应路线中计算行驶负载的坡度(稍后描述)、或者基于实时交通信息的平均车速。
然后，可以使用将相应路线的平均行驶负载(即，平均驱动功率)乘以相应路线的长度的方法，获取在任意路线中行驶所需的行驶所需能量。混合动力控制器可基于从导航系统获取的信息来计算行驶所需能量。
特别地，可以通过将空气阻力Ra、滚动阻力Rr和爬坡阻力Rc相加来获得行驶负载。空气阻力Ra可以根据“1/2*Cd*ρ*A*V^2”来获得，爬坡阻力Rc可以根据“W*sinθ”来获得，并且滚动阻力Rr可以根据“μW”来获得。各个阻力的数学表达式中的变量可具有以下含义：Cd：空气阻力系数，ρ：空气密度，A：车辆的前投影面积，V：车辆的相对速度，W：车辆的总重量(假定等于或小于1吨)，g：重力加速度，θ：坡度，μ：滚动阻力系数。
车速对应于变量，因此，可以使用将相应路线中的平均车速和速度限制的较小值代入到V中的方法来获得空气阻力Ra，通过使用相应路线的坡度θ来获得爬坡阻力Rc，通过代入与相应路线的道路类型相对应的μ来获得滚动阻力Rr。
下面参照图3至图4，对根据本发明所述基于到目前为止已描述的路线以及路线中的平均行驶负载和行驶所需能量的混合动力车辆的行驶控制方法进行说明。
图3是用于解释根据本发明示例性实施例，基于当前路线和前方路线之间的行驶负载改变的模式切换基准的改变的概念的视图。图4是示出根据本发明示例性实施例，改变模式切换基准的操作的示例的流程图。
特别地，图3示出两个曲线图。上部曲线图中的纵轴表示行驶负载，下部曲线图中的纵轴表示电池SOC，横轴由上部曲线图和下部曲线图共享并表示距离。距离可大致分为当前路线和前方路线，并且如上部曲线图所示，与当前路线相比，前方路线中的行驶负载增大。
在图4中，在行驶开始时，混合动力控制器可被配置成获取关于当前路线和前方路线的信息(S410)。特别地，所获取的信息可被传送到导航系统，并且如上所述，可以包括计算每条路线的平均行驶负载所需的信息以及每条路线的行驶所需的能量，例如基于实时交通信息的路线的位置和长度、道路类型、平均坡度和平均车速。
HCU 240可被配置成基于所获取的信息来计算当前路线和前方路线的各自平均行驶负载，并且将这些平均行驶负载相互比较(S420)。如图3的上部曲线图所示，当前路线的行驶负载增大时(S420中的“是”)，HCU 240可被配置成确定最小所需SOC，即需要确保或保持直到车辆进入前方路线的SOC(S430)。
最小所需SOC可以是当车辆在前方路线行驶时平稳管理SOC的SOC，并且可以指的是通过将从预设EV模式转换到HEV模式的转换基准(以下称为“EV线”)与当车辆在前方路线中行驶时被预测消耗的预测消耗SOC相加而获得的值(例如，对应于EV线的SOC+前方路线区间中的预测消耗SOC)。
前方路线区间中的预测消耗SOC，可以是通过将基于前方路线的平均行驶负载的平均驱动功率乘以前方路线的长度而获得的值，但是本发明不限于此。例如，前方路线区间中的预测消耗SOC也可以是通过基于前方路线的行驶负载以及车辆以EV模式行驶时的平均驱动功率，基于部分HEV模式切换来考虑SOC维持或充电而获得的值。
在确定最小所需SOC时，HCU 240可被配置成基于当前SOC和最小所需SOC计算最大SOC降低率(S440)。最大SOC降低率可以指的是当前SOC和最小所需SOC之间的差相对于当前路线的剩余距离的坡度，如图3的下部曲线图所示。换句话说，最大SOC降低率可以指的是允许在当前路线中每单位距离消耗的最大平均SOC，以确保(即，处于)车辆从当前位置作为起始位置到达前方路线的时间点的最小所需SOC。
SOC是一种表示可用电池功率从0转换到100％的方法，并且在已知SOC消耗时，可以计算EV驱动功率。因此，HCU 240可被配置成当车辆在当前路线中以EV模式行驶时，基于最大SOC降低率，计算电动机120的最大EV驱动功率(S450)。因此，混合动力控制器可配置成，基于使用驱动功率和路线信息计算的当前路线的平均行驶负载，将最大EV驱动功率与平均驱动功率进行比较(S460)。
作为比较的结果，在当前路线的平均驱动功率大于最大EV驱动功率时(S460中的“是”)，这表明当车辆到达前方路线时不满足最小所需SOC，因此HCU 240可被配置成将通到前方路线的EV线改变(即，增大)到最小所需SOC(S470)。因此，当在到达前方路线之前已达到SOC改变的EV线时，混合动力车辆可被转换为HEV模式，因此，可防止在模式转换后消耗SOC，从而确保在车辆到达前方路线时的最小所需SOC。
例如，在图3的下部曲线图中，当与当前路线的平均驱动功率相对应的SOC消耗对应于情况2时，当前路线的平均驱动功率可以大于最大EV驱动功率。特别地，当混合动力车辆在当前路线中继续以EV模式行驶时，在车辆到达前方路线时，SOC可以减小到小于最小所需SOC。因此，EV线可以提高到最小所需SOC，因此，从SOC达到最小所需SOC的时间点开始，EV模式可以切换到HEV模式，从而维持最小所需SOC。
相反地，在当前路线的平均驱动功率小于最大EV驱动功率时(S460中的“否”)，即使在当前路线中保持EV模式，当车辆到达前方路线时，仍维持最小所需SOC以上。因此，混合动力控制器可被配置成保持当前EV线直到前方路线(S480)。
例如，在图3的下部曲线图中，当与当前路线的平均驱动功率相对应的SOC消耗对应于情况1时，当前路线的平均驱动功率可以小于最大EV驱动功率。因此，即使保持EV模式而不是提高EV线，车辆也在确保最小所需SOC以上的状态下进入前方路线，从而确保在前方路线中有效行驶。
可以以驾驶员可识别的形式输出是否基于上述行驶控制方法来调节EV线。特别地，根据示例性实施例的混合动力车辆可包括显示装置，例如仪表群的显示器、主机、或音频/视频/导航(AVN)系统或抬头显示器(HUD)。当显示装置基于当前路线和前方路线之间的行驶差异以及SOC从混合动力控制器获取关于EV线是否改变的信息时，可以通过显示装置显示相应的信息，后面将参考图5进行描述。值得注意的是，显示装置可以由HCU操作。
图5是示出根据本发明示例性实施例，表明模式切换基准被改变的输出信息的形式的示例的视图。参照图5，根据示例性实施例的混合动力车辆可配置成在允许显示任意文本的仪表群500的一个区域510中，以文本形式输出关于EV线是否改变的信息。
该显示形式是示例性的，可以使用在固定位置闪烁的警告灯来代替文本，也可以以图标的形式显示，还可以以各种形式进行修改，例如，改变后的EV线可以显示在电池量表上。显示的位置以及显示形式可以改变为仪表群、AVN系统或主机的显示器、抬头显示器等中的另一位置。
与如上配置的本发明的至少一个示例性实施例有关的混合动力车辆，可以更有效地改变行驶模式。特别地，可以基于前方行驶路径的行驶负载来改变用于切换行驶模式的基准，因此，可以在进入具有高行驶负载的行驶路径之前，确保足够的充电(荷电)状态。
本领域技术人员应该理解，可以通过本发明实现的效果不限于以上已经具体描述的内容，并且从详细描述中将更清楚地理解本发明的其他优点。
本发明还可被实现为非暂时性计算机可读记录介质上的计算机可读代码。非暂时性计算机可读记录介质是被配置成存储随后可以由计算机系统读取的数据的任何数据存储设备。非暂时性计算机可读记录介质的例子包括只读存储器(ROM)、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光学数据存储设备。
因此，以上示例性实施例在所有方面都应解释为示例性，而非限制性的。本发明的范围应由所附权利要求及其合法等同物来确定，而不是由以上描述来确定，并且落入所附权利要求的含义和等同范围内的所有改变都应包含在其中。

Claims (19)

1.一种混合动力车辆的行驶控制方法，包括以下步骤：
通过控制器获取所述车辆当前以电动车辆EV模式行驶的当前路线以及在所述当前路线前方与所述当前路线连接的前方路线中的每一个的路线信息；
基于所获取的路线信息，通过所述控制器计算所述当前路线的第一平均行驶负载和所述前方路线的第二平均行驶负载；
响应于确定所述第二平均行驶负载大于所述第一平均行驶负载，基于所述第二平均行驶负载和预设的行驶模式切换基准，通过所述控制器确定最小所需充电状态SOC；以及
根据基于所述第一平均行驶负载在所述当前路线中以EV模式行驶所需的第一平均驱动功率，以及基于最大SOC降低率的最大EV驱动功率，通过所述控制器确定是否改变所述行驶模式切换基准，以满足进入所述前方路线时的最小所需SOC。
2.根据权利要求1所述的方法，其中，确定是否改变所述行驶模式切换基准的步骤包括：响应于确定所述第一平均驱动功率大于所述最大EV驱动功率，将所述行驶模式切换基准改变成所述最小所需SOC。
3.根据权利要求1所述的方法，其中，确定是否改变所述行驶模式切换基准的步骤包括：响应于确定所述第一平均驱动功率小于所述最大EV驱动功率，保持所述行驶模式切换基准。
4.根据权利要求1所述的方法，其中，确定所述最小所需SOC的步骤包括：
所述控制器通过将所述行驶模式切换基准与通过将基于所述第二平均行驶负载在所述前方路线中以EV模式行驶所需的第二平均驱动功率乘以所述前方路线的长度而获得的值相加，确定所述最小所需SOC。
5.根据权利要求1所述的方法，其中，所述路线信息包括基于实时交通信息的每条路线的长度、道路类型、速度限制、平均坡度或平均车速中的至少一项。
6.根据权利要求5所述的方法，其中，计算所述当前路线的第一平均行驶负载和所述前方路线的第二平均行驶负载的步骤包括：
通过所述控制器，基于所述道路类型计算滚动阻力负载；
通过所述控制器，基于所述平均坡度计算坡度负载；
通过所述控制器，基于所述速度限制或所述平均车速计算空气阻力负载；以及
通过所述控制器，将所述滚动阻力负载、所述坡度负载以及所述空气阻力负载相加。
7.根据权利要求1所述的方法，其中，基于当前SOC和所述最小所需SOC之间的差，以及从当前位置到所述前方路线的起点的剩余距离，计算所述最大SOC降低率。
8.根据权利要求1所述的方法，其中，进一步包括通过显示装置输出是否改变所述行驶模式切换基准的确定结果。
9.根据权利要求1所述的方法，其中，重复确定是否改变所述行驶模式切换基准，直到所述车辆到达所述前方路线为止。
10.一种非暂时性计算机可读记录介质，其上记录有用于执行根据权利要求1所述的混合动力车辆的行驶控制方法的程序。
11.一种混合动力车辆，包括：
导航系统，被配置成提供与所述车辆当前以电动车辆EV模式行驶的当前路线以及在所述当前路线前方与所述当前路线连接的前方路线中的每一个有关的路线信息；以及
混合动力控制器，被配置为：
基于所获取的路线信息，计算所述当前路线的第一平均行驶负载和所述前方路线的第二平均行驶负载；
响应于确定所述第二平均行驶负载大于所述第一平均行驶负载，基于所述第二平均行驶负载和预设的行驶模式切换基准，确定最小所需充电状态SOC；以及
根据基于所述第一平均行驶负载在所述当前路线中以EV模式行驶所需的第一平均驱动功率，以及基于最大SOC降低率的最大EV驱动功率，确定是否改变所述行驶模式切换基准，以满足进入所述前方路线时的最小所需SOC。
12.根据权利要求11所述的混合动力车辆，其中，所述混合动力控制器被配置成响应于确定所述第一平均驱动功率大于所述最大EV驱动功率，将所述行驶模式切换基准改变成所述最小所需SOC。
13.根据权利要求11所述的混合动力车辆，其中，所述混合动力控制器被配置成响应于确定所述第一平均驱动功率小于所述最大EV驱动功率，保持所述行驶模式切换基准。
14.根据权利要求11所述的混合动力车辆，其中，所述混合动力控制器被配置成通过将所述行驶模式切换基准与通过将基于所述第二平均行驶负载在所述前方路线中以EV模式行驶所需的第二平均驱动功率乘以所述前方路线的长度而获得的值相加，确定所述最小所需SOC。
15.根据权利要求11所述的混合动力车辆，其中，所述路线信息包括基于实时交通信息的每条路线的长度、道路类型、速度限制、平均坡度或平均车速中的至少一项。
16.根据权利要求15所述的混合动力车辆，其中，所述混合动力控制器被配置成通过基于所述道路类型计算滚动阻力负载，基于所述平均坡度计算坡度负载，基于所述速度限制或所述平均车速计算空气阻力负载来确定第一平均行驶负载和第二平均行驶负载；并且将所述滚动阻力负载、所述坡度负载以及所述空气阻力负载相加。
17.根据权利要求11所述的混合动力车辆，其中，基于当前SOC和所述最小所需SOC之间的差，以及从当前位置到所述前方路线的起点的剩余距离，计算所述最大SOC降低率。
18.根据权利要求11所述的混合动力车辆，进一步包括：
显示装置，被配置成输出是否改变所述行驶模式切换基准的确定结果。
19.根据权利要求11所述的混合动力车辆，其中，重复确定是否改变所述行驶模式切换基准，直到所述车辆到达所述前方路线为止。
CN202010848573.5A 2019-09-06 2020-08-21 混合动力车辆及其行驶控制方法 Pending CN112455422A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020190110709A KR20210029877A (ko) 2019-09-06 2019-09-06 하이브리드 자동차 및 그를 위한 주행 제어 방법
KR10-2019-0110709 2019-09-06

Publications (1)

Publication Number Publication Date
CN112455422A true CN112455422A (zh) 2021-03-09

Family

ID=74832819

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010848573.5A Pending CN112455422A (zh) 2019-09-06 2020-08-21 混合动力车辆及其行驶控制方法

Country Status (3)

Country Link
US (1) US11414064B2 (zh)
KR (1) KR20210029877A (zh)
CN (1) CN112455422A (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113267345A (zh) * 2021-04-23 2021-08-17 联合汽车电子有限公司 车辆前方未知路段阻力预测方法、存储介质、控制器和系统

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7191920B2 (ja) * 2020-11-13 2022-12-19 本田技研工業株式会社 車両の制御装置
DE102021113798B4 (de) * 2021-05-28 2023-03-30 Schaeffler Technologies AG & Co. KG Elektrisch betreibbarer Antriebsstrang, Verfahren zur Steuerung eines elektrisch betreibbaren Antriebsstrangs, Computerprogrammprodukt und Steuereinheit
CN113665374B (zh) * 2021-09-28 2024-06-18 潍柴动力股份有限公司 车辆速度的控制方法、装置、设备及存储介质

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4089325B2 (ja) * 2002-07-17 2008-05-28 アイシン・エィ・ダブリュ株式会社 ハイブリッド車両制御システム
JP5920309B2 (ja) * 2013-10-21 2016-05-18 トヨタ自動車株式会社 移動支援装置、移動支援方法、及び運転支援システム
US10532733B2 (en) * 2015-06-04 2020-01-14 Nissan Motor Co., Ltd. Start control device for hybrid vehicle
KR101713734B1 (ko) * 2015-10-06 2017-03-08 현대자동차 주식회사 하이브리드 차량의 제어 방법 및 장치
US10336314B2 (en) * 2017-07-26 2019-07-02 Gm Global Technology Operations Llc. Hybrid powertrain system
US10688983B2 (en) * 2017-08-04 2020-06-23 Toyota Motor Engineering & Manufacturing North America, Inc. Deceleration control with electric motor and multispeed automatic transmission
KR102444661B1 (ko) * 2017-11-01 2022-09-19 현대자동차주식회사 하이브리드 자동차 및 그를 위한 주행 모드 제어 방법
US20190232950A1 (en) * 2018-01-30 2019-08-01 GM Global Technology Operations LLC Hybrid powertrain system
JP6939689B2 (ja) * 2018-04-19 2021-09-22 トヨタ自動車株式会社 ハイブリッド車両の制御装置
JP6958470B2 (ja) * 2018-04-19 2021-11-02 トヨタ自動車株式会社 ハイブリッド車両の制御装置
JP7067387B2 (ja) * 2018-09-21 2022-05-16 トヨタ自動車株式会社 ハイブリッド車両の制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113267345A (zh) * 2021-04-23 2021-08-17 联合汽车电子有限公司 车辆前方未知路段阻力预测方法、存储介质、控制器和系统

Also Published As

Publication number Publication date
KR20210029877A (ko) 2021-03-17
US20210070278A1 (en) 2021-03-11
US11414064B2 (en) 2022-08-16

Similar Documents

Publication Publication Date Title
US11414064B2 (en) Hybrid vehicle and driving control method for the same
US10768635B2 (en) Hybrid electric vehicle and platooning control method therefor
CN109987080B (zh) 混合动力电动车辆及其驱动模式控制方法
US20140074331A1 (en) Method and system for charging battery for hybrid electric vehicle
CN106476793B (zh) 用于控制混合动力电动车辆的驱动模式的装置和方法
US20160107634A1 (en) System and method for controlling torque of hybrid vehicle
US11407316B2 (en) Vehicle travel control device
CN103171548A (zh) 用于在混合动力车中控制ev模式与hev模式之间的转换的技术
CN103029595A (zh) 用于控制电动车的上坡驱动的系统和方法
CN109204299B (zh) 混合动力车辆及其换挡控制方法
KR20210149954A (ko) 전기 모터를 구비한 자동차 및 그를 위한 충돌 방지 제어 방법
US11679754B2 (en) Hybrid vehicle and driving control method therefor
KR102524295B1 (ko) 플러그인 하이브리드 자동차 및 그를 위한 충전 제어 방법
US11794720B2 (en) Hybrid electric vehicle and method of controlling the same
US9791039B1 (en) Apparatus and method for shift control of vehicle
CN111194286A (zh) 车辆的控制方法以及控制装置
CN106671968B (zh) 混合动力电动车辆及其有效控制变速器的方法
US11926310B2 (en) Hybrid electric vehicle and method for controlling speed limit for the same
KR20230039803A (ko) 하이브리드 자동차 및 그를 위한 충전량 제어 방법
US11453383B2 (en) Hybrid vehicle and method of controlling gear shift for the same
CN112744194A (zh) 环保车辆及其制动控制方法
KR102183200B1 (ko) 차량 및 그 제어 방법
CN110745131A (zh) 用于控制无倒挡的电机驱动车辆的电力存储装置的电量状态的方法
US20230174046A1 (en) Hybrid electric vehicle and method of driving control for the same
EP4378774A1 (en) Method and device for regenerative control of hybrid vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination