CN114590261A - 一种估算机动车辆对预定行驶路线的电能需求的方法 - Google Patents
一种估算机动车辆对预定行驶路线的电能需求的方法 Download PDFInfo
- Publication number
- CN114590261A CN114590261A CN202111462970.XA CN202111462970A CN114590261A CN 114590261 A CN114590261 A CN 114590261A CN 202111462970 A CN202111462970 A CN 202111462970A CN 114590261 A CN114590261 A CN 114590261A
- Authority
- CN
- China
- Prior art keywords
- motor vehicle
- veh
- road
- resistance
- driving
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000005096 rolling process Methods 0.000 claims description 26
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 229910052739 hydrogen Inorganic materials 0.000 description 2
- 239000001257 hydrogen Substances 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 150000002431 hydrogen Chemical class 0.000 description 1
- 238000012417 linear regression Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000000611 regression analysis Methods 0.000 description 1
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
- 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
-
- 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
- B60L15/2045—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 optimising the use of energy
-
- 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
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
-
- 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
- B60W40/1005—Driving resistance
-
- 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
- B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
-
- 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
-
- 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
- B60L2240/14—Acceleration
-
- 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
- B60L2240/26—Vehicle weight
-
- 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
-
- 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
- B60L2240/54—Drive Train control parameters related to batteries
-
- 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
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
-
- 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
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/647—Surface situation of road, e.g. type of paving
-
- 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
- B60L2260/40—Control modes
- B60L2260/50—Control modes by future state prediction
- B60L2260/54—Energy consumption estimation
-
- 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
- B60W2510/0666—Engine power
-
- 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
- B60W2510/08—Electric propulsion units
- B60W2510/085—Power
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/12—Lateral 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2530/10—Weight
-
- 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
- B60W2530/16—Driving resistance
-
- 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
- B60W2530/209—Fuel quantity remaining in tank
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
本发明涉及一种用于确定机动车辆的驱动阻力与速度vveh之间的函数关系的方法,该机动车辆包括用于驱动的扭矩源的电机和用于电能的存储装置。本发明公开了用于确定机动车辆的驱动阻力与速度vveh之间的函数关系的方法,该机动车辆包括用于驱动的扭矩源的电机和用于电能的存储装置,目的在于相比现有技术更准确地估算预定行驶路线的电能需求。通过一种方法实现,其中:‑驱动阻力通过具有n个未知量和m个可用已知量的方程来表示,‑在机动车辆的运行过程中,在不同时间t建立了i(i≥n)个方程,并给出了m个可用已知量,从而得到了有i个方程的不欠定方程组,以及‑通过方程组确定机动车辆的驱动阻力和速度vveh之间的函数关系。
Description
技术领域
本发明涉及一种用于确定机动车辆的驱动阻力与速度vveh之间的函数关系的方法,该机动车辆包括作为驱动器的扭矩源的电机和用于电能的存储装置。
背景技术
人们一直致力于开发车辆驱动器,以最大限度地减少燃料消耗。此外,人们也正在设法减少污染物的排放,以便能够符合将来污染物排放的限值。
因此,根据现有技术,电驱动越来越频繁地用于汽车,经常与内燃机结合作为混合动力驱动。
在城市交通中,作为无排放驱动的电力驱动无疑有其合理性或优势。此外,还有很多其它相关原因,例如,使用电力驱动可以降低车辆的驱动噪音。
此外,在电力驱动的使用过程中,对于精确预测即将来到的旅程对电能的需求或消耗还是有一定困难的。然而,这是规划行程的重要或不可缺少的条件,以确保存储装置中可用的电能足以满足需要。然而,还需要精确预测能量需求以便于比较不同的行驶路线(旅行路线),并在再次填充存储装置之前有效地或尽可能多地利用存储装置中可用的能量.
现有技术中使用不同的构思来预测对电能的需求,车队耗电量、特定驾驶周期内的平均耗电量或相应车辆过往耗电量,均可作为估算即将到来的旅程的能量需求的依据。
对于即将到来的旅程的能量需求也可以通过计算机模拟模型估测,在这种情况下,车辆特定的数据,例如质量mveh、滚动阻力系数froll、空气阻力系数cw和/或机动车辆的面积A是预先给定的。
根据现有技术,所谓的滑行实验也被考虑在内,其中车辆在水平面(即,不倾斜的测试轨道)上从预定速度开始滑行并且动力传动系统中断,其中以计量方式检测减速。
根据现有技术的方法具有以下缺点,实际上,车辆特定的数据不是常量,而是会或多或少的变化,现有技术中没有考虑到这一点。
特别是机动车辆的质量mveh变化较大,这一点对车辆的能量消耗有显著影响。与空气阻力相关的机动车辆的面积A也可以变化,其具体取决于是否使用车顶行李架。
在本发明的上下文中,机动车辆的质量mveh是总质量,其包括车辆空载质量、货物质量和乘员质量。
滚动阻力系数froll随轮胎压力而变化,但也随道路状况而变化,其中干燥和潮湿的路面会导致明显不同的滚动阻力系数。
发明内容
基于以上背景陈述,本发明的目的是公开一种用于确定机动车辆的驱动阻力和速度vveh之间的函数关系的方法,该机动车辆包括用作驱动的扭矩源的电机和用于电能的存储装置,以便于相比现有技术更加精确地估算对预定行驶路线的电能需求。
该目的通过一种用于确定机动车辆的驱动阻力和速度vveh之间的函数关系的方法来实现,该机动车辆包括作为用于机动车辆的驱动的扭矩源的电机和用于电能的存储装置,其中:
驱动阻力通过具有n个未知量和m个可用已知量的方程来表示,
在机动车辆的运行过程中,在不同时间t建立了i(i≥n)个方程,并给出了m个可用已知量,从而得到了有i个方程的不欠定方程组,以及
通过方程组确定机动车辆的驱动阻力和速度vveh之间的函数关系。
根据本发明的方法,驱动阻力用具有n个未知量和m个可用已知量的方程表示。为了得到具有i个方程的恰定方程组或超定方程组,在机动车辆的运行或行驶过程中,在不同的时间ti处建立i(i≥n)个方程。在每个时间ti处,为i个方程提供m个可用已知量。
通过该方程组,可以确定机动车辆的驱动阻力和速度vveh之间的函数关系。
机动车辆的驱动阻力和速度vveh之间的函数关系被用作估算预定行驶路线的电能需求。电能需求可以与存储装置中可用的电能进行比较。
方法变体是有优势的,其中i显著大于n,即i>>n。虽然该方程可以具有,例如,n≈3-8个未知量,但i的值优选地在i≈1000-4000之间。i越大,对能量需求的预测就越准确。
因此,根据本发明的方法,考虑能量需求可能随着不同边界条件而剧烈变化的情况。
因此,在下雨的情况下,滚动阻力系数froll会以相关的方式显著变化。根据本发明,可以将滚动阻力系数froll作为n个未知量之一,并因此作为变量来考虑。机动车辆的质量mveh对车辆的能量消耗具有显着影响,根据本发明的方法可以将其作为n个未知量之一,并因此作为所使用方程中的一个变量考虑。
原则上,可以考虑将多个变量作为未知量,从而在本发明的方法范围内作为方程中的变量,下文还提及了其它例子。
可以提供信息单元来管理m个可用已知量。数据的类型和来源可能大不相同,例如可以与车辆、动力传动系统、防抱死制动系统、速度传感器、加速度传感器、倾角传感器、电能存储装置、环境条件、驾驶员自身或其它系统的数据(例如导航系统的数据)有关。
本发明的目的是根据本发明的方法实现的,即公开一种用于确定机动车辆的驱动阻力和速度vveh之间的函数关系的方法,该机动车辆包括作为驱动扭矩源的电机和用于电能的存储装置,以便能够比现有技术更准确地估算用于预定行驶路线的电能需求。
根据从属权利要求的其他有利的方法变体在下文中解释。
本方法的实施例是有益的,其可以确定驱动阻力功率Pro-load和机动车辆的速度vveh之间的函数关系。在当前情况下,驱动阻力功率Proad-load用作驱动阻力。
在这种情况下,方法变体是有益的,使用方程Pe-motor=Proad-load+mveh*aveh*vveh,其中:
-Pe-motor表示电机的驱动功率,
-mveh表示机动车辆的质量,以及
-aveh表示机动车辆的加速度。
忽略动力传动系统中的损耗,机动车辆车轮上的驱动功率可以等同于电机的输出功率。然而,也可以通过动力传动系统的效率η或功率损耗Ploss来考虑机动车辆的动力传动系统中的损耗。
本方法的实施例是有益的,其中公式Proad-load=Froad-load*vveh用于驱动阻力功率Proad-load,其中
-Froad-load表示驱动阻力。
本方法的实施例是有益的,其中方程Froad-load=Froll+Fair+Fclimb用于驱动阻力Froad-load,其中
-Froll表示滚动阻力,
-Fair表示空气阻力,以及
-Fclimb表示由于上坡或下坡而作用于机动车辆减速或加速的力。
本方法的实施例是有益的,其中滚动阻力Froll取决于滚动阻力系数froll。
本方法的实施例在这种情况下也是有益的,其中空气阻力Fair取决于空气阻力系数cw和垂直于机动车辆的速度vveh的机动车辆的面积A。
本方法的实施例在这种情况下也是有益的,力Fclimb取决于道路倾斜度αroad。
然而,为了确定驱动阻力,该方法的实施例也可以是有益的,在于方程Froad-load=f0+f1*vveh+f2*vveh 2用于驱动阻力Froad-load,其中f0,f1和f2表示车辆特定系数。
本方法的实施例是有益的,其中以下变量中的一个或多个用作方程中的未知量:
-机动车辆的质量mveh,
-滚动阻力Froll,
-滚动阻力系数froll,
-空气阻力Fair,
-空气阻力系数cw,
-机动车辆的面积A,
-力Fclimb,
-道路倾斜度αroad,
-车辆特定系数f0,
-车辆特定系数f1,和/或
-车辆特定系数f2。
作为未知量的使用考虑了每一个变量是可变的,即可以改变的情况。
然而,上述的每一个变量也可以被预定义为一个常量,对于所有i个方程都适用。
本方法的实施例是有益的,其中以下一个或多个变量作为方程中的可用已知量使用:
-电机的驱动功率Pe-motor,
-机动车辆速度vveh,和/或
-机动车辆加速度aveh。
电机的瞬时驱动功率Pe-motor通常是已知的,可在信息单元或中央数据线路中获取。
本方法的实施例在以下情况下是有益的,其中机动车辆的速度vveh通过传感器计量检测。
该方法的实施例在以下情况下是有益的,其中机动车辆的加速度aveh通过传感器计量地检测。
然而,该方法的实施例在以下情况下是有益的,其中机动车辆的加速度aveh由计算机根据机动车辆的速度vveh的变化来确定。
本方法的实施例是有益的,其中为以下一个或多个变量预定数值:
-机动车辆的质量mveh,
-滚动阻力Froll,
-滚动阻力系数froll,
-空气阻力Fair,
-空气阻力系数cw,
-机动车辆的面积A,
-力Fclimb,
-道路倾斜度αroad,
-车辆特定系数f0,
-车辆特定系数f1,和/或
-车辆特定系数f2。
本方法的实施例在以下情况下是有益的,其中使用传感器或地理数据
来确定以下参数:
-力Fclimb,和/或
-道路倾斜度αroad。
地理数据可以是导航系统的数据。
当前行驶道路的上坡或下坡,是源自驾驶员信息系统或导航系统的数据,这些数据还详细提供了是否正在驶过或将要驶过高山、山丘或谷底的信息。其中“将要驶过”是在所提及的预定行驶范围内考虑的数据。
对于未知的道路倾斜度αroad,在个别情况下,即在道路倾斜度αroad不断变化的情况下,可以为每个测量点产生新的附加未知量,从而方程的数量i始终保持小于未知量的数量,即,建立的方程组将始终保持为欠定方程组。
假设道路倾斜度αroad仅缓慢变化,根据一种方法变体,可以假设至少两个连续测量点的倾斜度恒定,其结果是未知量的数量减少到足以使方程组再次可解。使用这种简化的假设导致倾斜罕见的快速变化的不准确性或偏差,可以使用所谓的非线性回归方法,通过降低道路倾斜度αroad的离群值的权重来抵消或衰减。
本方法的实施例在以下情况下是有益的,其中通过使用气象数据来确定以下一个或多个变量:
-滚动阻力Froll,
-滚动阻力系数froll,
-空气阻力Fair,和/或
-空气阻力系数cw。
气象数据可以是来自国家气象局的数据。
本方法的实施例是有益的,其中所确定的机动车辆的驱动阻力和速度vveh之间函数关系被用于估算对于预定行驶路线的电能需求。
本方法的实施例在以下情况下是有益的,其中电能需求与存储装置中可用的电能进行比较。
关于电能存储装置中的荷电状态的数据可以在信息单元中管理并在需要时提供。
例如,蓄电池或电容器可以用作能量存储装置,它们也可以吸收和存储由内燃机提供的过量的能量,如果电机不用作驱动器,而是用作发电机,则无需存储。以这样的方式,也可以在车辆滑行时进行能量的回收和储存。
一般而言,电能的存储装置也可以是与燃料电池结合的氢罐。如果需要,这种组合也可以为电机提供电能,并以可用氢的形式存储电能。
根据本发明的方法也可以实现以等效的方式应用于或转移到传统的驱动器。即,例如,可用于以内燃机作为唯一或附加扭矩源、以燃料箱作为化石能源载体的燃料储存装置的机动车辆。
附图说明
下文基于图1和图2更详细地描述了本发明。图中:
图1示意性地示出了行驶过程中作用在机动车辆上的力以及在该方法范围内使用的方程,以及
图2示出了驱动阻力功率Proad-load与机动车辆速度vveh之间的函数关系图表。
具体实施方式
图1示意性地示出了行驶过程中作用在机动车辆上的力以及在该方法范围内使用的方程。
在行驶期间,作用在机动车辆上的有电机的驱动力Fe-motor以及与此反向的驱动阻力Froad-load和加速力Facc。
驱动阻力Froad-load包含滚动阻力Froll、空气阻力Fair和由于上坡或下坡而使机动车辆减速或加速的力Fclimb。
对于加速力Facc,应用如下:Facc=mveh*aveh。
如果要考虑旋转加速度,则应用如下:Facc=(ei*mveh,leer+madd)*aveh,其中ei是一个因子,mveh,leer表示车辆空载质量,madd表示货物质量(包括乘员)。
在本实施例中,使用方程Pe-motor=Proad-load+mveh*aveh*vveh,其中
-Pe-motor表示电机的驱动功率,
-mveh表示机动车辆的质量,以及
-aveh表示机动车辆的加速度。
电机Pe-motor的驱动功率、机动车辆的速度vveh和机动车辆的加速度aveh在当前情况下是已知的,即可用已知量。
机动车辆的质量mveh以及驱动阻力Froad-load固有的系数和变量可以作为方程中的未知量输入并作为变量考虑。
利用方程组,确定机动车辆的驱动阻力功率Proad-load与速度vveh之间的函数关系。
图2以图表形式显示了驱动阻力功率Proad-load与机动车辆速度vveh之间的函数关系,其中横坐标为机动车辆的速度vveh,纵坐标为驱动阻力功率Proad-load。
圆圈表示驱动功率Pe-motor,叉号表示驱动阻力功率Proad-load。实线是通过回归分析确定的函数Proad-load=f(vveh)。
该函数关系被用于估算预定行驶路线的电能需求,其中,再次考虑了机动车辆的质量mveh。
附图标记表
aveh 机动车辆加速度
A 垂直于机动车辆的速度vveh的机动车辆的面积
αroad 道路倾斜度
cw 空气阻力系数
f0 车辆特定系数
f1 车辆特定系数
f2 车辆特定系数
Facc 加速力
Fair 空气阻力
Fclimb 由于上坡或下坡而作用于机动车辆减速或加速的力
Fe-motor 电机驱动力
Froad-load 驱动阻力
froll 滚动阻力系数
Froll 滚动阻力
i 方程的数量
n 方程中未知量个数
m 方程中可用已知量个数
mveh 机动车辆的质量
pacc 加速度功率
Pe-motor 电机的驱动功率
Proad-load 驱动阻力功率
t 时间
vveh 机动车辆的速度
Claims (20)
1.一种用于确定机动车辆的驱动阻力和速度vveh之间的函数关系的方法,所述机动车辆包含用于驱动的扭矩源的电机和电能的存储装置,其中:
-所述驱动阻力通过具有n个未知量和m个可用已知量的方程来表示,
-在所述机动车辆的运行过程中,在不同时间t建立了i(i≥n)个方程,并给出了m个可用已知量,从而得到了有所述i个方程的不欠定方程组,以及
-通过所述方程组确定所述机动车辆的所述驱动阻力和所述速度vveh之间的函数关系。
2.根据权利要求1所述的方法,其特征在于,确定所述机动车辆的驱动阻力功率Proad-load和所述速度vveh之间的函数关系。
3.根据权利要求2所述的方法,其特征在于,使用方程Pe-motor=Proad-load+mveh*aveh*vveh,其中:
-Pe-motor表示所述电机的驱动功率,
-mveh表示所述机动车辆的质量,以及
-aveh表示所述机动车辆的加速度。
4.根据权利要求2或3所述的方法,其特征在于,方程Proad-load=Froad-load*vveh用于计算所述驱动阻力功率Proad-load,其中:
-Froad-load表示驱动阻力。
5.根据权利要求4所述的方法,其特征在于,方程Froad-load=Froll+Fair+Fclimb用于计算所述驱动阻力Froad-load,其中:
-Froll表示滚动阻力,
-Fair表示空气阻力,
-Fclimb表示由于上坡或下坡而作用于所述机动车辆减速或加速的力。
6.根据权利要求5所述的方法,其特征在于,所述滚动阻力Froll取决于滚动阻力系数froll。
7.根据权利要求5或6所述的方法,其特征在于,所述空气阻力Fair取决于空气阻力系数cw和垂直于所述机动车辆的所述速度vveh的所述机动车辆的面积A。
8.根据权利要求5至7中任一项所述的方法,其特征在于,所述力Fclimb取决于道路倾斜度αroad。
9.根据权利要求4所述的方法,其特征在于,方程Froad-load=f0+f1*vveh+f2*vveh 2用于计算所述驱动阻力Froad-load,其中f0、f1和f2表示车辆特定系数。
10.根据权利要求3至9中任一项所述的方法,其特征在于,以下变量中的一个或多个用作所述方程中的未知量:
-所述机动车辆的质量mveh,
-所述滚动阻力Froll,
-所述滚动阻力系数froll,
-所述空气阻力Fair,
-所述空气阻力系数cw,
-所述机动车辆的面积A,
-所述力Fclimb,
-所述道路倾斜度αroad,
-所述车辆特定系数f0,
-所述车辆特定系数f1,和/或
-所述车辆特定系数f2。
11.根据前述权利要求中任一项所述的方法,其特征在于,以下变量中的一个或多个用作所述方程中的可用已知量:
-所述电机的驱动功率Pe-motor,
-所述机动车辆的速度vveh,和/或
-所述机动车辆的加速度aveh。
12.根据权利要求11所述的方法,其特征在于,所述机动车辆的所述速度vveh通过传感器计量检测。
13.如权利要求11或12所述的方法,其特征在于,所述机动车辆的所述加速度aveh通过传感器计量检测。
14.根据权利要求11或12所述的方法,其特征在于,所述机动车辆的所述加速度aveh由计算机根据所述机动车辆的所述速度vveh的变化而确定。
15.根据权利要求3至9中任一项所述的方法,其特征在于,为以下变量中的一个或多个预定义值:
-所述机动车辆的质量mveh,
-所述滚动阻力Froll,
-所述滚动阻力系数froll,
-所述空气阻力Fair,
-所述空气阻力系数cw,
-所述机动车辆的面积A,
-所述力Fclimb,
-所述道路倾斜度αroad,
-所述车辆特定系数f0,
-所述车辆特定系数f1,和/或
-所述车辆特定系数f2。
16.根据权利要求15所述的方法,其特征在于,使用传感器或地理数据来确定以下参数:
-所述力Fclimb,和/或
-所述道路倾斜度αroad。
17.根据权利要求8至16中任一项所述的方法,其特征在于,假设所述道路倾斜度αroad为恒定的,因此在至少两个连续的时间点ti、ti+1保持不变,如果在不同的时间点ti建立了i个方程,则所述道路倾斜度αroad在连续的时间点ti、ti+1处连续变化。
18.根据权利要求15、16或17所述的方法,其特征在于,气象数据用于确定以下一个或多个变量:
-所述滚动阻力Froll,
-所述滚动阻力系数froll,
-所述空气阻力Fair,和/或
-所述空气阻力系数cw。
19.根据前述权利要求中任一项所述的方法,其特征在于,所确定的所述机动车辆的所述驱动阻力与所述速度vveh之间的函数关系用于估算预定行驶路线的电能需求。
20.根据权利要求19所述的方法,其特征在于,所述电能需求与所述存储装置中的可用电能进行比较。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020007403.0 | 2020-12-04 | ||
DE102020007403 | 2020-12-04 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN114590261A true CN114590261A (zh) | 2022-06-07 |
Family
ID=81813883
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202111462970.XA Pending CN114590261A (zh) | 2020-12-04 | 2021-12-02 | 一种估算机动车辆对预定行驶路线的电能需求的方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20220176832A1 (zh) |
CN (1) | CN114590261A (zh) |
DE (1) | DE102021130743A1 (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11623650B2 (en) * | 2021-02-18 | 2023-04-11 | Hyundai Motor Company | Vehicle range prediction |
DE102022116961A1 (de) | 2022-07-07 | 2022-11-24 | FEV Europe GmbH | Verfahren, Steuergerät und Computerprogrammprodukt zur Vorhersage des Fahrwiderstands eines Fahrzeugs |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4302838A1 (de) | 1993-02-02 | 1994-08-04 | Gerster Axel | Verfahren zur Steuerung der Leistungsabgabe von elektrischen Fahrzeughilfsantrieben für Fahrzeuge mit mindestens zwei getrennten, aber auch zusammenwirkenden Antrieben |
DE102006009098A1 (de) | 2006-02-28 | 2007-08-30 | Daimlerchrysler Ag | Kraftfahrzeugdiagnose und Fahrzeugannahme |
DE102006012860A1 (de) | 2006-03-21 | 2007-09-27 | Robert Bosch Gmbh | Verfahren zum Betrieb eines Hybridantriebs für ein Fahrzeug |
DE102010041544B4 (de) * | 2010-09-28 | 2023-05-04 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerassistenzsystem zur Unterstützung des Fahrers zum verbrauchskontrollierten Fahren |
US9545854B2 (en) * | 2011-06-13 | 2017-01-17 | General Electric Company | System and method for controlling and powering a vehicle |
JP2015224871A (ja) * | 2014-05-26 | 2015-12-14 | 株式会社日立製作所 | センタ装置、運転支援システム及び運転支援方法 |
US11247552B2 (en) * | 2015-08-03 | 2022-02-15 | Cummins, Inc. | Systems and methods of energy management and control of an electrified powertrain |
SE540963C2 (en) | 2015-10-29 | 2019-01-29 | Scania Cv Ab | A method for determining a change in air resistance felt by a motor vehicle |
-
2021
- 2021-11-24 DE DE102021130743.0A patent/DE102021130743A1/de active Pending
- 2021-12-02 US US17/457,406 patent/US20220176832A1/en active Pending
- 2021-12-02 CN CN202111462970.XA patent/CN114590261A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
US20220176832A1 (en) | 2022-06-09 |
DE102021130743A1 (de) | 2022-06-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Asamer et al. | Sensitivity analysis for energy demand estimation of electric vehicles | |
JP6758025B2 (ja) | 高いハイブリッド化度を有するハイブリッド車両のための制御システム | |
CN111753377B (zh) | 基于道路信息的纯电动汽车能耗最优路径规划方法 | |
KR101728406B1 (ko) | 추진 관련 동작 파라미터 추정 방법 | |
US8798901B2 (en) | Travel distance estimating apparatus, travel distance estimating method, travel distance estimating program, and recording medium | |
CN102991503B (zh) | 用于控制车辆的方法 | |
JP4176056B2 (ja) | 走行評価装置、走行評価方法及び走行評価プログラム | |
US10921145B2 (en) | Hybrid electric vehicle and method of searching for path thereof | |
CN114590261A (zh) | 一种估算机动车辆对预定行驶路线的电能需求的方法 | |
KR20160071211A (ko) | 하이브리드 자동차의 배터리 충전 상태 제어 장치 및 방법 | |
CN109117438A (zh) | 具有供电系统的交通工具剩余里程估算方法和装置 | |
KR20200137061A (ko) | 차량의 크립 주행 제어 시스템 및 그 방법 | |
JP7249267B2 (ja) | 車両消費の監視システム | |
Śmieszek et al. | Determining the fuel consumption of a public city bus in urban traffic | |
de Moura Oliveira et al. | Evaluation of energy recovery potential through regenerative braking for a hybrid electric vehicle in a real urban drive scenario | |
Szilassy et al. | Consumption estimation method for battery-electric buses using general line characteristics and temperature | |
JP2014000942A (ja) | 省エネルギー走行車両の走行可能距離およびエネルギー消費量推定方法 | |
von Jouanne et al. | Electric vehicle (EV) chassis dynamometer testing | |
Phyo et al. | Impact of Driving Behavior on Power Consumption of Electric Bus: A Case Study on Rama IX Bridge | |
Dimitrov et al. | Study of the starting acceleration and regenerative braking deceleration of an electric vehicle at different driving modes | |
Gantt et al. | Regenerative brake energy analysis for the VT REX plug-in hybrid electric vehicle | |
Gechev et al. | Comparison of real driving cycles and consumed braking power in suburban Slovakian driving | |
Yano et al. | Estimation of ev power consumption and route planning using probe data | |
Sarrafan et al. | Improved estimation of the impact of regenerative braking on electric vehicle range | |
Al-Samari | Impact of intelligent transportation systems on parallel hybrid electric heavy duty vehicles |
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 |