DE102011056598A1 - Drive system for motor vehicle, has controller, which is provided with drive regulating module, recuperation regulating module and brake regulating module - Google Patents

Drive system for motor vehicle, has controller, which is provided with drive regulating module, recuperation regulating module and brake regulating module Download PDF

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Publication number
DE102011056598A1
DE102011056598A1 DE102011056598A DE102011056598A DE102011056598A1 DE 102011056598 A1 DE102011056598 A1 DE 102011056598A1 DE 102011056598 A DE102011056598 A DE 102011056598A DE 102011056598 A DE102011056598 A DE 102011056598A DE 102011056598 A1 DE102011056598 A1 DE 102011056598A1
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Germany
Prior art keywords
recuperation
drive
control module
total
brake
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DE102011056598A
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German (de)
Inventor
Christoph Bittner
Florian Fuhr
Heiko Mayer
Stefan Wimmer
Tobias Roulet
Christian Wiedenbrügge
Nils Sauvlet
Dominik Bender
Markus Gantikow
Holger Bartels
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Dr Ing HCF Porsche AG
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Dr Ing HCF Porsche AG
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Priority to DE102011056598A priority Critical patent/DE102011056598A1/en
Publication of DE102011056598A1 publication Critical patent/DE102011056598A1/en
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/08—Brake-action initiating means for personal initiation hand actuated
    • B60T7/085—Brake-action initiating means for personal initiation hand actuated by electrical means, e.g. travel, force sensors
    • 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
    • B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
    • 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
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • 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
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
    • 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
    • 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
    • B60W20/14—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 in conjunction with braking regeneration
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • 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
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • 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
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B60T2270/604—Merging friction therewith; Adjusting their repartition
    • 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
    • B60W2510/18—Braking system
    • B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
    • 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
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60Y2300/89—Repartition of braking force, e.g. friction braking versus regenerative braking
    • 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
    • Y02T10/62—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
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    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The drive system (4) has two independent drive devices for driving two independent drive axles (6,8), where a controller (16) is provided with a drive regulating module, a recuperation regulating module and a brake regulating module. A clutch transmission (22) assigned to one drive axle is decoupled such that the vehicle (2) is exclusively driven by another drive axle. The brake regulating module generates an additional hydraulic braking pressure during a total braking torque bigger than total recuperation limiting value and is transferred to a braking system. An independent claim is included for a method for operating a drive system.

Description

Die Erfindung betrifft ein Antriebssystem für ein Kraftfahrzeug, mit mindestens zwei unabhängig voneinander angetriebenen Achsen, mindestens einem Elektroantrieb, mindestens einer Steuereinrichtung mit mindestens einer Leistungselektronik und mit einer Energiespeicheranordnung. The invention relates to a drive system for a motor vehicle, with at least two independently driven axles, at least one electric drive, at least one control device with at least one power electronics and with an energy storage device.

Ein derartiges Antriebssystem ist beispielsweise aus der DE 10 2006 030 197 A1 bekannt. Aus dieser Druckschrift ist es darüber hinaus bekannt, an zwei rotierbar gelagerten Wellen, insbesondere einer Achse, eine Änderung der Drehmomentverteilung vorzunehmen, um die dynamische Stabilitätssteuerung des Kraftfahrzeuges zu verbessern. Grundsätzlich sind darüber hinaus auch Antriebssysteme für Allrad-Kraftfahrzeuge bekannt, die zur Optimierung der fahrdynamischen Eigenschaften des Kraftfahrzeuges sowie zur Optimierung der Stabilitätssteuerung die Drehmomentverteilung der beiden Antriebsachsen variieren bzw. anpassen. Wenn auch diese Anpassung der Drehmomentverteilung hinsichtlich der Fahrzeugstabilität und der fahrdynamischen Eigenschaften durchaus zufriedenstellende Ergebnisse liefert, so bietet die Anpassung der Drehmomentverteilung darüber hinaus ein großes Potential, den Verbrauch und damit die CO2-Emissionen zu verringern, also die Fahreffizienz zu verbessern. Diese Forderung bildet jedoch einen Zielkonflikt mit der Forderung einer größtmöglichen Fahrdynamik. Such a drive system is for example from the DE 10 2006 030 197 A1 known. From this document, it is also known to make two rotatably mounted waves, in particular an axis, a change in the torque distribution to improve the dynamic stability control of the motor vehicle. In principle, drive systems for all-wheel motor vehicles are also known which vary or adapt the torque distribution of the two drive axles to optimize the driving dynamics of the motor vehicle and to optimize the stability control. Although this adjustment of the torque distribution with respect to the vehicle stability and the driving dynamics characteristics provides quite satisfactory results, so the adjustment of the torque distribution also offers a great potential to reduce fuel consumption and thus CO2 emissions, thus improving the driving efficiency. However, this requirement forms a conflict of interest with the demand for the greatest possible driving dynamics.

Der Erfindung liegt daher die Aufgabe zugrunde, ein Antriebssystem zu schaffen, das vor dem Hintergrund von optimalen fahrdynamischen Bedingungen und einer optimalen Stabilitätssteuerung des Kraftfahrzeuges eine energie-effiziente Antriebsmomentverteilung gewährleistet. The invention is therefore based on the object to provide a drive system that ensures an energy-efficient drive torque distribution against the background of optimal driving dynamics conditions and optimal stability control of the motor vehicle.

Diese Aufgabe wird dadurch gelöst, dass die Steuereinrichtung zumindest ein Antriebsregelmodul, ein Rekuperationsregelmodul und ein Bremsregelmodul aufweist, wobei das der ersten Antriebsachse zugeordnete Kupplungsgetriebe entkoppelt ist, derart dass das Kraftfahrzeug ausschließlich über die zweite Antriebsachse antreibbar ist, wobei das Antriebsregelmodul einen maximalen Rekuperationsgrenzwert für die zweite Antriebsachse vorsieht, wobei das Rekuperationsregelmodul diesen Rekuperationsgrenzwert als maximales Rekuperationsgesamtgrenzwert festlegt, wobei das Bremsregelmodul ein vom Fahrer angefordertes Gesamtbremsmoment vorsieht, derart, dass durch das Rekuperationsregelmodul ein Rekuperationsgesamtmoment und damit auch ein Rekuperationsteilmoment für die zweite Antriebsachse ableitbar sind, wobei bei einem Gesamtbremsmoment größer dem Rekuperationsgesamtgrenzwert das Bremsregelmodul einen zusätzlichen hydraulischen Bremsdruck erzeugt und an ein Bremssystem übermittelt. Durch ein derartig ausgebildetes Antriebssysten ist es möglich, eine besonders energieeffiziente Fahrstrategie, nämlich ein Antrieb lediglich über die zweite Antriebsachse, um zu setzen. This object is achieved in that the control device has at least one drive control module, a Rekuperationsregelmodul and a brake control module, wherein the first drive axle associated clutch transmission is decoupled, such that the motor vehicle is driven exclusively on the second drive axle, wherein the drive control module has a maximum Rekuperationsgrenzwert for second drive axle provides, wherein the Rekuperationsregelmodul this Rekuperationsgrenzwert sets as the maximum total recuperation, the brake control module provides a requested by the driver total braking torque, such that the Rekuperationsregelmodul a Rekuperationsgesamtmoment and thus a Rekuperationsteilmoment for the second drive axle are derived, with a total braking torque greater than Recuperation total limit the brake control module generates an additional hydraulic brake pressure and transmitted to a brake system. By means of a drive system designed in this way, it is possible to set a particularly energy-efficient driving strategy, namely a drive only via the second drive axle, in order to set it.

Desweiteren wird die Aufgabe durch ein Verfahren gelöst, wobei bei einem entkoppelten Kupplungsgetriebe in einem ersten Schritt ein Bremspedal betätigt wird oder ein Assistenzsystem eine Bremsanforderung sendet und durch das Antriebsregelmodul ein maximaler Rekuperationsgrenzwert für die zweite Antriebsachse bestimmt wird und an das Rekuperationsregelmodul übermittelt wird, in einem zweiten Schritt durch das Rekuperationsregelmodul aus dem Rekuperationsgrenzwert der zweiten Antriebsachse ein Rekuperationsgesamtgrenzwert ermittelt wird, in einem dritten Schritt durch das Bremsregelmodul in Abhängigkeit des Fahrerwunsches ein Gesamtbremsmoment ermittelt wird und an das Rekuperationsregelmodul übermittelt wird, in einem vierten Schritt durch das Rekuperationsregelmodul das Rekuperationsgesamtmoment für die zweite Antriebsachse ermittelt wird und an das Antriebsregelmodul übermittelt wird zur Bildung des Rekuperationsteilmomentes, in einem fünften Schritt durch das Bremsregelmodul ein hydraulischer Bremsdruck erzeugt wird für den Fall, dass das Gesamtbremsmoment größer als der Rekuperationsgesamtgrenzwert ist und dieser hydraulische Bremsdruck an das Bremssystem übermittelt wird. Furthermore, the object is achieved by a method, wherein in a decoupled clutch transmission in a first step, a brake pedal is pressed or an assistance system sends a braking request and the drive control module a maximum Rekuperationsgrenzwert for the second drive axle is determined and transmitted to the recuperation control module, in a second step by the Rekuperationsregelmodul from the Rekuperationsgrenzwert the second drive axle a Rekuperationsgesamtgrenzwert is determined, in a third step by the brake control module in response to the driver request a total braking torque is determined and transmitted to the Rekuperationsregelmodul, in a fourth step by the Rekuperationsregelmodul the Rekuperationsgesamtmoment for the second Drive axle is determined and transmitted to the drive control module to form the Rekuperationsteilmomentes, in a fifth step by the brake control module a hydraulic brake pressure is generated in the event that the total braking torque is greater than the total recuperation limit and this hydraulic brake pressure is transmitted to the brake system.

Hierbei kann es vorteilhaft sein, wenn ein Traktionsregelmodul vor dem Hintergrund von fahrzeugdynamischen Parametern das vom Rekuperationsregelmodul an das Antriebsregelmodul übermittelte Rekuperationsgesamtmoment überprüft wird und gegebenenfalls verringert wird. In this case, it may be advantageous if a traction control module is checked against the background of vehicle-dynamic parameters, the recuperation total transmitted by the recuperation control module to the drive control module and optionally reduced.

Die Erfindung wird nachfolgend anhand der Zeichnung näher erläutert, hierbei zeigt: The invention will be explained in more detail with reference to the drawing, in which:

1 eine schematische Ansicht eines Kraftfahrzeuges mit dem erfindungsgemäßen Antriebssystem, und 1 a schematic view of a motor vehicle with the drive system according to the invention, and

2 ein Blockschaltbild einer Steuereinrichtung des erfindungsgemäßen Antriebssystems. 2 a block diagram of a control device of the drive system according to the invention.

1 zeigt ein Kraftfahrzeug 2 mit einem schematisch dargestellten Antriebssystem 4. Das Kraftfahrzeug 2 weist eine erste Antriebsachse 6 auf, die als Hinterradachse ausgebildet ist sowie eine zweite Antriebsachse 8, die als Vorderradachse ausgebildet ist. Im Frontbereich ist ein Elektroantrieb 10 vorgesehen, der über ein nicht weiter dargestelltes Ein-Gang-Kupplungsgetriebe mit der Vorderradachse 8 verbunden ist. Des Weiteren ist im Frontbereich eine Leistungselektronik 12 angeordnet, die wie eine zweite Leistungselektronik 14 im Heckbereich auf bekannte Weise mit einer Steuereinrichtung 16 verbunden ist, um die jeweiligen Antriebseinrichtungen anzusteuern. Im Heckbereich des Kraftfahrzeuges 2 sind neben der bereits genannten Leistungselektronik 14 und der Steuereinrichtung 16 ein Verbrennungsmotor 18 sowie ein zweiter Elektroantrieb 20 angeordnet, die auf bekannte Weise über ein Doppelkupplungsgetriebe 22 mit der als Hinterradachse ausgebildeten ersten Antriebsachse 6 antriebstechnisch verbunden sind. Des Weiteren ist im Heckbereich auch noch eine Energiespeicheranordnung 24 vorgesehen, die im vorliegenden Ausführungsbeispiel als Lithium-Ionen-Batteriepack ausgeführt ist. Es sollte deutlich sein, dass jedoch auch andere Energiespeicheranordnungen, wie zum Beispiel Schwungradanordnungen, vorgesehen sein können. Das erfindungsgemäße Antriebssystem 4 sieht nun vor, wie mit Hilfe der 2 beschrieben wird, eine besonders energieeffiziente Fahrstrategie umgesetzt werden kann. 1 shows a motor vehicle 2 with a drive system shown schematically 4 , The car 2 has a first drive axle 6 on, which is designed as a rear wheel axle and a second drive axle 8th , which is designed as a front wheel axle. In the front area is an electric drive 10 provided, via a not-shown one-speed clutch transmission with the front wheel axle 8th connected is. Furthermore, in the front area is a power electronics 12 arranged like a second power electronics 14 in the rear area in a known manner with a control device 16 connected to the respective ones Drive devices to drive. In the rear of the vehicle 2 are in addition to the already mentioned power electronics 14 and the controller 16 an internal combustion engine 18 and a second electric drive 20 arranged in a known manner via a dual-clutch transmission 22 with the formed as a rear wheel axle first drive axle 6 are connected drive technology. Furthermore, in the rear area also has an energy storage arrangement 24 provided, which is designed in the present embodiment as a lithium-ion battery pack. It should be understood, however, that other energy storage arrangements, such as flywheel assemblies, may be provided. The drive system according to the invention 4 now looks like using the 2 a particularly energy-efficient driving strategy can be implemented.

2 zeigt ein Blockschaltbild mit Regelmodulen der Steuereinrichtung 16. Die vorliegende Erfindung beschreibt eine Antriebssituation, die eine besonders energieeffiziente Fahrstrategie umsetzt. Hierbei wird das Fahrzeug 2 lediglich über die zweite Antriebsachse 8 angetrieben. Die Steuereinrichtung 16 weist zumindest ein Antriebsregelmodul 26, ein Rekuperationsregelmodul 28 und ein Bremsregelmodul 30 auf. Das Antriebsregelmodul 26 ermittelt einen maximalen Rekuperationsgrenzwert 32 für die zweite Antriebsachse 8, die im vorliegenden Ausführungsbeispiel durch die Vorderradachse ausgebildet ist. Die erste Antriebsachse 6 ist, wie im Blockschaltbild dargestellt, komplett vom Antriebsstrang entkuppelt. Im Rekuperationsregelmodul wird ein Rekuperationsgesamtgrenzwert 34 festlegt, der kleinr oder gleich dem Rekuperationsgrenzwert 32 ist. Das Bremsregelmodul 30 sieht ein vom Fahrer 36 angefordertes Gesamtbremsmoment 38 vor und übermittelt dieses an das Rekuperationsregelmodul 28. Ist dieses Gesamtbremsmoment 38 kleiner als der Rekuperationsgesamtgrenzwert 34, so kann das Fahrzeug allein über eine Rekuperation des Elektroantriebes 10 der Vorderachse 8 abgebremst werden. Es sollte deutlich sein, dass eine derartig ausgeführte Bremsstrategie lediglich bei geringer Längs- und/oder Querdynamik des Fahrzeuges zulässig ist. Auch sollten durch den Fahrer 36 oder ein Assistenzsystem lediglich moderate Verzögerungen, zum Beispiel in der Größenordnung kleiner 2 m/s2 an das Bremsregelmodul 30 übermittelt werden. In allen anderen Fällen, oder auch, wenn das angeforderte Gesamtbremsmoment 38 größer als der Rekuperationsgesamtgrenzwert 34 ist, wird vom Bremsregelmodul 30 ein hydraulischer Bremsdruck phydr. erzeugt und an ein Bremssystem 40 übermittelt. 2 shows a block diagram with control modules of the controller 16 , The present invention describes a drive situation that implements a particularly energy-efficient driving strategy. Here is the vehicle 2 only over the second drive axle 8th driven. The control device 16 has at least one drive control module 26 , a recuperation control module 28 and a brake control module 30 on. The drive control module 26 determines a maximum recuperation limit 32 for the second drive axle 8th , which is formed by the front wheel axle in the present embodiment. The first drive axle 6 is, as shown in the block diagram, completely decoupled from the drive train. The recuperation control module becomes a total recuperation limit 34 determines, the smaller or equal to the Rekuperationsgrenzwert 32 is. The brake control module 30 sees one from the driver 36 requested total braking torque 38 before and transmits this to the Rekuperationsregelmodul 28 , Is this total braking torque 38 less than the total recuperation limit 34 , so the vehicle can alone on a recuperation of the electric drive 10 the front axle 8th be slowed down. It should be clear that such a braking strategy is permitted only with low longitudinal and / or lateral dynamics of the vehicle. Also should be done by the driver 36 or an assistance system only moderate delays, for example, in the order of less than 2 m / s 2 to the brake control module 30 be transmitted. In all other cases, or even if the requested total braking torque 38 greater than the total recuperation limit 34 is from the brake control module 30 a hydraulic brake pressure p hydr. generated and connected to a braking system 40 transmitted.

Ein Verfahren zum Betrieb eines derartigen Antriebssystems 4 kann nun wie folgt beschrieben werden. In einer Antriebssituation, in der das Fahrzeug 2 mittels eines Gaspedals 41 im Vortrieb bewegt wird und in der die Hinderradachse 6 vom Antriebsstrang entkoppelt ist, wird zu einem Zeitpunkt t1 das Bremspedal 42 betätigt. Durch das Antriebsregelmodul 26 wird ein maximaler Rekuperationsteilgrenzwert 32 für die zweite Antriebsachse 8 bestimmt und an das Rekuperationsregelmodul 28 übermittelt. In einem zweiten Schritt wird durch das Rekuperationsregelmodul 28 aus dem Rekuperationsteilgrenzwert 32 der zweiten Antriebsachse 8 ein Rekuperationsgesamtgrenzwert 34 ermittelt. In einem dritten Schritt wird durch das Bremsregelmodul 30 in Abhängigkeit des Fahrerwunsches ein Gesamtbremsmoment 38 ermittelt und an das Rekuperationsregelmodul 28 übermittelt. Nachfolgend wird dann in einem vierten Schritt durch das Rekuperationsregelmodul 28 das Rekuperationsgesamtmoment 44 für die zweite Antriebsachse 8 ermittelt und an das Antriebsregelmodul 26 übermittelt. Hier wird dann das Rekuperationsteilmoment 46 gebildet, das bei dieser Fahrstrategie dem Rekuperationsgesamtmoment 44 entspricht. Gleichzeitig kann in einem fünften Schritt durch das Bremsregelmodul 30 ein hydraulischer Bremsdruck erzeugt werden für den Fall, dass das Gesamtbremsmoment 38 größer als der Rekuperationsgesamtgrenzwert ist und dann dieser hydraulische Bremsdruck phydr. an das Bremssystem 40 übermittelt werden. Des Weiteren wird durch das Bremsregelmodul 30 vor dem Hintergrund von fahrzeugdynamischen Parametern das vom Rekuperationsregelmodul übermittelte Rekuperationsgesamtmoment überprüft und gegebenenfalls verringert. A method of operating such a drive system 4 can now be described as follows. In a driving situation in which the vehicle 2 by means of an accelerator pedal 41 is moved in the forward drive and in the Hinderradachse 6 is decoupled from the drive train, the brake pedal is at a time t1 42 actuated. Through the drive control module 26 becomes a maximum recuperation partial limit 32 for the second drive axle 8th determined and to the Rekuperationsregelmodul 28 transmitted. In a second step is by the Rekuperationsregelmodul 28 from the recuperation partial limit value 32 the second drive axle 8th a total recuperation limit 34 determined. In a third step is by the brake control module 30 depending on the driver's request a total braking torque 38 determined and to the Rekuperationsregelmodul 28 transmitted. Subsequently, in a fourth step by the Rekuperationsregelmodul 28 the total recuperation moment 44 for the second drive axle 8th determined and to the drive control module 26 transmitted. Here then the Rekuperationsteilmoment 46 formed in this driving strategy the Rekuperationsgesamtmoment 44 equivalent. At the same time, in a fifth step by the brake control module 30 a hydraulic brake pressure can be generated in the event that the total braking torque 38 is greater than the total recuperation limit and then this hydraulic brake pressure p hydr. to the brake system 40 be transmitted. Furthermore, by the brake control module 30 against the background of vehicle dynamic parameters, the recuperation total transmitted by the recuperation control module checked and possibly reduced.

ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Zitierte PatentliteraturCited patent literature

  • DE 102006030197 A1 [0002] DE 102006030197 A1 [0002]

Claims (3)

Antriebssystem für ein Kraftfahrzeug mit mindestens zwei unabhängigen Antriebseinrichtungen (10, 18, 20), die mindestens zwei voneinander unabhängige Antriebsachsen antreiben, wobei zumindest eine Antriebseinrichtung ein Elektroantrieb (10, 20) ist, mit mindestens einer Steuereinrichtung (16), mindestens einer Leistungselektronik (12, 14) und einer Energiespeicheranordnung (24), dadurch gekennzeichnet, dass die Steuereinrichtung (16) zumindest ein Antriebsregelmodul (26), ein Rekuperationsregelmodul (28) und ein Bremsregelmodul (30) aufweist, wobei ein der ersten Antriebsachse (6) zugeordnete Kupplungsgetriebe (22) entkoppelt ist, derart, dass das Kraftfahrzeug ausschließlich über die zweite Antriebsachse (8) antreibbar ist, wobei das Antriebsregelmodul (26) einen maximalen Rekuperationsgrenzwert (32) für die zweite Antriebsachse (8) vorsieht, wobei das Rekuperationsregelmodul (28) diesen Rekuperationsgrenzwert (32) als maximalen Rekuperationsgesamtgrenzwert (34) festlegt, wobei das Bremsregelmodul (30) ein angefordertes Gesamtbremsmoment (38) vorsieht, derart, dass durch das Rekuperationsregelmodul (28) ein Rekuperationsgesamtmoment (44) und damit auch Rekuperationsteilmoment (46) für die zweite Antriebsachse (8) ableitbar sind, wobei bei einem Gesamtbremsmoment (38) größer dem Rekuperationsgesamtgrenzwert (34) das Bremsregelmodul (30) einen zusätzlichen hydraulischen Bremdruck phydr. erzeugt und an ein Bremssystem (40) übermittelt. Drive system for a motor vehicle with at least two independent drive devices ( 10 . 18 . 20 ), which drive at least two mutually independent drive axles, wherein at least one drive device is an electric drive ( 10 . 20 ), with at least one control device ( 16 ), at least one power electronics ( 12 . 14 ) and an energy storage device ( 24 ), characterized in that the control device ( 16 ) at least one drive control module ( 26 ), a recuperation control module ( 28 ) and a brake control module ( 30 ), wherein one of the first drive axle ( 6 ) associated clutch transmission ( 22 ) is decoupled, such that the motor vehicle exclusively via the second drive axle ( 8th ) is drivable, wherein the drive control module ( 26 ) a maximum recuperation limit ( 32 ) for the second drive axle ( 8th ), wherein the recuperation control module ( 28 ) this recuperation limit ( 32 ) as the maximum total recuperation limit ( 34 ), wherein the brake control module ( 30 ) a requested total braking torque ( 38 ), such that the recuperation control module ( 28 ) a total recuperation moment ( 44 ) and thus also recuperation partial moment ( 46 ) for the second drive axle ( 8th ) are derivable, wherein at a total braking torque ( 38 ) greater than the total recuperation limit ( 34 ) the brake control module ( 30 ) an additional hydraulic brake pressure p hydr. generated and connected to a braking system ( 40 ) transmitted. Verfahren zum Betrieb eines Antriebssystems nach Anspruch 1, dadurch gekennzeichnet, dass bei einem entkoppelten Kupplungsgetriebe (22) in einem ersten Schritt ein Bremspedal 42 wird oder eine Bremsanforderung von einem Assistenzsystem kommt und durch das Antriebsregelmodul (28) ein maximaler Rekuperationsteilgrenzwert (32) für die zweite Antriebsachse (8) bestimmt wird und an das Rekuperationsregelmodul (28) übermittelt wird, in einem zweiten Schritt durch das Rekuperationsregelmodul (28) aus dem Rekuperationsteilgrenzwert (32) der zweiten Antriebsachse (8) ein Rekuperationsgesamtgrenzwert (34) ermittelt wird, in einem dritten Schritt durch das Bremsregelmodul (30) in Abhängigkeit des Fahrerwunsches ein Gesamtbremsmoment (38) ermittelt wird und an das Rekuperationsregelmodul (28) übermittelt wird, in einem vierten Schritt durch das Rekuperationsregelmodul (28) das Rekuperationsgesamtmoment (44) für die zweite Antriebsachse (8) ermittelt und an das Antriebsregelmodul (26) übermittelt wird zur Bildung des Rekuperationsteilmomentes (46), in einem fünften Schritt durch das Bremsregelmodul (30) ein hydraulischer Bremsdruck phydraulisch erzeugt wird für den Fall, dass das Gesamtbremsmoment (38) größer als der Rekuperationsgesamtgrenzwert (34) ist und dieser hydraulische Bremsdruck phydraulisch an das Bremssystem (40)übermittelt wird. Method for operating a drive system according to Claim 1, characterized in that in the case of a decoupled clutch transmission ( 22 ) in a first step, a brake pedal 42 or a braking request comes from an assistance system and by the drive control module ( 28 ) a maximum recuperation partial limit value ( 32 ) for the second drive axle ( 8th ) and to the recuperation control module ( 28 ), in a second step by the recuperation control module ( 28 ) from the recuperation partial limit value ( 32 ) of the second drive axle ( 8th ) a total recuperation limit ( 34 ) is determined in a third step by the brake control module ( 30 ) in dependence of the driver's request, a total braking torque ( 38 ) and to the recuperation control module ( 28 ) in a fourth step by the recuperation control module ( 28 ) the total recuperation moment ( 44 ) for the second drive axle ( 8th ) and to the drive control module ( 26 ) is transmitted to form the Rekuperationsteilmomentes ( 46 ), in a fifth step by the brake control module ( 30 ) a hydraulic brake pressure p is generated hydraulically in the event that the total braking torque ( 38 ) greater than the total recuperation limit ( 34 ) and this hydraulic brake pressure p hydraulically to the brake system ( 40 ) is transmitted. Verfahren zum Betrieb eines Antriebssystems nach Anspruch 2, dadurch gekennzeichnet, dass durch das Bremsregelmodul (30) vor dem Hintergrund von fahrzeugdynamischen Parametern das vom Rekuperationsregelmodul (28) an das Antriebsregelmodul (26) übermittelte Rekuperationsgesamtmoment (38) überprüft wird und gegebenenfalls verringert wird. Method for operating a drive system according to claim 2, characterized in that by the brake control module ( 30 ) against the background of vehicle dynamic parameters that of the recuperation control module ( 28 ) to the drive control module ( 26 ) transmitted total recuperation moment ( 38 ) and, if necessary, reduced.
DE102011056598A 2011-12-19 2011-12-19 Drive system for motor vehicle, has controller, which is provided with drive regulating module, recuperation regulating module and brake regulating module Ceased DE102011056598A1 (en)

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DE10145157B4 (en) * 2000-09-14 2005-06-16 Toyota Jidosha Kabushiki Kaisha, Toyota Brake force control device and method
DE102006030197A1 (en) 2006-06-30 2008-01-10 Bayerische Motoren Werke Ag Device for torque distribution
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