DE102019218965A1 - Method for recognizing a desire for acceleration based on a setpoint value specified by a driver with regard to a drive torque of a vehicle - Google Patents

Abstract

The present invention relates to a method (200) for recognizing an acceleration request based on a setpoint value (106) specified by a driver (104) with regard to a drive torque (M) of a vehicle (100), the vehicle (100) having an operating element (102) , in particular a pedal, for specifying the target value (106) and an evaluation device (108) for evaluating the target value (106). The method (200) comprises the steps of: receiving the target value (106) and a zero setting value (208) in the evaluation device (108), the zero setting value (208) being a drive torque (M) for regulating a speed of the vehicle (100) in a Represents zero position of the operating element (102); Checking whether the zero setting value (208) is in a predetermined value range (W); if yes: calculating a difference (218) from the setpoint value (106) and the zero setting value (208); If not: determining a corrected zero setting value (214) based on the zero setting value (208), the corrected zero setting value (214) lying in the predetermined value range (W), and calculating a difference (218) from the target value (106) and the corrected one Zero value (214); and using the difference (218) to determine whether there is a desire to accelerate.

Description

Field of invention

The invention relates to a method, an evaluation device, a computer program product and a computer-readable medium for recognizing a desire for acceleration based on a setpoint specified by a driver with regard to a drive torque of a vehicle. The invention also relates to a corresponding vehicle system.

State of the art

Electric vehicles can have a pedal that is used both for acceleration and for braking by means of recuperation, which is also referred to as one-pedal driving. A pedal position in which a switch is made between accelerating and braking can vary depending on a driving situation. In other words, in contrast to an accelerator pedal for throttle valve control, a direct relationship between the pedal position and the desired acceleration is no longer mandatory. Driver assistance functions such as traction control or engine drag torque control, however, require precise information as to whether or not there is a desire to accelerate at a given pedal position.

Disclosure of the invention

Against this background, the approach presented here presents a method, an evaluation device, a computer program product, a computer-readable medium and a vehicle system according to the independent claims. Advantageous developments and improvements of the approach presented here emerge from the description and are described in the dependent claims.

Advantages of the invention

Embodiments of the present invention advantageously make it possible to recognize an acceleration request based on drive torques specified by the driver and the vehicle.

A first aspect of the invention relates to a method for recognizing a desire for acceleration based on a setpoint value predefined by a driver with regard to a drive torque of a vehicle. The vehicle has an operating element, in particular a pedal, for specifying the target value and an evaluation device for evaluating the target value. In the method, the setpoint value and a zero setting value are first received in the evaluation device, the zero setting value representing a drive torque for regulating a speed of the vehicle in a zero setting of the operating element. It is then checked whether the zero setting value lies in a predefined value range, the predefined value range only including values greater than or equal to zero. If so, a difference is calculated from the target value and the zero setting value. If not, a corrected zero setting value is determined based on the zero setting value, the corrected zero setting value lying in the predetermined value range. A difference is then calculated from the nominal value and the corrected zero setting value. Finally, the difference is used to determine whether there is a desire to accelerate.

In this way, the presence or absence of an acceleration request can be reliably detected in a wide variety of driving situations in the vehicle. Such recognition of the desire to accelerate is particularly advantageous in connection with vehicles that can be accelerated and decelerated using one and the same pedal, since a division of the available pedal travel into a braking component, sailing component and acceleration component can vary depending on the driving situation and thus from a current pedal position it is no longer possible to infer an acceleration request directly. For example, a certain pedal position in a first driving situation can still represent an acceleration request and in a second driving situation it can no longer represent an acceleration request. The present disclosure now makes it possible to identify the desired acceleration based on positive or negative drive torque values and thus without using a sensor-detected pedal travel value.

The method can be carried out by a vehicle system comprising the operating element and the evaluation device. The evaluation device can, for example, be part of an on-board computer of the vehicle. The vehicle system can be configured, for example, to recognize an environment of the vehicle and to automatically control the vehicle in accordance with the recognized environment, i. H. to steer, accelerate, brake and / or navigate. For this purpose, the vehicle system can include corresponding actuators such as steering or brake actuators or actuators for engine control.

A vehicle can be understood to mean a motor vehicle such as a car, truck, bus or motorcycle.

An operating element can be understood to mean a lever that can be operated by a foot or a hand of the driver for positive or negative acceleration of the vehicle. The operating element can be designed to output different setpoint values with regard to the drive torque in different positions. The setpoint can be determined, for example, from an actuation travel or an acceleration of the operating element. The setpoint value can generally be understood as a specification by the driver with regard to a torque to be generated by a drive of the vehicle. The setpoint can represent a moment value or a value based on a moment. The setpoint can be positive, negative, or zero. In other words, the operating element can be designed to provide a positive setpoint value for positive acceleration of the vehicle or also a negative setpoint value for negative acceleration, ie for braking the vehicle, depending on the position. In the zero position of the operating element, ie when the operating element is not actuated by the driver, the setpoint value can be equal to the zero position value.

The zero setting value can be provided by a drive train control of the vehicle. Depending on the driving situation, the zero setting value can be positive, negative or zero. The speed of the vehicle in the zero position of the operating element can be regulated by varying the zero position value, for example to zero or a very low value, for example for driving at walking pace. The zero setting value can represent a moment value or a value based on a moment.

A second aspect of the invention relates to an evaluation device which is configured to carry out the method as described above and below. Features of the method, as described above and below, can also be features of the evaluation device and vice versa.

A third aspect of the invention relates to a vehicle system that is configured to carry out the method as described above and below. Features of the method, as described above and below, can also be features of the vehicle system and vice versa.

Further aspects of the invention relate to a computer program which, when it is executed on a processor, executes the method as described above and in the following, as well as a computer-readable medium on which such a computer program is stored.

The computer readable medium can be volatile or non-volatile data storage. For example, the computer-readable medium can be a hard disk, a USB storage device, a RAM, ROM, EPROM or flash memory. The computer-readable medium can also be a data communication network that enables a download of a program code, such as the Internet.

Features of the method, as described above and below, can also be features of the computer program and / or the computer-readable medium, and vice versa.

Ideas for embodiments of the present invention can be viewed, inter alia, as being based on the thoughts and findings described below.

According to one embodiment, it can be checked whether the zero setting value is less than a lower limit value of the predefined value range, the lower limit value being greater than or equal to zero. If so, the corrected zero setting value can be set equal to the lower limit value. In other words, the zeroing value can be set to the lower limit value in order to obtain the corrected zeroing value. As a result, the zero setting value can be corrected with relatively little computing effort.

According to one embodiment, it can be checked whether the zero setting value is greater than an upper limit value of the predefined value range. If so, the corrected zero setting value can be set equal to the upper limit value. In other words, the zeroing value can be set to the upper limit value in order to obtain the corrected zeroing value. The upper limit value can be positive and / or greater than the lower limit value. This can prevent a zero setting value that is too high from being used to calculate the difference.

According to one embodiment, the method can further include a step in which the upper limit value is determined as a function of a driving situation of the vehicle. In other words, the upper limit value can be different in different driving situations, for example with different driving resistances.

According to one embodiment, it can be checked whether the difference is greater than a first threshold value. If so, it is recognized that there is a desire for acceleration. Additionally or alternatively, it can be recognized that there is no desire for acceleration if the difference is not greater than the first threshold value. This can avoid that the desired acceleration is recognized in the event of very small differences between the setpoint and the (corrected) zero setting value.

According to one embodiment, it can be checked whether the difference is smaller than a second threshold value, the second threshold value being smaller than the first threshold value. If so, it is recognized that there is no desire for acceleration. In this way it can be prevented that, even if the first threshold value is only slightly undershot, it is recognized that there is no desire for acceleration.

According to one embodiment, a further setpoint value, predetermined by a driver assistance function of the vehicle, relating to the drive torque can also be received in the evaluation device. A corrected target value can be determined based on the target value and the further target value. The difference is then calculated with the corrected setpoint. As a result, vehicle-side requirements with regard to the drive torque can be taken into account when recognizing the desired acceleration.

Figure list

• 1 zeigt ein Fahrzeugsystem gemäß einem Ausführungsbeispiel der Erfindung.
• 2 zeigt ein Ablaufdiagramm eines Verfahrens gemäß einem Ausführungsbeispiel der Erfindung.
• 3 zeigt ein Diagramm mit Verläufen von Antriebsmomenten, die zur Beschleunigungserkennung in dem Verfahren aus 2 verwendet werden.

Embodiments of the invention are described below with reference to the accompanying drawings, wherein neither the drawings nor the description are to be interpreted as restricting the invention.

• 1 shows a vehicle system according to an embodiment of the invention.
• 2 shows a flow chart of a method according to an embodiment of the invention.
• 3rd shows a diagram with curves of drive torques, which are used for acceleration detection in the method 2 be used.

The figures are only schematic and not true to scale. In the figures, the same reference symbols denote the same or equivalent features.

Embodiments of the invention

1 shows a vehicle 100 with a vehicle system 101 , on the one hand a control element 102 for controlling a drive torque of the vehicle 100 includes. The control element 102 is from a driver 104 can be operated and executed depending on the position of the control element 102 a certain setpoint 106 provide with respect to the drive torque. The setpoint 106 is therefore to be understood as a driver's desired torque. In this example the vehicle is 100 an electric vehicle and the control element 102 a pedal that is used to both accelerate and brake the vehicle 100 is used by means of recuperation. On the other hand, it includes the vehicle system 101 one with the control element 102 coupled evaluation device 108 that is configured to set the setpoint 106 together with a variable value relating to a minimum drive torque that is required to drive the vehicle 100 when the control element is not actuated 102 to bring it up to a specified speed, to evaluate it and thus to recognize a desire for acceleration. Depending on the result of this evaluation, the evaluation device gives 108 a control signal 110 indicates that either the request for acceleration is present or the request for acceleration is not present.

In this example the control signal 110 from a driver assistance system 112 of the vehicle 100 , for example a vehicle dynamics control, is used to control either a traction control or an engine drag torque control, depending on whether the desired acceleration was recognized or not. For example, the traction control is activated when the desire to accelerate has been recognized, and the engine drag torque control is activated when no desire to accelerate has been recognized.

2 shows a possible course of a procedure 200 as indicated by the in 1 depicted evaluation device 108 can be executed. The acceleration requirement is recognized by a purely torque-based calculation. The blocks of the procedure described below 200 can be used as corresponding software and / or hardware modules in the evaluation device 108 be implemented.

In a first block 202 becomes the setpoint 106 receive. In addition, another setpoint is used 204 , the one from the driver assistance system 112 specified internal requirement regarding the drive torque of the vehicle 100 represents, received. The two setpoints 106 , 204 can be compared with one another and / or with predetermined positive or negative threshold values in order to decide which of the two target values 106 , 204 should be used for the detection of the desired acceleration. Alternatively, it can be based on the two setpoints 106 , 204 a corrected setpoint can also be calculated, the corrected setpoint then being used to detect the desired acceleration.

In a second block 206 goes a zero value 208 one that is a driving torque for controlling a speed of the vehicle 100 when the control element is not actuated 102 represents. Ever depending on the driving situation, the zero setting value 208 positive, negative, or zero to the vehicle 100 keep at the given speed.

A reliable detection of the desire to accelerate based on that of the driver 104 and from the vehicle 100 To ensure specified drive torques, it is advantageous if the zero setting value 208 is limited. The zero setting value can be used for this 208 in the second block 206 for example with a lower limit value 210 and an upper limit 212 can be compared to a corrected zeroing value 214 provide that is greater than or equal to the lower limit value 210 and less than or equal to the upper limit value 212 is. In the event that the reset value 208 less than the lower limit 210 is, for example, the lower limit value 210 than the corrected zeroing value 214 are issued. However, in the event that the zero setting value 208 greater than the upper limit 212 is, for example, the upper limit 212 than the corrected zeroing value 214 are issued. One through the lower limit 210 and the upper limit 212 Limited value range only contains values greater than or equal to zero, ie the lower limit value 210 is greater than or equal to zero and the upper limit value 212 is greater than the lower limit 210 . For example, the upper limit 212 vary depending on a driving situation. As an alternative to such a threshold value comparison, the corrected zeroing value can be used 214 can also be provided in any other way, such as using a lookup table.

A third block 216 is used to calculate a difference 218 from the one from the first block 202 provided setpoint, here by way of example that of the driver 104 specified setpoint 106 , and the corrected zero setting value 214 . The corrected zeroing value is used for this purpose 214 from the setpoint 106 subtracted.

The difference 218 goes to a fourth block 220 one in which based on the difference 218 the control signal 110 is generated. Depending on the amount and sign of the difference 218 shows the control signal 110 either an acceleration request or no acceleration request. In this example the control signal 110 based on a lower threshold 222 and an upper threshold 224 toggled between a first state “1” or “true”, which indicates a desire for acceleration, and a second state “0” or “false”, which does not indicate a desire for acceleration. The control signal 110 only then put into the first state when the difference 218 is at least as large as the upper threshold 224 . Is the difference 218 between the lower threshold 222 and the upper threshold 224 , there is initially no switchover between the two states. Only when the difference 218 the lower threshold 222 is reached, the control signal 110 moved from the first state to the second state.

3rd shows a diagram 300 with the setpoint over time 106 , the zeroing value 208 and the corrected zeroing value 214 . The lower limit value is an example here 210 to 0 Nm and the upper limit value 212 set to 500 Nm.

A first period of time 301 shows a falling course of the setpoint 106 and the zero value 208 , where both the setpoint 106 as well as the zero value 208 above the upper limit 212 lie. The corrected zeroing value is accordingly 214 equal to the upper limit 212 and for the duration of the first period 301 constant. The difference between the setpoint 106 and the corrected zero setting value 214 is relatively large here, so that the status "1" is set, ie a desire for acceleration is recognized.

In a subsequent second period of time 302 the setpoint fall 106 and the zero value 208 further down, each within one through the lower limit value 210 and the upper limit 212 limited value range W. Accordingly, there is no correction of the zero setting value here 208 required so that the corrected zeroing value 214 equal to the zero setting value 208 is. The difference between the setpoint 106 and the corrected zero setting value 218 or the zero setting value 208 is relatively low here, so that the status "0" is set, ie no desire for acceleration is recognized.

In a third period of time 303 the setpoint fall 106 and the zero value 208 in each case initially to a minimum below the lower limit value 210 and then rise again to the lower limit value 210 at. The setpoint 106 and the zero value 208 become negative here. The corrected zeroing value is accordingly 214 equal to the lower limit 210 and for the duration of the third period 303 constant. The difference between the setpoint 106 and the corrected zero setting value 214 is accordingly negative, so that the state "0" is maintained.

In a fourth period of time 304 the setpoint increases 106 and the zero value 208 in each case within the value range W. As in the second period 302 there is no correction of the zeroing value here 208 required. The difference between the setpoint 106 and the corrected zero setting value 214 is relatively low, so that no acceleration request is recognized and the status "0" for the duration of the fourth time segment 304 is retained.

In a fifth expenditure of time 305 is a sharp rise in the setpoint 106 and the zero value 208 beyond the upper limit 212 to recognize. The corrected zeroing value is accordingly 214 equal to the upper limit 210 and for the duration of the fifth period 305 constant. The difference between the setpoint 106 and the corrected zero setting value 214 is even bigger here than in the first period 301 so that the state "1" is set again, i.e. a renewed desire for acceleration is recognized.

In contrast to the fifth period 305 is the control element 102 in the first four periods 301 , 302 , 303 , 304 in a zero position, that is, it is operated by the driver 104 not activated. The course of the setpoint corresponds here 106 essentially the course of the zero setting value 208 . In the first period of time 301 nevertheless a desire for acceleration is recognized. This means that even when the control element is not activated 102 For example, a traction control system can be activated based on the detected acceleration request.

Finally, it is pointed out that terms such as “having”, “comprising” etc. do not exclude any other elements or steps and that terms such as “a” or “an” do not exclude a plurality. Reference signs in the claims are not to be regarded as a restriction.

Claims (11)

Method (200) for recognizing an acceleration request based on a setpoint value (106) specified by a driver (104) with regard to a drive torque (M) of a vehicle (100), the vehicle (100) having an operating element (102), in particular a pedal, for specifying the target value (106) and an evaluation device (108) for evaluating the target value (106), the method (200) comprising: Receiving the setpoint (106) and a zero setting value (208) in the evaluation device (108), the zero setting value (208) representing a drive torque (M) for regulating a speed of the vehicle (100) in a zero setting of the operating element (102); Checking whether the zero setting value (208) lies in a predetermined value range (W), the predetermined value range (W) only comprising values greater than or equal to zero; if yes: calculating a difference (218) from the setpoint value (106) and the zero setting value (208); if not: determining a corrected zero setting value (214) based on the zero setting value (208), the corrected zero setting value (214) lying in the predetermined value range (W), and Calculating a difference (218) from the target value (106) and the corrected zero setting value (214); and Using the difference (218), determine whether there is a desire to accelerate. Method (200) according to Claim 1 wherein it is checked whether the zero setting value (208) is less than a lower limit value (210) of the predetermined value range (W), the lower limit value (210) being greater than or equal to zero; if so: setting the corrected zero setting value (214) equal to the lower limit value (210). Method (200) according to one of the preceding claims, wherein it is checked whether the zero setting value (208) is greater than an upper limit value (212) of the predetermined value range (W); if so: setting the corrected zero setting value (214) equal to the upper limit value (212). Method (200) according to Claim 3 , further comprising: determining the upper limit value (212) as a function of the driving situation of the vehicle (100). Method (200) according to one of the preceding claims, wherein it is checked whether the difference (218) is greater than a first threshold value (224); if so: recognizing that there is a desire to accelerate; and / or if not: recognizing that there is no desire for acceleration. Method (200) according to Claim 5 wherein it is checked whether the difference (218) is less than a second threshold value (222), the second threshold value (222) being less than the first threshold value (224); if so: recognize that there is no desire for acceleration. The method (200) according to any one of the preceding claims, wherein a further setpoint value (204) with respect to the drive torque (M) predetermined by a driver assistance function of the vehicle (100) is received in the evaluation device (108); wherein a corrected target value is determined based on the target value (106) and the further target value (204); wherein the difference (218) is calculated with the corrected target value. Evaluation device (108) which is configured to carry out the method (200) according to one of the preceding claims. Vehicle system (101), comprising: an operating element (102), in particular a pedal, for specifying a setpoint value (106) with respect to a drive torque (M) of a vehicle (100); and an evaluation device (108) coupled to the operating element (102) according to Claim 8 . Computer program product, comprising instructions that cause the evaluation device (108) to Claim 8 the method (200) according to one of the Claims 1 to 7th executes. Computer-readable medium on which the computer program is based Claim 10 is stored.

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