EP3558770A1 - Verfahren und vorrichtung zum betreiben eines kraftfahrzeugs, kraftfahrzeug - Google Patents
Verfahren und vorrichtung zum betreiben eines kraftfahrzeugs, kraftfahrzeugInfo
- Publication number
- EP3558770A1 EP3558770A1 EP17791027.0A EP17791027A EP3558770A1 EP 3558770 A1 EP3558770 A1 EP 3558770A1 EP 17791027 A EP17791027 A EP 17791027A EP 3558770 A1 EP3558770 A1 EP 3558770A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- braking torque
- motor vehicle
- emergency braking
- drive machine
- hydraulic
- 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.)
- Withdrawn
Links
Classifications
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3255—Systems in which the braking action is dependent on brake pedal data
- B60T8/3275—Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
-
- 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
- B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
- B60T15/02—Application and release valves
- B60T15/04—Driver's valves
- B60T15/041—Driver's valves controlling auxiliary pressure brakes, e.g. parking or emergency brakes
-
- 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
- B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
- B60T15/02—Application and release valves
- B60T15/04—Driver's valves
- B60T15/14—Driver's valves influencing electric control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- 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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/03—Brake assistants
-
- 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
- B60T2270/10—ABS control systems
- B60T2270/14—ABS control systems hydraulic model
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the invention relates to a method for operating a motor vehicle, comprising at least one hydraulically actuatable braking device and at least one electric drive machine, wherein a driver behavior is monitored for an emergency braking operation, and wherein the hydraulic brake device for generating a hydraulic Notbremsmoments is controlled when an emergency braking operation is detected.
- the invention relates to a device, in particular a control unit, which carries out the method described above. Moreover, the invention relates to a motor vehicle with such
- the wheel brakes are driven to generate a maximum braking torque, which still allows a sufficiently safe driving operation of the motor vehicle.
- monitoring the brake pedal operation it is thus possible to monitor the driver's behavior as to whether the driver wishes to initiate an emergency braking operation.
- the inventive method with the features of claim 1 has the advantage that in an emergency braking the motor vehicle is delayed faster than before.
- Lane is exercised, shortened, so that the motor vehicle comes to a standstill faster than before due to the shortened braking distance.
- the prime mover is operated as a generator to generate an additional emergency braking torque. It is now also envisaged that in addition to the hydraulic brake system in an emergency braking operation and the prime mover is operated as a generator to generate an additional (electric) braking torque. As a result, the advantage is achieved that on the one hand overall, an increased braking torque is available, and on the other hand due to the fast response time of the electric Drive machine compared to the hydraulic brake system
- Braking torque is provided early or earlier than previously available on the wheels of the motor vehicle. Due to the short reaction time of the engine, this provides the braking regenerative torque before generated by the hydraulic brake system, a braking force on the wheel brakes of the motor vehicle or noticeably generated. As a result, the vehicle is delayed earlier than before and the reaction time of the motor vehicle or the braking distance shortened accordingly in an emergency braking.
- the maximum possible emergency braking torque is limited in dependence on a wheel slip of the motor vehicle. This prevents that block by the initiation of the emergency braking one or more wheels of the motor vehicle and thereby the directional stability of the motor vehicle is impaired.
- the sensors and evaluation of a conventional ABS system can be used.
- the electrical braking torque is reduced with increasing hydraulic braking torque.
- the electric braking torque is reduced, so that the brake function to the hydraulic Braking system is passed.
- the transfer takes place continuously, so that the handover is not noticeable to the user and no sudden torque fluctuations that could lead to a blockage or a static friction loss in the respective wheel arise.
- This also has the advantage that the prime mover works only briefly with the high regenerative braking torque and thereby the load on the engine is kept within limits.
- the device according to the invention with the features of claim 7 are characterized by the fact that they are specially prepared for the intended use of the inventive method
- the device is designed as a control unit.
- Figure 1 is a motor vehicle in a simplified plan view
- Figure 2 is a diagram for explaining an advantageous method for
- Figure 1 shows in a simplified plan view of a motor vehicle 1 having a plurality of wheels 2, with which it is in contact with a roadway.
- Motor vehicle 1 has at least one electric drive machine 3, which is mechanically connected at least to the wheels of one of the wheel axles, in the present case the rear wheel axle, in order to drive or drive them
- the motor vehicle 1 has a hydraulic brake system 4.
- the brake system 4 has for each of the wheels 2 each a hydraulically actuated wheel brake 5, and a hydraulic central device 6, the actuatable valves for distributing a hydraulic pressure on the wheels 2 each a hydraulically actuated wheel brake 5, and a hydraulic central device 6, the actuatable valves for distributing a hydraulic pressure on the wheels 2 each a hydraulically actuated wheel brake 5, and a hydraulic central device 6, the actuatable valves for distributing a hydraulic pressure on the
- the central device 6 can thus be a conventional ABS or ESP device.
- control unit 7 is connected to a pedal device 8 of the motor vehicle, which has a brake pedal 9 and an accelerator pedal 10 and optionally a clutch pedal. Strictly speaking, the control unit 7 is connected to sensors of the pedals, which monitor the respective pedal operation. If the control unit 7 detects that the brake pedal 9 is being actuated at a speed and force exceeding a critical value, it recognizes that the driver of the motor vehicle initiates an emergency braking operation
- control unit 7 now controls the central unit 6 to, at the wheel brakes 5 a maximum high braking torque hydraulically
- FIG. 2 shows a diagram which is divided into several parts A to E, which will be discussed below.
- FIG. 2A shows, plotted over time t, the hydraulic braking torque BMh generated by the hydraulic brake system 4 on the wheel brakes 2.
- the hydraulic pressure begins to increase until it has reached the maximum possible value at time t3, which is limited by the central unit 6 as a function of the static friction and the wheel slip of the wheels 2 to a maximum value BMh max. It can be seen that some time passes until the maximum possible braking torque at the wheel brakes 5 is realized.
- FIG. 2B shows the course of the braking torque BM e generated by the drive machine 3. Also, this braking torque is limited in response to the adhesion of the wheels 2 on the road to a maximum value, the maximum value as previously, for example, by the ABS system can be determined and, for example, the braking torque BMh max corresponds. Also, the maximum electric braking torque by other factors, such as the performance of the prime mover 3 and / or one of the prime mover 3 associated electrical storage or a
- the drive machine 3 has a much faster response time, so that it provides a high braking torque in a shorter time compared to the hydraulic brake system 4.
- FIG. 2C shows the deceleration a acting on the motor vehicle 1 over the time t, the dashed line showing the deceleration, if the
- FIG. 2D shows the speed v of the motor vehicle for the conventional brake application by the hydraulic brake system 4
- Drive machine 3 provides a braking torque, as described above.
- FIG. 2E shows, accordingly, the distance x traveled over the time t, from the time of initiation of the emergency braking operation for a conventional braking event (dashed line) and for a case in which the advantageous method with additional regenerative braking torque is performed (solid line).
- the electrical braking torque is limited by external influences, so that it is held constant when reaching the maximum braking torque, so that the electric braking torque with reaching the maximum or allowable braking torque from time tl.
- the electric braking torque is reduced even before the hydraulic braking torque has reached the maximum possible value BMh max. It is assumed that at the time t2, the hydraulic braking torque is so high that it now reach the braking function without the regenerative braking torque of the engine 3
- Braking torque is therefore reduced at a time t2, the electric braking torque, so that the braking function ultimately the hydraulic
- Braking system is passed. This ensures that the electric drive machine 3 is only briefly charged by the braking process.
- Motor vehicle 1 to improve overall and shorten the braking distance, as already explained above.
- the short-term operation of the drive machine 3 ensures that it is not overloaded, in particular not overheated.
- energy generated by the electric machine in regenerative operation is converted into heat, for which purpose, for example, a corresponding heat converter is provided.
- a corresponding heat converter is provided.
- an interior heating is used to dissipate the heat.
- control unit 7 which in the present case is shown separately from the central unit 6, can of course be integrated in the ABS or braking system 4, so that the braking system 4 itself can drive the drive machine 3.
- the advantageous method is readily available in existing structures Motor vehicle integrated and can therefore be integrated later into existing structures.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016225693.9A DE102016225693A1 (de) | 2016-12-21 | 2016-12-21 | Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs, Kraftfahrzeug |
PCT/EP2017/076717 WO2018114091A1 (de) | 2016-12-21 | 2017-10-19 | Verfahren und vorrichtung zum betreiben eines kraftfahrzeugs, kraftfahrzeug |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3558770A1 true EP3558770A1 (de) | 2019-10-30 |
Family
ID=60186262
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17791027.0A Withdrawn EP3558770A1 (de) | 2016-12-21 | 2017-10-19 | Verfahren und vorrichtung zum betreiben eines kraftfahrzeugs, kraftfahrzeug |
Country Status (6)
Country | Link |
---|---|
US (1) | US11084477B2 (de) |
EP (1) | EP3558770A1 (de) |
JP (1) | JP2020504048A (de) |
CN (1) | CN110072745B (de) |
DE (1) | DE102016225693A1 (de) |
WO (1) | WO2018114091A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019206299A1 (de) * | 2019-05-02 | 2020-11-05 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs, Kraftfahrzeug |
CN110614921B (zh) * | 2019-08-19 | 2023-08-25 | 南京理工大学 | 一种电动商用车制动能量回收系统及控制方法 |
CN113753001A (zh) * | 2021-09-18 | 2021-12-07 | 江苏英拓动力科技有限公司 | 基于目标减速度的电驱动履带车电液复合制动控制系统和方法 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2613009B1 (fr) * | 1987-03-26 | 1991-05-31 | Bendix France | Actionneur de frein hydraulique a commande electrique |
JPH10229608A (ja) * | 1997-02-14 | 1998-08-25 | Toyota Motor Corp | 電気自動車の制動装置 |
ATE252289T1 (de) * | 1997-07-04 | 2003-11-15 | Sew Eurodrive Gmbh & Co | Elektromotor und verfahren zum betreiben eines elektromotors |
JP2000264184A (ja) * | 1999-03-17 | 2000-09-26 | Nissan Motor Co Ltd | 車両用回生協調ブレーキ制御装置 |
JP4581905B2 (ja) * | 2005-08-17 | 2010-11-17 | 株式会社アドヴィックス | 車両用ブレーキ装置 |
US7753178B2 (en) * | 2005-11-30 | 2010-07-13 | Hitachi, Ltd | Disk brake with a parking brake function |
JP4546976B2 (ja) * | 2007-01-30 | 2010-09-22 | トヨタ自動車株式会社 | ブレーキ装置 |
DE102008036281B4 (de) * | 2008-08-04 | 2022-02-17 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Fahrzeug mit wenigstens einer als Generator betreibbaren Elektromaschine und Verfahren zur Verzögerung eines Fahrzeugs |
FR2940219B1 (fr) * | 2008-12-22 | 2011-10-14 | Bosch Gmbh Robert | Systeme de simulation de sensation de freinage et application d'un tel systeme |
DE102009055117A1 (de) * | 2009-12-22 | 2011-06-30 | Robert Bosch GmbH, 70469 | Hauptbremszylinder für eine hydraulische Fahrzeugbremsanlage und Verfahren zu ihrem Betrieb |
JP5222329B2 (ja) * | 2010-08-05 | 2013-06-26 | 本田技研工業株式会社 | 車両用制動装置 |
FR2966115B1 (fr) * | 2010-10-19 | 2012-10-26 | Renault Sa | Procede et systeme de freinage d'un vehicule automobile a traction electrique ou hybride |
DE102012202959A1 (de) * | 2012-02-27 | 2013-08-29 | Robert Bosch Gmbh | Verfahren zum Bereitstellen der von einer Feststellbremse erzeugten Klemmkraft |
JP2013207926A (ja) * | 2012-03-28 | 2013-10-07 | Daihatsu Motor Co Ltd | 制動制御装置 |
JP5766240B2 (ja) * | 2013-07-31 | 2015-08-19 | 三菱電機株式会社 | 車両用制動装置 |
JP6233063B2 (ja) * | 2014-01-31 | 2017-11-22 | トヨタ自動車株式会社 | 車両 |
JP2015226364A (ja) * | 2014-05-27 | 2015-12-14 | 三菱自動車工業株式会社 | 車両のブレーキ装置 |
CN104192107A (zh) * | 2014-08-14 | 2014-12-10 | 济宁中科先进技术研究院有限公司 | 前驱电动汽车再生制动与abs匹配控制方法 |
DE102014218068A1 (de) * | 2014-09-10 | 2016-03-10 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Kraftfahrzeugs |
-
2016
- 2016-12-21 DE DE102016225693.9A patent/DE102016225693A1/de active Pending
-
2017
- 2017-10-19 US US16/468,105 patent/US11084477B2/en active Active
- 2017-10-19 WO PCT/EP2017/076717 patent/WO2018114091A1/de unknown
- 2017-10-19 CN CN201780079223.3A patent/CN110072745B/zh active Active
- 2017-10-19 JP JP2019533066A patent/JP2020504048A/ja not_active Withdrawn
- 2017-10-19 EP EP17791027.0A patent/EP3558770A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
US20200101958A1 (en) | 2020-04-02 |
CN110072745A (zh) | 2019-07-30 |
WO2018114091A1 (de) | 2018-06-28 |
JP2020504048A (ja) | 2020-02-06 |
CN110072745B (zh) | 2022-10-18 |
DE102016225693A1 (de) | 2018-06-21 |
US11084477B2 (en) | 2021-08-10 |
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