KR101618453B1 - one-pedal driving control method of electric car - Google Patents

one-pedal driving control method of electric car Download PDF

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KR101618453B1
KR101618453B1 KR1020140148042A KR20140148042A KR101618453B1 KR 101618453 B1 KR101618453 B1 KR 101618453B1 KR 1020140148042 A KR1020140148042 A KR 1020140148042A KR 20140148042 A KR20140148042 A KR 20140148042A KR 101618453 B1 KR101618453 B1 KR 101618453B1
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South Korea
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speed
vehicle
braking
pedal
braking force
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KR1020140148042A
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Korean (ko)
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김재환
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쌍용자동차 주식회사
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L15/00Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20Methods, 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT 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
    • B60K31/00Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L15/00Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20Methods, 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
    • B60L15/28Methods, 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 without contact making and breaking, e.g. using a transductor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L7/00Electrodynamic brake systems for vehicles in general
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W20/00Control systems specially adapted for hybrid vehicles
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility

Abstract

The present invention relates to a one-pedal drive controlling method of an electric vehicle, wherein an abrupt change in accelerating and braking sensation, which is generated during a rapid switch between a coasting drive interval and a forcible brake interval, can be prevented by setting up a brake control interval between the forcible brake interval and the coasting drive interval and controlling a brake using the method of changing a braking force in proportion to a velocity in the brake control interval. The one-pedal drive controlling method of an electric vehicle comprises the steps of: detecting the velocity of a vehicle if the vehicle starts to drive, checking whether or not an accelerator pedal is turned off, and controlling the torque of a motor to be required torque if the accelerator pedal is not turned off; checking whether or not a one-pedal mode is selected if the accelerator pedal is turned off; comparing the velocity of the vehicle, which is detected during the selection of the one-pedal mode, with a second speed limit set up for the proportional control of a braking force; comparing the velocity of the vehicle with a first speed limit set up for the proportional control of a braking force if the velocity of the vehicle is smaller than the second speed limit; and controlling a braking force by increasing or reducing the braking force depending on the velocity of the vehicle if the velocity of the vehicle is greater than the first speed limit.

Description

전기동력자동차의 원-페달 운전제어방법{one-pedal driving control method of electric car}[0001] The present invention relates to a one-pedal driving control method for an electric motor vehicle,

본 발명은 전기동력자동차의 원-페달(one pedal) 운전제어에 관한 것으로, 특히 강제제동구간과 타력주행구간 사이에 제동 제어구간을 설정하고, 제동 제어구간에서는 속도에 비례하여 제동력을 변화시키는 방식으로 제동을 제어함으로써, 타력주행구간과 강제제동구간을 빠르게 오갈 시 발생하는 가속 및 제동 감이 급격히 달라지는 것을 방지할 수 있도록 한 전기동력자동차의 원-페달 운전제어방법에 관한 것이다.
[0001] The present invention relates to a one-pedal operation control of an electric motor vehicle, and more particularly, to a braking control section in which a braking control section is set between a forced braking section and a braking control section, Pedal operation control of an electric powered vehicle in which acceleration and braking sensation that occur when a vehicle travels quickly between a driving range and a forced braking range can be prevented.

내연기관 및 전기동력자동차의 일반적인 제동은 감속페달에 의지하고 있다. 예컨대, 가속페달을 밟으면 가속, 가속페달에서 발을 떼면 타력주행 또는 약한 회생제동, 감속페달을 밟으면 강한 회생제동 및 강제제동을 하게 된다. 결론적으로 가속은 가속페달, 제동은 감속페달을 이용하는 투-페달 운전방식이 가장 일반적인 운전방식이다.The normal braking of internal combustion engines and electric powered cars depends on the deceleration pedal. For example, when the accelerator pedal is depressed, the accelerator pedal is released and the accelerator pedal is released, the regenerative braking and the weak regenerative braking are performed. When the deceleration pedal is depressed, the regenerative braking and the forced braking are performed. In conclusion, two-pedal operation method using acceleration pedal and deceleration pedal is the most common operation method.

친환경 자동차에서 토크를 제어하는 종래의 기술이 하기의 <특허문헌 1> 대한민국 공개특허 공개번호 10-2013-0059202호(2013.06.05. 공개) 및 <특허문헌 2> 대한민국 공개특허 공개번호 10-2012-0051644호(2012.05.22. 공개)에 개시되었다.Conventional technologies for controlling torque in an environmentally-friendly automobile are disclosed in Patent Document 1, Korean Patent Laid-Open Publication No. 10-2013-0059202 (published on March 31, 2013), and Patent Document 2 (Korean Patent Laid- -051644 (published on May 22, 2012).

<특허문헌 1>에 개시된 종래기술은 가속페달의 변위량, 브레이크 페달의 답력, 횡 가속도, 도로의 경사도, 차속, 시프트 레버로 선택되는 변속단 정보를 검출하는 운전조건 검출부, 운전조건검출부에서 제공되는 정보, 전륜과 후륜에 걸리는 축 중량, 전륜과 후륜의 속도 차이에 따라 전륜과 후륜의 토크를 분배하여 크리프 제어, 경사로 밀림 방지제어, 다이나믹 토크 제어를 실행하는 차량제어기를 구비한다. 그리고 도로 조건과 운전조건, 자동차의 상태조건에 따라 전류/후륜의 구동 토크를 최적으로 배분하여 안정적인 크리프 제어, 언덕길 정차 제어, 능동적인 주행 제어를 한다.The prior art disclosed in Patent Document 1 is provided with an operation condition detecting section for detecting the shift amount information selected by a displacement amount of an accelerator pedal, a pedal stroke of a brake pedal, a lateral acceleration, a road inclination, a vehicle speed, And a vehicle controller that performs creep control, ramp-slip prevention control, and dynamic torque control by distributing the torque of the front wheels and the rear wheels according to the difference in the speeds of the front wheels and the rear wheels. And it distributes the driving torque of the current / the rear wheel optimally according to the road condition, the driving condition, and the condition condition of the vehicle, thereby performing stable creep control, hill stop control, and active driving control.

<특허문헌 2>에 개시된 종래기술은 가속 페달의 실시간 개방도, 모터 회전 속도, CVT의 속도 비를 획득하고, 모터가 전체 자동차의 소요 동력을 충족시키면서 고효율 모터 속도 범위 내에서 동작하도록, 획득된 신호에 따라 모터 회전 속도 또는 CVT의 속도 비를 조절한다. 이로써 전체 자동차의 소요 동력을 보장하면서 모터 효율성을 최적화하게 된다.
The conventional technique disclosed in Patent Document 2 is a method of obtaining the real-time opening degree of the accelerator pedal, the motor rotation speed, the CVT speed ratio, Adjust the speed of the motor rotation speed or CVT according to the signal. This optimizes motor efficiency while ensuring the required power of the entire vehicle.

대한민국 공개특허 공개번호 10-2013-0059202호(2013.06.05. 공개)Korean Patent Laid-Open Publication No. 10-2013-0059202 (published on June 3, 2013) 대한민국 공개특허 공개번호 10-2012-0051644호(2012.05.22. 공개)Korean Published Patent Application No. 10-2012-0051644 (2012.05.22. Disclosed)

그러나 상기와 같은 일반적인 차량 및 종래기술들은 가속페달과 감속페달의 신호를 기반으로 최적으로 모터의 토크를 제어할 수는 있으나, 투-페달 방식으로서 타력주행구간과 강제제동구간을 빠르게 오갈 시 가속 및 제동 감이 급격히 변화하여 승차감을 저해하는 단점이 있다.However, in general vehicles and related arts as described above, it is possible to optimally control the torque of the motor based on the signals of the accelerator pedal and the deceleration pedal. However, in the two-pedal system, acceleration and deceleration periods There is a disadvantage in that the braking feeling is rapidly changed and the ride feeling is hindered.

따라서 본 발명의 목적은 상기와 같은 일반적인 차량 및 종래기술들에서 발생하는 제반 문제점을 해결하기 위해서 제안된 것으로서, 강제제동구간과 타력주행구간 사이에 제동 제어구간을 설정하고, 제동 제어구간에서는 속도에 비례하여 제동력을 변화시키는 방식으로 제동을 제어함으로써, 타력주행구간과 강제제동구간을 빠르게 오갈 시 발생하는 가속 및 제동 감이 급격히 달라지는 것을 방지할 수 있도록 한 전기동력자동차의 원-페달 운전제어방법을 제공하는 것이다.SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to provide a braking control section that sets a braking control section between a forcible braking section and a braking control section, The control method of the one-pedal operation of the electric powered vehicle in which the braking is controlled in a manner that the braking force is changed proportionally, thereby preventing the rapid acceleration and braking sensation which occurs when the braking section is rapidly shifted between the braking section and the braking section .

본 발명의 다른 목적은 강제제동구간과 타력주행구간 사이에 제동 제어구간을 설정하고, 제동 제어구간에서는 속도에 따라 강제제동력을 제동력 감쇄 기울기에 비례하여 감소시킴으로써, 타력주행구간과 강제제동구간을 빠르게 오갈 시 발생하는 가속 및 제동 감이 급격히 달라지는 것을 방지할 수 있도록 한 전기동력자동차의 원-페달 운전제어방법을 제공하는 것이다.
Another object of the present invention is to set a braking control section between a forcible braking section and a braking control section and reduce the forcible braking force in proportion to the braking force deceleration slope in accordance with the braking control section, Pedal operation control of an electric powered automobile so as to prevent a sudden change in acceleration and braking sensation that occurs when the vehicle is traveling.

상기한 바와 같은 목적을 달성하기 위하여, 본 발명에 따른 전기동력자동차의 원-페달 운전제어방법은 (a) 차량 주행이 시작되면 차량 속도를 검출하고, 가속 페달이 오프 상태인지를 확인하여, 상기 가속 페달이 오프상태가 아닐 경우 모터의 토크를 요구 토크로 제어하는 단계; (b) 상기 (a)단계의 확인 결과 가속페달이 오프상태이면, 원-페달 모드의 선택 여부를 확인하는 단계; (c) 상기 (b)단계의 확인 결과 원-페달 모드의 선택시 검출한 차량 속도와 제동력 비례 제어를 위해 설정된 제2제한속도를 비교하는 단계; (d) 상기 (c)단계의 비교결과, 차량속도가 상기 제2제한속도보다 작을 경우, 상기 차량속도와 제동력 비례제어를 위해 설정된 제1제한속도를 비교하는 단계; (e) 상기 차량속도가 상기 제1제한속도보다 클 경우, 차량 속도에 따라 제동력을 증가 또는 감소시켜 제동력을 제어하는 단계를 포함하는 것을 특징으로 한다.In order to achieve the above object, the present invention provides a method of controlling a one-pedal operation of an electric powered automobile according to the present invention, comprising the steps of: (a) detecting a vehicle speed when a vehicle starts running, Controlling the torque of the motor to a required torque when the accelerator pedal is not in an OFF state; (b) confirming whether the one-pedal mode is selected when the accelerator pedal is in an off state as a result of the checking in the step (a); (c) comparing the vehicle speed detected when the one-pedal mode is selected and the second limiting speed set for braking force proportional control as a result of the checking in step (b); (d) comparing the vehicle speed with a first limiting speed set for braking force proportional control, when the vehicle speed is less than the second limiting speed as a result of the comparison in the step (c); (e) when the vehicle speed is greater than the first limit speed, controlling the braking force by increasing or decreasing the braking force according to the vehicle speed.

또한, 본 발명에 따른 전기동력자동차의 원-페달 운전제어방법은 (f) 상기 차량속도가 상기 제2제한속도보다 클 경우, 타력주행모드로 전환하는 단계를 더 포함하는 것을 특징으로 한다.Further, the method of controlling the one-pedal operation of the electric powered vehicle according to the present invention further includes the step of (f) switching to the power running mode when the vehicle speed is greater than the second limit speed.

또한, 본 발명에 따른 전기동력자동차의 원-페달 운전제어방법은 (g) 상기 차량속도가 상기 제1제한속도보다 작을 경우, 강제 회생제동 모드로 전환하여 제동력을 제어하는 단계를 더 포함하는 것을 특징으로 한다.The method further includes controlling the braking force by switching to a forced regenerative braking mode when the vehicle speed is lower than the first limit speed, .

상기에서 제1제한속도와 상기 제2제한속도는 강제제동구간과 타력주행구간 사이의 제동 제어구간을 판별하기 위한 속도로서, 상기 제1제한속도가 제2제한속도보다 낮은 것을 특징으로 한다.
Wherein the first limiting speed and the second limiting speed are speeds for discriminating a braking control interval between the forcible braking interval and the driving range, and the first limiting speed is lower than the second limiting speed.

본 발명에 따르면 강제제동구간과 타력주행구간 사이에 제동 제어구간을 설정하고, 제동 제어구간에서는 속도에 비례하여 제동력을 변화시키는 방식으로 제동을 제어함으로써, 타력주행구간과 강제제동구간을 빠르게 오갈 시 발생하는 가속 및 제동 감이 급격히 달라져 발생하는 승차감 저하를 방지할 수 있는 장점이 있다.
According to the present invention, the braking control section is set between the forcible braking section and the braking control section, and the braking control is performed in such a manner that the braking force is changed in proportion to the speed in the braking control section. There is an advantage that a decrease in ride comfort caused by a sudden change in acceleration and braking sensation can be prevented.

도 1은 본 발명이 적용되는 전기동력자동차의 블록 구성도,
도 2는 본 발명에서 전기동력자동차의 원-페달 운전제어방법을 보인 개념도,
도 3은 본 발명의 바람직한 실시 예에 따른 전기동력자동차의 원-페달 운전제어방법을 보인 흐름도.
1 is a block diagram of an electric powered vehicle to which the present invention is applied;
FIG. 2 is a conceptual diagram showing a method of controlling a one-pedal operation of an electric powered vehicle according to the present invention,
3 is a flowchart illustrating a method of controlling a one-pedal operation of an electric powered vehicle according to a preferred embodiment of the present invention.

이하 본 발명의 바람직한 실시 예에 따른 전기동력자동차의 원-페달 운전제어방법을 첨부된 도면을 참조하여 상세하게 설명한다.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

도 1은 본 발명의 바람직한 실시 예에 따른 전기동력자동차의 원-페달 운전제어방법이 적용되는 전기동력자동차의 블록 구성도이다.1 is a block diagram of an electric powered vehicle to which a method of controlling a one-pedal operation of an electric powered vehicle according to a preferred embodiment of the present invention is applied.

본 발명이 적용되는 전기동력자동차는 가속페달의 개방 신호를 검출하는 가속페달 검출부(10); 원-페달 모드를 선택하기 위한 원-페달 모드 스위치(20); 차량 전체 동작을 제어하며, 차량속도에 따라 원-페달 운전 제어를 실행하는 차량제어장치(30); 차량 속도를 검출하여 상기 차량 제어 장치(30)에 전달하는 차량속도 검출부(40); 상기 차량 제어 장치(30)의 제어에 따라 모터의 코트를 제어하는 모터 구동부(50); 상기 차량 제어 장치(30)의 제어에 따라 차량의 제동을 제어하는 제동부(60)를 포함한다.An electric powered vehicle to which the present invention is applied includes an accelerator pedal detector (10) for detecting an opening signal of an accelerator pedal; A one-pedal mode switch 20 for selecting a one-pedal mode; A vehicle control device (30) for controlling the entire operation of the vehicle and executing a one-pedal operation control according to the vehicle speed; A vehicle speed detecting unit (40) detecting the vehicle speed and transmitting the detected vehicle speed to the vehicle control device (30); A motor driving unit 50 for controlling the coat of the motor under the control of the vehicle control device 30; And a braking unit (60) for controlling the braking of the vehicle under the control of the vehicle controller (30).

도 3은 본 발명의 바람직한 실시 예에 따른 전기동력자동차의 원-페달 운전제어방법을 보인 흐름도로서, S는 단계를 나타낸다.3 is a flowchart showing a method of controlling a one-pedal operation of an electric powered vehicle according to a preferred embodiment of the present invention, wherein S represents a step.

도 3에 도시된 바와 같이, 본 발명에 따른 전기동력자동차의 원-페달 운전제어방법은 (a) 차량 주행이 시작되면 차량 속도를 검출하고, 가속 페달이 오프(off) 상태인지를 확인하여, 상기 가속 페달이 오프상태가 아닐 경우 모터의 토크를 요구 토크로 제어하는 단계(S101 ~ S103); (b) 상기 (a)단계의 확인 결과 가속페달이 오프 상태이면, 원-페달 모드의 선택 여부를 확인하는 단계(S104); (c) 상기 (b)단계의 확인 결과 원-페달 모드의 선택 시 검출한 차량 속도(V1)와 제동력 비례 제어를 위해 설정된 제2제한속도(Speed Limit 2)를 비교하는 단계(S105); (d) 상기 (c)단계의 비교결과, 차량속도가 상기 제2제한속도보다 작을 경우, 상기 차량속도와 제동력 비례제어를 위해 설정된 제1제한속도(Speed Limit 1)를 비교하는 단계(S107); (e) 상기 차량속도가 상기 제1제한속도보다 클 경우, 차량 속도에 따라 제동력을 증가 또는 감소시켜 제동력을 제어하는 단계(S109)를 포함한다.As shown in FIG. 3, the method of controlling the one-pedal operation of the electric powered vehicle according to the present invention includes the steps of (a) detecting the vehicle speed when the vehicle starts running, confirming whether the accelerator pedal is off, (S101 to S103) controlling the torque of the motor to a required torque when the accelerator pedal is not in the off state; (b) confirming whether or not the one-pedal mode is selected when the accelerator pedal is in an off state as a result of the checking in the step (a); (c) comparing (S105) the detected vehicle speed V1 in the selection of the one-pedal mode and the second limit speed (Speed Limit 2) set for braking force proportional control as a result of the checking in step (b); (d) comparing the vehicle speed with a first limit speed (Speed Limit 1) set for braking force proportional control (S107) when the vehicle speed is less than the second limit speed as a result of the comparison in the step (c) ; (e) controlling the braking force by increasing or decreasing the braking force according to the vehicle speed when the vehicle speed is greater than the first limit speed (S109).

또한, 본 발명에 따른 전기동력자동차의 원-페달 운전제어방법은 (f) 원-페달 모드 스위치가 온(on) 상태가 아니거나, 상기 차량속도가 상기 제2제한속도보다 클 경우, 타력주행모드로 전환하는 단계(S106); (g) 상기 차량속도가 상기 제1제한속도보다 작을 경우, 강제 회생제동 모드로 전환하여 제동력을 제어하는 단계(S108)를 더 포함하는 것을 특징으로 한다.(F) when the one-pedal mode switch is not in the ON state, or when the vehicle speed is greater than the second limit speed, the one-pedal operation control method of the electric powered vehicle according to the present invention further comprises: Mode (S106); (g) controlling the braking force by switching to the forced regenerative braking mode when the vehicle speed is lower than the first limit speed (S108).

이와 같이 구성된 본 발명의 바람직한 실시 예에 따른 전기동력자동차의 원-페달 운전제어방법을 구체적으로 설명하면 다음과 같다.The method of controlling the one-pedal operation of the electric powered vehicle according to the preferred embodiment of the present invention will now be described in detail.

먼저, 도 2에 도시한 바와 같이, 본 발명에 따른 전기동력자동차의 원-페달 운전제어방법은, 차량의 속도에 따라 원-페달만을 이용하여 제동력을 제어하기 위해 강제제동구간과 타력주행구간을 구분하고, 강제제동구간과 타력주행구간의 사이의 구간을 제동 제어구간으로 설정하였다.As shown in FIG. 2, the one-pedal operation control method for an electric powered vehicle according to the present invention is a method for controlling a braking force using only a one-pedal according to the speed of a vehicle, And the interval between the forced braking period and the power running period is set as the braking control period.

그리고 강제제동구간은 제1제한속도(Speed Limit 1)를 기준으로 설정하였으며, 타력주행구간은 제2제한속도(Speed Limit 2)를 기준으로 설정하였다. 여기서 제1 제한속도가 제2제한속도보다 낮은 것이 바람직하다.The forced braking period is set based on the first limit speed (Speed Limit 1) and the driving range is set based on the second limit speed (Speed Limit 2). Here, it is preferable that the first limit speed is lower than the second limit speed.

강제제동구간은 감속페달을 밟았을 경우와 동일하게 제동력을 제어하는 차량속도를 의미하고, 타력주행구간은 가속페달을 뗀 경우에도 주행모터에 제동 토크가 걸리지 않는 차량속도를 의미한다.The forced braking period means the vehicle speed at which the braking force is controlled in the same manner as when the deceleration pedal is depressed, and the period during which the braking force is controlled means the vehicle speed at which the braking torque is not applied to the running motor even when the accelerator pedal is released.

아울러 제동 제어구간은 차량 속도에 따라 제동력 감쇄 기울기에 비례적으로 제동력을 제어하는 상태를 의미한다. 이렇게 제동 제어구간에 차량속도에 따라 제동력 감쇄 기울기에 비례하여 제동력을 제어하게 되면, 기존과 같이 타력주행구간과 강제제동구간을 빠르게 오가는 경우 주행 및 제동 감이 급격히 변화되어 승차감을 저해하는 것을 방지할 수 있다.In addition, the braking control period means a state in which the braking force is controlled proportionally to the braking force deceleration slope depending on the vehicle speed. If the braking force is controlled in proportion to the braking force deceleration slope in accordance with the vehicle speed in the braking control section, if the braking force is rapidly changed between the driving range and the forcible braking region as in the conventional manner, the driving and braking feeling are rapidly changed, .

이를 구체적으로 설명하면 다음과 같다.This will be described in detail as follows.

단계 S101에서 차량 제어 장치(30)는 차량속도 검출부(40)를 통해 차량의 현재 속도(V1)를 검출한다.In step S101, the vehicle control device 30 detects the current speed V1 of the vehicle through the vehicle speed detecting section 40. [

이후, 단계 S102에서는 가속페달 검출부(10)의 출력 신호를 기반으로 가속 페달이 오프(off) 상태 즉, 가속페달을 떼었는지를 확인하여, 가속 페달을 떼지 않은 경우에는 단계 S103으로 이동하여 모터의 토크를 요구 토크로 제어한다.Then, in step S102, it is checked whether the accelerator pedal is off, that is, the accelerator pedal is released, based on the output signal of the accelerator pedal detector 10. When the accelerator pedal is not released, the process proceeds to step S103, The torque is controlled by the required torque.

이와는 달리 상기 단계 S102의 확인 결과, 가속페달을 뗀 경우에는, 단계 S104로 이동하여 원-페달 모드 스위치(20)의 출력 신호를 기초로 원-페달 모드 스위치가 온 상태인지를 확인한다. 즉, 원-페달 모드가 선택되었는지를 확인한다. 여기서 운전자가 원-페달 운전 기능을 선택하고자 하면 상기 원 페달 모드 스위치(20)를 온 상태로 조작한다.On the other hand, if it is determined in step S102 that the accelerator pedal is released, the process proceeds to step S104 to check whether the one-pedal mode switch is ON based on the output signal of the one-pedal mode switch 20. [ That is, it is confirmed whether the one-pedal mode is selected. Here, if the driver wishes to select the one-pedal operation function, the one-pedal mode switch 20 is turned on.

원 페달 모드가 선택되지 않은 경우에는 타력주행 모드가 되어, 가속페달을 뗀 경우에도 주행모터에 제동 토크가 걸리지 않게 제어를 한다.When the one-pedal mode is not selected, the driving mode is set to the power-saving mode so that the braking torque is not applied to the traveling motor even when the accelerator pedal is released.

아울러 원 페달 모드가 선택된 경우에는 단계 S105로 이동하여, 차량속도가 제동력 비례 제어를 위해 설정된 제2제한속도(Speed Limit 2) 이하인지를 확인하여, 차량속도가 제2제한속도 이상일 경우에는 단계 S106으로 이동하여, 타력주행모드로 전환을 한다. 여기서 제2제한속도 이상의 고속 영역을 타력주행 구간으로 설정한 이유는, 고속에서 장시간 내리막길을 내려갈 경우 강제제동으로 인한 주행효율 저하를 막기 위함이다.If the one-pedal mode is selected, it is checked in step S105 whether the vehicle speed is equal to or less than the second limit speed (Speed Limit 2) set for braking force proportional control. If the vehicle speed is equal to or greater than the second limit speed, And switches to the power running mode. Here, the reason why the high speed region above the second limit speed is set as the power running region is to prevent a reduction in the traveling efficiency due to the forced braking when the vehicle travels downhill for a long time at high speed.

다음으로, 상기 차량속도가 제2제한속도 이하일 경우에는, 단계 S107로 이동하여 차량속도와 제동력 비례제어를 위해 설정된 제1제한속도(Speed Limit 1)를 비교한다. 이 비교 결과 상기 차량속도가 상기 제1제한속도보다 작을 경우에는 단계 S108로 이동하여 강제 회생제동 모드로 전환하고, 차량이 정지상태까지 도달하도록 제동력을 제어한다.Next, when the vehicle speed is equal to or less than the second limit speed, the process proceeds to step S107 and compares the vehicle speed with the first limit speed (Speed Limit 1) set for braking force proportional control. If the vehicle speed is smaller than the first limit speed as a result of the comparison, the process proceeds to step S108 to switch to the forced regenerative braking mode and controls the braking force so that the vehicle reaches the stop state.

아울러 상기 차량속도가 상기 제1제한속도보다 클 경우에는, 현재의 차량 속도가 강제제동구간과 타력주행구간의 사이에 해당하는 제동 제어구간의 속도로 판단을 한다. 차량속도가 제동 제어구간으로 판단될 경우에는 단계 S109로 이동하여, 도 2에 도시한 차량 속도에 따른 제동력 감쇄 기울기를 기초로 제동력을 제어한다. 예컨대, 원 페달 기능이 선택된 상태에서 차량 속도가 제동 제어구간이고 가속페달이 오프상태이면, 속도에 따라 제동력을 증가 또는 감소시키는 제동력 감쇄 기울기에 비례하게 제동력을 제어한다.If the vehicle speed is greater than the first limit speed, the current vehicle speed is determined as the speed of the braking control section corresponding to the period between the forcible braking section and the driving force trajectory. If it is determined that the vehicle speed is the braking control section, the process proceeds to step S109 to control the braking force based on the braking force deceleration slope according to the vehicle speed shown in Fig. For example, when the vehicle speed is the braking control section and the accelerator pedal is in the off state while the one-pedal function is selected, the braking force is controlled in proportion to the braking force deceleration slope which increases or decreases the braking force according to the speed.

이러한 방식으로 제동력을 제어하게 되면, 기존과 같이 타력주행구간과 강제제동구간을 빠르게 오가는 경우 주행 및 제동 감이 급격히 변화되어 승차감을 저해하는 것을 방지할 수 있으며, 원-페달을 통해 운전을 제어할 수 있게 된다.If the braking force is controlled in this manner, the driving and braking senses are rapidly changed when the braking section is rapidly shifted between the braking / driving section and the forcible braking section. As a result, it is possible to prevent the riding feeling from being hindered. .

이상 본 발명자에 의해서 이루어진 발명을 상기 실시 예에 따라 구체적으로 설명하였지만, 본 발명은 상기 실시 예에 한정되는 것은 아니고 그 요지를 이탈하지 않는 범위에서 여러 가지로 변경 가능한 것은 물론이다.
Although the present invention has been described in detail with reference to the above embodiments, it is needless to say that the present invention is not limited to the above-described embodiments, and various modifications may be made without departing from the spirit of the present invention.

10 : 가속페달 검출부 20 : 원 페달 모드 스위치
30 : 차량 제어 장치(VCU) 40 : 차량속도 검출부
50 : 모터 구동부 60 : 제동부
10: Accelerator pedal detection unit 20: One-pedal mode switch
30: vehicle control unit (VCU) 40: vehicle speed detection unit
50: motor drive unit 60:

Claims (4)

(a) 차량 주행이 시작되면 차량 속도를 검출하고, 가속 페달이 오프 상태인지를 확인하여, 상기 가속 페달이 오프상태가 아닐 경우 모터의 토크를 요구 토크로 제어하는 단계;
(b) 상기 (a)단계의 확인 결과 가속페달이 오프상태이면, 원-페달 모드의 선택 여부를 확인하는 단계;
(c) 상기 (b)단계의 확인 결과 원-페달 모드의 선택 시 검출한 차량 속도와 제동력 비례 제어를 위해 설정된 제2제한속도를 비교하는 단계;
(d) 상기 (c)단계의 비교결과, 차량속도가 상기 제2제한속도보다 작을 경우, 상기 차량속도와 제동력 비례제어를 위해 설정된 제1제한속도를 비교하는 단계;
(e) 상기 차량속도가 상기 제1제한속도보다 클 경우, 제동제어구간으로 판단하고 차량 속도에 따라 제동력을 증가 또는 감소시켜 제동력을 제어하는 단계;
(f) 상기 차량속도가 상기 제2제한속도보다 클 경우, 타력주행모드로 전환하는 단계; 및
(g) 상기 차량속도가 상기 제1제한속도보다 작을 경우, 강제 회생제동 모드로 전환하여 제동력을 제어하는 단계를 포함하고,
상기 제1제한속도(Speed Limit 1)는 감속페달을 밟았을 경우와 동일하게 제동력을 제어하는 강제제동구간을 판단하기 위한 속도이며, 상기 제2제한속도(Speed Limit 2)는 가속페달을 뗀 경우에도 주행모터에 제동 토크가 걸리지 않는 타력주행구간을 판단하기 위한 속도이며, 상기 강제제동구간과 타력주행구간의 사이의 구간을 제동제어구간으로 설정하고, 제동력을 제어하며,
상기 제1제한속도가 제2제한속도보다 낮은 것을 특징으로 하는 전기동력자동차의 원-페달 운전제어방법.
(a) detecting the vehicle speed when the vehicle starts running, checking whether the accelerator pedal is in the off state, and controlling the torque of the motor to the required torque when the accelerator pedal is not in the off state;
(b) confirming whether the one-pedal mode is selected when the accelerator pedal is in an off state as a result of the checking in the step (a);
(c) comparing the vehicle speed detected when the one-pedal mode is selected and the second limiting speed set for braking force proportional control as a result of the checking in step (b);
(d) comparing the vehicle speed with a first limiting speed set for braking force proportional control, when the vehicle speed is less than the second limiting speed as a result of the comparison in the step (c);
(e) controlling the braking force by determining a braking control period when the vehicle speed is greater than the first limit speed and increasing or decreasing the braking force according to the vehicle speed;
(f) when the vehicle speed is greater than the second limit speed, switching to a power running mode; And
(g) when the vehicle speed is lower than the first limit speed, switching to a forced regenerative braking mode to control the braking force,
The first limit speed (Speed Limit 1) is a speed for determining a forced braking period for controlling the braking force in the same manner as when the deceleration pedal is depressed, and the second limit speed (Speed Limit 2) And a control unit that sets a period between the forcible braking period and the power running period as a braking control period and controls the braking force,
Wherein the first limit speed is lower than the second limit speed.
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CN108313061A (en) * 2018-03-29 2018-07-24 北京新能源汽车股份有限公司 A kind of control method of vehicle, device and automobile
CN108773296A (en) * 2018-06-08 2018-11-09 北京长城华冠汽车科技股份有限公司 Control method, storage medium and the electric vehicle of violent acceleration pattern
CN112297861A (en) * 2020-01-16 2021-02-02 长城汽车股份有限公司 Parking method and device
US11214278B2 (en) * 2019-10-28 2022-01-04 Ford Global Technologies, Llc One-pedal drive system for a vehicle
US11285950B1 (en) 2020-09-28 2022-03-29 Ford Global Technologies, Llc Vehicle one pedal drive grade compensation system
US11498429B2 (en) 2020-09-28 2022-11-15 Ford Global Technologies, Llc Aggregating braking torque during one-pedal drive mode
US11505195B2 (en) 2020-09-28 2022-11-22 Ford Global Technologies, Llc One-pedal drive filters and rate limits of powertrain torque
DE102021206060A1 (en) 2021-06-15 2022-12-15 Robert Bosch Gesellschaft mit beschränkter Haftung Method for controlling a drive motor and a hydraulic braking system in a single-track vehicle
US11623629B2 (en) 2020-09-28 2023-04-11 Ford Global Technologies, Llc One-pedal drive method to control vehicle speed to a stop using feedback powertrain torque controls

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108313061A (en) * 2018-03-29 2018-07-24 北京新能源汽车股份有限公司 A kind of control method of vehicle, device and automobile
CN108773296A (en) * 2018-06-08 2018-11-09 北京长城华冠汽车科技股份有限公司 Control method, storage medium and the electric vehicle of violent acceleration pattern
US11214278B2 (en) * 2019-10-28 2022-01-04 Ford Global Technologies, Llc One-pedal drive system for a vehicle
CN112297861A (en) * 2020-01-16 2021-02-02 长城汽车股份有限公司 Parking method and device
US11285950B1 (en) 2020-09-28 2022-03-29 Ford Global Technologies, Llc Vehicle one pedal drive grade compensation system
US11498429B2 (en) 2020-09-28 2022-11-15 Ford Global Technologies, Llc Aggregating braking torque during one-pedal drive mode
US11505195B2 (en) 2020-09-28 2022-11-22 Ford Global Technologies, Llc One-pedal drive filters and rate limits of powertrain torque
US11623629B2 (en) 2020-09-28 2023-04-11 Ford Global Technologies, Llc One-pedal drive method to control vehicle speed to a stop using feedback powertrain torque controls
DE102021206060A1 (en) 2021-06-15 2022-12-15 Robert Bosch Gesellschaft mit beschränkter Haftung Method for controlling a drive motor and a hydraulic braking system in a single-track vehicle

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