WO2010015440A1 - Procédé de réglage d'unités d'entraînement motorisées dans des véhicules comportant un entraînement hybride - Google Patents

Procédé de réglage d'unités d'entraînement motorisées dans des véhicules comportant un entraînement hybride Download PDF

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Publication number
WO2010015440A1
WO2010015440A1 PCT/EP2009/056996 EP2009056996W WO2010015440A1 WO 2010015440 A1 WO2010015440 A1 WO 2010015440A1 EP 2009056996 W EP2009056996 W EP 2009056996W WO 2010015440 A1 WO2010015440 A1 WO 2010015440A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
motor
drive
hybrid drive
electric motor
Prior art date
Application number
PCT/EP2009/056996
Other languages
German (de)
English (en)
Inventor
Jens-Werner Falkenstein
Manfred Hellmann
Michael Glora
Rene Schenk
Original Assignee
Robert Bosch Gmbh
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Publication date
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Publication of WO2010015440A1 publication Critical patent/WO2010015440A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • 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
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • 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
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • 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
    • B60K6/22—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 characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—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 characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B60K2006/268—Electric drive motor starts the engine, i.e. used as starter motor
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine 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
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • 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
    • 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
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

Definitions

  • the invention relates to a method for adjusting motor drive units in motor vehicles with hybrid drive according to the preamble of claim 1.
  • a method for controlling and regulating the driving dynamics in motor vehicles with hybrid drive in which a driver desired torque is divided into an electric motor and an internal combustion engine.
  • the determination of the torque distribution between the electric motor and the internal combustion engine is carried out in a multi-stage process in which first a distribution corresponding to the hybrid functions is determined in a first stage taking into account parameters of the motors, whereupon in a second stage a torque distribution is determined on the basis of vehicle dynamics functions , Subsequently, a resulting torque distribution is determined in a coordinator stage, taking account of setting limits of the respective motors.
  • the invention is based on the object to increase the driving safety in motor vehicles with hybrid drive with simple measures. This object is achieved with the features of claim 1.
  • the dependent claims indicate expedient developments.
  • torque components in the motor drive units of a motor vehicle with hybrid drive can be determined.
  • the motor drive units of the hybrid drive include, for example, an internal combustion engine and at least one electric motor. But also comes a combination of two electric motors whose drive torques are set.
  • ambient conditions are determined which are the basis of the torque distribution between the drive units.
  • the environmental conditions can either be derived from sensor data or derived by estimation or calculation.
  • ambient conditions that are taken into account in particular the friction between wheel and road comes into consideration, which is determined as a friction estimate.
  • it is also possible to observe the behavior of preceding vehicles for example from data of a radar-assisted vehicle following system (ACC) or via a vehicle-vehicle coupling.
  • ACC radar-assisted vehicle following system
  • Environmental conditions which originate from a navigation system can also be taken into account as environmental conditions in order, for example, to be able to take account of the roadway immediately ahead in the distribution of the moments between the drive units.
  • Vehicle safety can be significantly improved by considering environmental conditions. For example, in the torque distribution with at least a rough knowledge of the coefficient of friction between the tire and the roadway, attention must be paid to a balanced torque distribution in order to avoid torque differences between the axles which may influence the longitudinal and / or lateral dynamics of the vehicle. Basically, it is also possible to bring about different levels of high moment on the individual axes to the
  • the steering behavior of the vehicle can be improved by a resultant moment about the vertical axis, that is, a yaw moment is generated by the different driving moments on the axles, which acts either steering assisting or Lenkabschwankend.
  • the steering influence takes place here either for the purpose of improving comfort, a sportier behavior of the vehicle or to driving dynamics influencing the vehicle behavior with the aim of improved driving safety.
  • the torque distribution is preferably carried out between different axes of the motor vehicle, for example, by an axis of an internal combustion engine and the second axis is acted upon by an electric motor.
  • an electric motor it is also possible, alternatively or additionally, to let an internal combustion engine and an electric motor act on a common axis and to carry out a torque distribution between these two drive units.
  • two electric motors can be effective on different axes and / or on the same axes and the drive torque can be distributed between these electric motors;
  • On the internal combustion engine can be omitted in this embodiment, which may also be a variant in question, in which in addition to the at least two electric motors if necessary zuzugateder an internal combustion engine is present.
  • the sensors of a vehicle dynamics control unit can be used, for example, the sensors of an ESP system (electronic stability program), with the various longitudinal and transverse dynamics signals can be determined, in particular the RadFE- numbers, the vehicle longitudinal and / or vehicle lateral acceleration and / or the yaw rate.
  • the friction estimate from sensor signals of a sensor installed in the vehicle, which is independent of a driving dynamics control unit, for example, signals from a rain sensor, from the ambient temperature or from the state of a windshield wiper.
  • These signals can provide at least a rough estimate, for example by performing a rough classification into the categories wet / dry and temperature above zero / below zero, depending on the temperature or on a wet road.
  • the intervention is preferably carried out by specifying defined positive or negative drive torques on the axles of the vehicle in order to bring about a distortion, ie a torque difference, between the axles in a targeted manner and to use different wheel speeds and wheel slips resulting therefrom for determining the friction estimation value. This is done, for example, such that an increased torque is applied to the vehicle axle acted upon by the internal combustion engine and a negative torque, that is to say a braking torque, but at least a lower drive torque than to the internal combustion engine axis.
  • the structure of the tension, so the moment difference between the axes is preferably continuous and thus jump-free and in particular with a relatively low gradient in order to avoid critical driving conditions.
  • the degradation of the strain can be carried out continuously and without jumps and preferably with a low gradient.
  • a critical driving situation is detected that involves intervention by a vehicle control system, such as a vehicle.
  • a vehicle control system such as a vehicle.
  • an ESP system it may be advisable to carry out the reduction of the tension between the axles with a higher gradient in order to return to an uncritical driving state as quickly as possible.
  • the method according to the invention for torque distribution between the motor drive units can, in addition to the ambient conditions, also take into account the current driving dynamics state of the motor vehicle, for example the longitudinal dynamics, the lateral dynamics or the dynamic wheel load distribution.
  • the vehicle speed, the longitudinal acceleration, the lateral acceleration, the yaw rate and current wheel speeds or wheel slip values can be taken into consideration.
  • the state variables which characterize the current driving state can be used as conditions which must be fulfilled so that an action for estimating the coefficients of friction is specifically brought about, in particular the tension between the axles.
  • the data characterizing the current vehicle dynamics state can also be used directly to determine the friction estimation value by linking the corresponding sensor signals according to a predetermined mathematical relationship and calculating the friction estimate therefrom.
  • Fig. 1 is a schematic representation of two vehicle axles, one of which
  • FIG. 2 is a schematic flow diagram for carrying out the method for torque distribution between the internal combustion engine and the electric motor.
  • Fig. 1 two vehicle axles 1 and 2 of a motor vehicle are shown, which are each acted upon by motor drive units.
  • an internal combustion engine 3 which drives the corresponding vehicle axle and the wheels coupled thereto via a transmission 4.
  • two electric motors 5 and 6 are arranged on the first vehicle axle 1, of which the first electric motor 5 is connected in series with the internal combustion engine 3 and thus emits a torque to the same output shaft as the internal combustion engine, which passes via the transmission 4 to the vehicle axle becomes.
  • the second electric motor 6 can be switched on directly on the vehicle axle 1.
  • At the second vehicle axle 2 acts exclusively an electric motor 7, which is connected via an adjustable coupling 10 with the vehicle axle.
  • the electric motor 7, a battery 8 and a power electronics 9 are assigned.
  • the various components on the vehicle axles 1 and 2, so both the motor drives and the clutch or transmission devices are set via control signals of a control or control device 11.
  • FIG. 2 shows a flow chart for adjusting the torque distribution between the internal combustion engine and the electric motors.
  • the torque distribution takes place as a function of current environmental conditions and driving dynamics state variables, which are determined in the first two method steps V1 and V2.
  • environmental data are determined from an environmental sensor system, this includes, for example, the behavior or the state of a preceding vehicle, which is determined in particular via a radar-based distance detection system.
  • environmental data from a navigation device in the vehicle can also be taken into consideration in method step V1 in order to take into account the roadway immediately ahead.
  • signals of a rain sensor installed in the vehicle as well as the ambient temperature can be taken into account and, if present, signals of a sensor characterizing the condition of a windshield wiper.
  • vehicle dynamics data are utilized from a vehicle-specific sensor.
  • vehicle dynamics data include longitudinal and transverse dynamic variables as well as dynamic wheel loads, for example the vehicle longitudinal speed, the longitudinal and lateral acceleration, the yaw rate, possibly the pitch and roll angle or the variables derived therefrom, and the wheel speeds or wheel slips and the current steering wheel angle ,
  • step V3 a query is made as to whether there is currently a critical driving state for which, in particular, the steering wheel angle, the longitudinal and lateral acceleration and optionally the acceleration pedal actuation and the brake pedal actuation are used.
  • the activation of a vehicle control system can be considered, so for example an ESP system. Only if the relevant dynamic driving state variables are below defined limit values or if there is no intervention of a vehicle control system is there an uncritical driving state and is the no-branch proceeding to the next procedural step V4. Otherwise it is critical of a driving state or an approaching critical Driving state to go out and it is the branching ya proceeding to the next step V5, bypassing the process step V4.
  • a tension between the wheel axles of the vehicle takes place in that different high torques are preset via the internal combustion engine on one axle and an electric motor on another axle. For example, via the internal combustion engine, an increased drive torque and via the electric motor on the other axis a braking torque can be specified, whereby a moment difference between the vehicle axles occurs. Since such stresses between the axles can impair the driving stability, the tensioning according to method step V4 is carried out only in the uncritical driving states, which, as described above, is checked in the preceding method step V3.
  • wheel speeds at the wheels are measured in method step V4, wherein wheel speed differences provide information about the current coefficient of friction between the wheels and the road surface.
  • an estimated value for the friction ⁇ Obs is determined from the data obtained-in the case of a critical driving condition without tensioning of the wheel axles according to method step V4.
  • This friction estimation value can be determined empirically according to a rough classification, for example via a simple classification of the roadway in wet / dry or outside temperature above / below the freezing point. With appropriate data, improved estimates or calculations for the coefficient of friction ⁇ Obs can be carried out, for which in particular the driving dynamics state variables, including possibly the wheel speeds, are used.
  • a torque distribution is performed between the internal combustion engine and the at least one electric motor.
  • both a torque distribution between the internal combustion engine on one axle and the electric motor on another axle as well as a torque distribution within an axle between the internal combustion engine and the electric motor come into consideration.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

L'invention concerne un procédé de réglage d'unités d'entraînement motorisées dans des véhicules comportant un entraînement hybride. Selon le procédé, des conditions environnantes sont déterminées par capteurs ou par estimation et sont employées pour la répartition des moments entre le moteur à combustion interne (3) et le moteur électrique (5, 6, 10). L'invention vise à augmenter le niveau de sécurité de conduite. Le moteur à combustion interne et le moteur électrique peuvent être disposés sur des essieux différents ou sur le même essieu. Les paramètres environnants employés sont de préférence une valeur d'estimation de frottement, le comportement du véhicule qui précède et/ou des données environnantes d'un système de navigation.
PCT/EP2009/056996 2008-08-06 2009-06-08 Procédé de réglage d'unités d'entraînement motorisées dans des véhicules comportant un entraînement hybride WO2010015440A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008041034.9 2008-08-06
DE102008041034A DE102008041034A1 (de) 2008-08-06 2008-08-06 Verfahren zur Einstellung motorischer Antriebseinheiten in Kraftfahrzeugen mit Hybridantrieb

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WO2010015440A1 true WO2010015440A1 (fr) 2010-02-11

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DE (1) DE102008041034A1 (fr)
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Cited By (1)

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DE102015105135B4 (de) 2015-04-02 2022-12-15 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Elektrisch antreibbares Allrad-Kraftfahrzeug und Verfahren zum Betrieb eines elektrisch antreibbaren Allrad-Kraftfahrzeugs

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DE102010023990A1 (de) * 2010-06-16 2011-12-22 Volkswagen Ag Antriebsstrang für ein Hybridfahrzeug
DE102010036321B4 (de) 2010-07-09 2024-09-12 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Antriebssystem für ein Hybridfahrzeug und Hybridfahrzeug mit einem derartigen Antriebssystem
GB201315617D0 (en) * 2013-09-03 2013-10-16 Jaguar Land Rover Ltd Cruise control system for a vehicle
GB2534886B (en) * 2015-02-03 2018-04-18 Jaguar Land Rover Ltd Control system
EP3106360B1 (fr) * 2015-06-16 2018-04-11 Volvo Car Corporation Procédé et agencement pour pneu permettant l'estimation de frottement sur la route
DE102018133649A1 (de) * 2018-12-28 2020-07-02 Volkswagen Aktiengesellschaft Verfahren zum Betreiben eines Antriebsstrangs eines Kraftfahrzeugs, insbesondere eines Kraftwagens, sowie Antriebsstrang für ein Kraftfahrzeug
DE102020101977A1 (de) 2020-01-28 2021-07-29 Audi Aktiengesellschaft Verfahren zum Steuern eines Fahrzeugs

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DE19903932A1 (de) * 1999-02-01 2000-08-03 Continental Teves Ag & Co Ohg Verfahren und Vorrichtung zum Ermitteln einer Kenngröße für einen momentan maximalen Haftbeiwert
EP1205328A2 (fr) * 2000-11-08 2002-05-15 Honda Giken Kogyo Kabushiki Kaisha Appareil pour commander un véhicule à quatre roues motrices
FR2901762A1 (fr) * 2006-05-31 2007-12-07 Renault Sas Dispositif et procede de controle des efforts sur un vehicule a quatre roues motrices

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DE102004049324A1 (de) 2004-10-09 2006-04-20 Zf Friedrichshafen Ag Verfahren zur Steuerung und Regelung der Fahrdynamik bei Kraftfahrzeugen mit Hybridantrieb

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DE19903932A1 (de) * 1999-02-01 2000-08-03 Continental Teves Ag & Co Ohg Verfahren und Vorrichtung zum Ermitteln einer Kenngröße für einen momentan maximalen Haftbeiwert
EP1205328A2 (fr) * 2000-11-08 2002-05-15 Honda Giken Kogyo Kabushiki Kaisha Appareil pour commander un véhicule à quatre roues motrices
FR2901762A1 (fr) * 2006-05-31 2007-12-07 Renault Sas Dispositif et procede de controle des efforts sur un vehicule a quatre roues motrices

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DE102015105135B4 (de) 2015-04-02 2022-12-15 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Elektrisch antreibbares Allrad-Kraftfahrzeug und Verfahren zum Betrieb eines elektrisch antreibbaren Allrad-Kraftfahrzeugs

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