WO2013189664A1 - Dispositif et procédé pour parcourir un trajet avec une consommation d'énergie moyenne souhaitée prédéfinie - Google Patents

Dispositif et procédé pour parcourir un trajet avec une consommation d'énergie moyenne souhaitée prédéfinie Download PDF

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Publication number
WO2013189664A1
WO2013189664A1 PCT/EP2013/060002 EP2013060002W WO2013189664A1 WO 2013189664 A1 WO2013189664 A1 WO 2013189664A1 EP 2013060002 W EP2013060002 W EP 2013060002W WO 2013189664 A1 WO2013189664 A1 WO 2013189664A1
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WO
WIPO (PCT)
Prior art keywords
route
energy consumption
speed
motor vehicle
sections
Prior art date
Application number
PCT/EP2013/060002
Other languages
German (de)
English (en)
Inventor
Uta Fischer
Udo Schulz
Juergen Biester
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2013189664A1 publication Critical patent/WO2013189664A1/fr

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Classifications

    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W50/0097—Predicting future conditions
    • 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
    • B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
    • 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
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/103—Speed profile

Definitions

  • the present invention relates to motor vehicles, more particularly to methods of driving a motor vehicle along a route with a predetermined restriction of power consumption.
  • the document EP 1 888 900 relates to a consumption regulator, which regulates the situation to a desired fuel consumption. Based on driving resistances such as rolling resistance, air resistance, acceleration resistance, gradient resistance and the specific fuel consumption of the motor vehicle, a vehicle speed which is unforeseeable for the driver and which corresponds to the desired consumption is established. However, this may result in an uphill or in an increased headwind that the speed leads below a normal speed for the traveled section and subsequent vehicles are obstructed.
  • the publication DE 19615236 relates to a running averaging of current fuel consumption values during a previous route and an introduction of consumption-reducing measures when exceeding a predetermined limit.
  • Document DE 10 2008 041 617 A1 discloses a method for providing indications for optimized fuel use in a motor vehicle. For this purpose, usage-dependent parameters are evaluated during ongoing vehicle operation. Index values are determined from the parameters during ongoing vehicle operation using a predetermined algorithm. Based on one or more index values, indications of optimized fuel use are issued. The output is preferably performed only on explicit request of the driver or at predetermined times.
  • WO 00/007150 A1 discloses a method and a system for indicating to a driver of a motor vehicle information about his driving style, wherein variables can be determined which indicate to what extent the driving style of the driver deviates from a reference driving style. Appropriate recommendations will be made to the driver.
  • a method for specifying a proposed target speeds on sections comprising the following steps: Providing an indication of a desired energy consumption for a driving route of the motor vehicle;
  • a target speed can be set, so that a previously provided desired energy consumption, i. the energy required to drive the motor vehicle is not exceeded.
  • the permissible or possible maximum speeds and the desired minimum speeds on the sections can be taken into account.
  • a speed profile is provided which indicates target speeds which, if maintained, result in energy consumption equal to the desired energy consumption over the entire driving distance.
  • a corresponding indication which indicates the course of the drive torques to be provided by a drive motor of the motor vehicle over the drive route, can be provided, since this determines the speed of the motor vehicle in conjunction with the track section ratios.
  • a driver of a motor vehicle can also travel routes with variable routes, such as combinations of sections with different wind exposure, different traffic volumes and the like, take into account that the desired energy consumption is achieved while still ensuring a vehicle speed in a certain speed range for each section is guaranteed.
  • the determination of a speed profile can be carried out by means of an optimization method, wherein the target speeds for the road sections in the direction of travel of the opposite direction are determined.
  • the desired energy consumption is specified by user input as energy consumption over the route or as average energy consumption for a route unit, wherein the desired energy consumption is specified by a user input as energy consumption over the route or as average energy consumption for a route unit.
  • the user input can be queried for a specification of a minimum energy consumption and a maximum energy consumption.
  • the desired speeds of the speed profile of the route sections can be at least partially output to a driver of the motor vehicle.
  • the route section information may include information from which a minimum speed for the relevant route section with which the vehicle should at least move, and / or a maximum speed for the relevant route section, which may not be exceeded, can be determined.
  • the desired speeds of the speed profile are respectively determined as a speed between the minimum speed for the relevant track sections and the maximum speed for the relevant track sections, wherein the target speed for each track section is assigned a track section energy consumption, and after determining all desired speeds the total energy consumption is determined as the sum of the road segment energy consumption.
  • target speeds can be provided as a default for a vehicle speed control.
  • an apparatus for specifying a proposed target speeds on sections of track wherein the device is designed to
  • a speed profile which, depending on the link information and depending on the desired energy consumption, indicates the target speeds for each link, the target speeds for each link being determined such that the energy consumption over the route corresponds to the desired energy consumption and a preset speed limit not above or below.
  • a system comprising:
  • an input / output device for providing an indication of a
  • a map memory for providing route section information for the route sections of the route
  • control unit for determining a speed profile which, depending on the route section information and depending on the desired energy consumption, indicates the target speeds for each route section, wherein the target speeds for each route section are determined so that the energy consumption over the route corresponds to the desired energy consumption and a predetermined one Speed limit not exceeded or fallen below.
  • a computer program with program code means is provided to perform all the steps of the above method, when the computer program is executed on a computer or the above device.
  • a computer program product includes program code stored on a computer-readable medium and that, when executed on a data processing device, performs the above method.
  • Figure 1 is a schematic representation of an apparatus for operating a motor vehicle with a desired average energy consumption
  • FIG. 2 shows a flow chart for illustrating a method for driving a motor vehicle along a route with a desired average energy consumption.
  • FIG. 1 shows a motor vehicle 1 with a device 2 for assisting the driver to drive the motor vehicle 1 along a predetermined or predefinable driving route with a desired average energy consumption.
  • the energy consumption indicates the energy input required to drive the motor vehicle 2, e.g. in the form of electrical energy in electric vehicles, in the form of an amount of fuel in vehicles with internal combustion engine or the like.
  • the device 2 can be designed as part of a driver assistance system, as part of an engine control unit, separately or together with another system implemented in the motor vehicle 1.
  • the device 2 comprises a control unit 3, an input / output device 4 in the cockpit of the motor vehicle 1 and a card memory 5.
  • a route map in the form of individual sections is stored in a suitable manner.
  • the sections of the route map have a format with which a route planning can be made.
  • the track sections are each a Topologie- information, such as information about a slope or a slope, a speed information on a maximum allowable or maximum possible speed (curvy sections), traffic volume information about expected vehicle traffic on the route section, a Weather information about expected precipitation or wind conditions and associated with other information that can affect the maximum mobile speed and / or the minimum desirable speed on the relevant link.
  • the input / output device 4 may be configured to indicate a power consumption range to indicate a minimum or maximum power consumption when driving a traveling distance, and may further allow the driver within this power consumption range to indicate a power consumption corresponding to the power that the power supply unit has Motor vehicle 1 should consume while driving through the specific route overall.
  • the driver is provided with a possibility of determining a desired energy consumption within the predetermined energy consumption range, whereby at the same time the speeds to be traveled on the individual route segments should also be determined. Energy consumption can also be expressed in terms of average energy consumption per unit of distance.
  • the control unit 3 can furthermore be connected to an engine control unit 6 in order to limit the maximum drive torque to be provided by the drive engine or to adjust the speed in accordance with the selected desired (average) energy consumption during a cruise control.
  • step S1 is first queried whether the device 2 is a driving distance, z. B. via an input was specified. If this is the case (alternative: yes), the method is continued with step S2, otherwise (alternative: no) is returned to step S1 and waits for the input of the driving distance to be traveled.
  • the corresponding input can be made directly by means of a navigation system with an input mask known for a navigation system or also by querying a user's schedule to specify the destinations to which a route is determined in accordance with a route planning algorithm executed in the control unit 3.
  • the route is provided as a chain of sections.
  • the individual route sections are analyzed and the route section information associated with the route sections, which can specify or influence a maximum speed on the route sections, evaluated to specify a permissible for the motor vehicle 1 on the relevant route section or possible maximum speed.
  • the maximum speed is determined by the track topology and other environmental conditions, such as wind conditions, precipitation conditions, and the like.
  • the maximum speed may also be predetermined by traffic signs along the route and is allocated and stored in the map memory 5 to each route section. Deviating from this, this maximum speed curve, which can be erratic over the sections, is adjusted by realistic speed changes in a traffic sign change and safe cornering speeds. If there is traffic information that reduces the maximum speed due to traffic obstruction, such as congestion, heavy traffic and the like, these are also taken into account when forming the maximum speed curve. Furthermore, in step S2, a desired minimum speed can also be derived from the information associated with the route section for the speed to be traveled, if this is not specified. The minimum speed specifies at which speed the motor vehicle 1 - assuming a free route - should at least drive in order not to hinder other vehicles, for example. For example, the minimum speed may be set relative to the previously determined maximum speed, for example, 80% of the maximum speed.
  • step S3 the drive torques of the drive motor of the motor vehicle 1 required for driving the route at the maximum speed or the desired minimum speed are determined in step S3.
  • step S4 the drive torques required for driving on the route at the maximum speed or the desired minimum speed are corresponding energy consumptions, ie. H. Maximum energy consumption and minimum energy consumption, eg. B. in the form of a fuel consumption, assigned.
  • the maximum energy consumption and the minimum energy consumption are added in each case in step S5 over the entire driving distance.
  • transitions between the maximum speeds and the minimum speeds for successive sections of the route should be taken into account correspondingly with acceleration phases and deceleration phases.
  • a knowledge of the driver type is necessary, indicating an acceleration and braking behavior in certain types of sections and traffic situations. This makes it possible to better estimate the Antnebsmomentenverlauf in the transitions between the sections, as they affect the energy consumption significantly.
  • the maximum and minimum total energy consumption can be displayed to the driver via the input / output device 4 in a suitable manner
  • step S6 the driver can specify from the predetermined energy consumption range between the maximum total energy consumption and the desired minimum energy consumption a desired energy consumption that indicates the total energy that the motor vehicle 1 should consume when driving on the planned driving route.
  • a desired average energy consumption can be specified as the desired energy consumption, which is the
  • Desired energy consumption in conjunction with the length of the driving route indicates.
  • a velocity profile for the route sections of the driving route to be traveled is determined in step S8.
  • the determination of the speed profile can be carried out by means of a suitable optimization method, whereby the speed profile is calculated by recalculation based on the destination of the planned route. Essentially, the optimization method attempts to approximate the speed profile associated with the desired energy consumption over the route sections to the maximum speed in the corresponding route sections.
  • the speed range between the maximum speed and the minimum speed determines an optimization space for the optimization method.
  • the optimization method calculates starting from the travel destination through the route sections back to the current location of the motor vehicle. 1
  • the reason for this lies in the necessary prioritization of consumption-reducing measures and the related degrees of freedom in the motor vehicle 1.
  • energy storage such.
  • Batteries are discharged ahead of time to be receptive to a later available Rekuperationsenergy (in hybrid or electric vehicles).
  • Fuel consumption is determined using the associated consumption-relevant environmental information, such as route height profile, curves, weather conditions and the like, vehicle parameters such as weight, Custom maps and the like and driver model (driver type recognition and the like) are taken into account.
  • the speed profile determined in step S8 can be displayed to the driver in step S9 via the input / output device 4, so that it can follow this if the desired energy consumption is to be maintained.
  • the display is made so that target speeds are displayed for each section in a suitable manner. From the velocity profile thus obtained can continue to
  • Antnebsmomentenverlauf be determined, in particular taking into account the consumption-relevant environmental information of the sections of the planned route and vehicle parameters and the like.
  • nominal torques for the individual drive units can be derived from the recalculated drive torque.
  • the driver can see via the input / output device 4 a gear recommendation, for example on a map, which is displayed on the input / output device 4, or only as a driving recommendation , are displayed.
  • step S9 the specification of the speed profile serves as default for a cruise control, which is implemented in the engine control unit 6, so that the target speed of the cruise control is set according to the target speed of the speed profile for each route section.
  • the vehicle speed with activated cruise control follows the speed profile as long as there is no driver interaction. Actuation of a brake or an accelerator pedal may result in termination of the cruise control.
  • the input of the desired energy consumption may be performed before a minimum energy consumption and a maximum energy consumption have been determined.
  • the input would give the desired energy consumption then as average energy consumption per unit of track.
  • the optimization process can change the target velocity profile from a slow and / or sluggish driver type to a fast and / or recommend dynamic driver type.
  • the preferences of the driver from a driver model can be taken into account, for example, indicating that the driver desires a fast downhill run and a fast uphill run and specifies the acceleration and deceleration behavior, overtaking behavior and the like.
  • the desired velocity profile will be so long - i. iterative - further modified until the desired average energy consumption is reached in the calculation.
  • the desired speeds of the speed profile can be recommended to the driver by an indication in the course of the route and additionally controlled by intervention in a speed controller in the engine control unit 6.
  • a speed controller in the engine control unit 6.
  • future occurring acceleration operations of the speed controller are the driver for safety reasons in time detailed with the absolute value and the planned change acceleration, speed over the stretch and the duration display so that the driver can intervene in time, for example, by deactivating the cruise control.
  • driver assistance systems is possible, for example, control the safety distance to vehicles in front and may reduce in case of danger, the speed. Based on the consumption-optimal speed at the respective
  • the optimal transmission ratio can be determined. The determination of the velocity profile and the resulting speed-relevant environment information, such as the slope, while maintaining the permissible speed, as well as the minimum speed to be traveled, the optimal transmission ratio can be determined. The determination of the velocity profile and the resulting speed-relevant environment information, such as the slope, while maintaining the permissible speed, as well as the minimum speed to be traveled, the optimal transmission ratio can be determined. The determination of the velocity profile and the resulting
  • Drive torque profile can before driving, at the beginning of a trip on a predetermined driving distance or continuously during the driving of the route, so that a continuous update of the speed profile is possible, taking into account the current time real energy consumption.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

La présente invention concerne un procédé pour prédéfinir une proposition de vitesses théoriques sur des segments de trajet devant être parcourus par un véhicule à moteur (1), comprenant les étapes consistant à générer (S7) une indication concernant une consommation d'énergie voulue sur un trajet du véhicule à moteur (1), à générer des informations concernant les segments dudit trajet, et à déterminer (S8) un profil de vitesse indiquant les vitesses théoriques pour chaque segment de trajet, en fonction des informations concernant les segments de trajet et de la consommation d'énergie voulue. Les vitesses théoriques pour chaque segment de trajet sont déterminées de sorte que la consommation d'énergie corresponde à la consommation d'énergie voulue sur ledit trajet et ne soit ni supérieure, ni inférieure à une valeur limite de vitesse prédéfinie.
PCT/EP2013/060002 2012-06-19 2013-05-15 Dispositif et procédé pour parcourir un trajet avec une consommation d'énergie moyenne souhaitée prédéfinie WO2013189664A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012210317.1 2012-06-19
DE102012210317A DE102012210317A1 (de) 2012-06-19 2012-06-19 Verfahren und Vorrichtung zum Fahren einer Fahrstrecke mit einem vorgegebenen gewünschten mittleren Energieverbrauch

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WO2013189664A1 true WO2013189664A1 (fr) 2013-12-27

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CN110941277A (zh) * 2019-12-13 2020-03-31 华南智能机器人创新研究院 一种小车路线规划方法及系统
CN111148650A (zh) * 2017-08-23 2020-05-12 Cpk汽车业有限责任两合公司 用于影响马达的能量消耗的方法

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FR3021281B1 (fr) * 2014-05-22 2017-12-08 Centre Nat D'etudes Spatiales C N E S Dispositif d'assistance a la gestion de la consommation energetique d'un vehicule, procede, programme et vehicule
SE539494C2 (en) 2014-10-20 2017-10-03 Scania Cv Ab Method and system for propulsion of a vehicle
DE102015217801A1 (de) * 2015-09-17 2017-03-23 Zf Friedrichshafen Ag Geschwindigkeitssteuerung eines Kraftfahrzeugs
DE102016203301A1 (de) * 2016-03-01 2017-09-07 Bayerische Motoren Werke Aktiengesellschaft Individualisierung der Fahrleistungen eines Kraftfahrzeugs
DE102016203299A1 (de) * 2016-03-01 2017-09-07 Bayerische Motoren Werke Aktiengesellschaft Individualisierung der Fahrleistungen eines Kraftfahrzeugs
DE102018213339A1 (de) * 2018-08-08 2020-02-13 Volkswagen Aktiengesellschaft Verfahren zur Berechnung und insbesondere zur Anzeige einer Fahrempfehlung in einem Hybrid-Kraftfahrzeug
DE102022126944A1 (de) 2022-10-14 2024-04-25 Man Truck & Bus Se Verfahren zum Bestimmen eines hinsichtlich eines Zeit- und Energieverbrauchs optimalen Bewegungszustandes eines Objekts entlang einer Trajektorie
DE102022126945A1 (de) 2022-10-14 2024-04-25 Man Truck & Bus Se Verfahren zum Bestimmen eines hinsichtlich eines Zeit- und Energieverbrauchs optimalen Bewegungszustandes eines Objekts entlang einer Trajektorie
SE546276C2 (en) * 2023-01-23 2024-09-17 Scania Cv Ab Control device and method for controlling a look-ahead cruise control of a vehicle
CN115871450A (zh) * 2023-02-16 2023-03-31 日照职业技术学院 一种基于物联网的新能源汽车智能控制方法及系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111148650A (zh) * 2017-08-23 2020-05-12 Cpk汽车业有限责任两合公司 用于影响马达的能量消耗的方法
CN110941277A (zh) * 2019-12-13 2020-03-31 华南智能机器人创新研究院 一种小车路线规划方法及系统
CN110941277B (zh) * 2019-12-13 2023-02-17 华南智能机器人创新研究院 一种小车路线规划方法及系统

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