WO2021083637A1 - Method for specifying a target torque - Google Patents

Method for specifying a target torque Download PDF

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Publication number
WO2021083637A1
WO2021083637A1 PCT/EP2020/078366 EP2020078366W WO2021083637A1 WO 2021083637 A1 WO2021083637 A1 WO 2021083637A1 EP 2020078366 W EP2020078366 W EP 2020078366W WO 2021083637 A1 WO2021083637 A1 WO 2021083637A1
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WO
WIPO (PCT)
Prior art keywords
speed
motor vehicle
deflection
determined
target torque
Prior art date
Application number
PCT/EP2020/078366
Other languages
German (de)
French (fr)
Inventor
Harald Giuliani
Florian Schlumpp
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 WO2021083637A1 publication Critical patent/WO2021083637A1/en

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Classifications

    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, 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
    • B60L15/2063—Methods, 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 for creeping
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a method for specifying a target torque of an electric motor of a motor vehicle during a start-up process.
  • the present invention also relates to a computer program which is designed to carry out each step of the method, and to a machine-readable storage medium on which the computer program is stored.
  • the invention relates to an electronic control unit which is set up to carry out the method.
  • a creep regulator can be provided, which accelerates the motor vehicle from standstill to an adjustable minimum speed as soon as the service brake is released.
  • the driver usually has the option of reducing the required torque of the electromotor by deflecting the brake pedal or to de-activate the creep regulator when the brake is depressed strongly. This allows him to indirectly influence the vehicle speed.
  • the motor vehicle accelerates again to the set minimum speed.
  • DE 102 21 835 A1 proposes to arrange an inclination sensor in a vehicle driven by an electric motor.
  • the creep controller takes into account sensor data from the inclination sensor by modifying the torque requested in accordance with a deflection of the brake pedal so that the motor vehicle reaches the same speed that it would reach with the same deflection of the brake pedal on a level roadway.
  • the method for specifying a target torque of an electric motor of a motor vehicle can be used during a start-up process in order to specify the target torque in a creep regulator.
  • the electric motor can be both the only drive source of the motor vehicle and an electric motor of a hybrid vehicle, which is used in a purely electric start-up process.
  • a target speed of the motor vehicle is determined from a deflection of a brake pedal of the motor vehicle. The deflection can be determined, for example, as a function of a brake pedal travel or a brake pressure in a master cylinder.
  • the target torque is then determined from the target speed.
  • This method enables simple application in software in which a desired target speed can be set for each braking request. It is therefore not necessary to experimentally determine a torque limit through multiple experiments.
  • the target speed is determined by means of a map from the deflection of the brake pedal.
  • the specification is preferably made by means of a PI controller, which can be easily implemented in software.
  • a difference between the target speed and an actual speed of the motor vehicle is preferably fed to the PI controller.
  • the speed-based regulation ensures that the driver always has the same maneuvering behavior of the vehicle regardless of the gradient of the road. Even with other influences on the motor vehicle that can lead to a certain torque resulting in a lower speed than would be expected under normal conditions, such as an increased vehicle weight due to heavy loads or the attachment of a trailer the motor vehicle, the desired target speed can be set by means of the method without reducing the output torque.
  • Another advantage of the method compared to an indirect reduction in the speed of the motor vehicle compared to the set minimum speed as a function of the deflection of the brake pedal by means of a torque limitation is that a wind-up effect can be avoided, which also limits the controller output of the creep controller would bring itself.
  • the computer program is set up to carry out each step of the method, in particular when it runs on a computing device or on an electronic control device. It enables the implementation of different embodiments of the method on an electronic control device without having to make structural changes to it. For this purpose, it is stored on the machine-readable storage medium.
  • the electronic control device By uploading the computer program to a conventional electronic cal control device, the electronic control device is obtained, which is set up to specify a target torque of an electric motor of a motor vehicle during a start-up process by means of the method.
  • FIG. 1 shows schematically components of a motor vehicle to which a setpoint torque of its electric motor can be specified by means of an embodiment of the method according to the invention.
  • FIG. 2 shows a controller structure of part of a creep controller according to the prior art.
  • FIG. 3 shows a controller structure of part of a creep controller according to an exemplary embodiment of the invention.
  • a motor vehicle that is designed as an electric vehicle has an electric motor 10 shown in FIG. 1. This is controlled by an electronic control device 20.
  • a brake pedal 30 has a pedal body 31 by means of which the driver of the motor vehicle can operate it.
  • the brake pedal 30 is pivotably mounted on a joint 32. In a partially deflected position 30a, there is a deflection ⁇ which is forwarded to the electronic control unit 20.
  • a conventional creep regulator which can be implemented in the electronic control unit 20, has a regulator element 21, which is shown in FIG.
  • the deflection ⁇ is fed to this.
  • a setpoint torque M SO II of the electric motor 10 is determined from the deflection ⁇ by means of a characteristic map 22.
  • the actual torque of the electric motor 10 is regulated by the creep regulator to this target torque M S oii.
  • the method according to the invention the
  • the deflection ⁇ is also fed to this control element 21.
  • a characteristic map 23 which differs from the characteristic map 22 of the conventional regulator element 21
  • a setpoint speed v so n of the motor vehicle is determined from the deflection ⁇ .
  • a difference Dn is determined from this setpoint speed v so n and an actual speed v, st of the motor vehicle.
  • This difference Dn is fed to a PI controller 24. That person can recognize from the sign of the difference whether an increase or a decrease in the actual speed v, st is necessary to reach the setpoint speed V SO II and by what amount this increase or decrease should take place.
  • the PI controller 24 determines a target torque M S oii of the electric motor 10, which is further processed in the same way as in the conventional creep regier. This procedure enables the driver by the deflection ß of the brake pedal 30, the target speed V SO len personallystel- of the motor vehicle directly II and independent of external influences acting on the motor vehicle to achieve an acceleration of the vehicle on this desired speed V SO II.

Abstract

The invention relates to a method for specifying a target torque (Msoll) of an electric motor of a motor vehicle during a start-up process. From a deflection (β) of a brake pedal (30), a target speed (vsoll) of the motor vehicle is determined and the target torque (Msoll) is determined from the target speed (vsoll).

Description

Beschreibung description
Titel title
Verfahren zum Vorgeben eines Solldrehmoments Method for specifying a target torque
Die vorliegende Erfindung betrifft ein Verfahren zum Vorgeben eines Solldrehmo ments eines Elektromotors eines Kraftfahrzeugs während eines Anfahrvorgangs. Weiterhin betrifft die vorliegende Erfindung ein Computerprogramm, welches ein gerichtet ist, jeden Schritt des Verfahrens durchzuführen, sowie ein maschinen lesbares Speichermedium, auf welchem das Computerprogramm gespeichert ist. Schließlich betrifft die Erfindung ein elektronisches Steuergerät, welches einge richtet ist, um das Verfahren durchzuführen. The present invention relates to a method for specifying a target torque of an electric motor of a motor vehicle during a start-up process. The present invention also relates to a computer program which is designed to carry out each step of the method, and to a machine-readable storage medium on which the computer program is stored. Finally, the invention relates to an electronic control unit which is set up to carry out the method.
Stand der Technik State of the art
Um den Fahrer eines elektrisch angetriebenen Kraftfahrzeugs, bei dem es sich um ein reines Elektrofahrzeug oder auch um ein Hybridfahrzeug im elektrischen Fährbetrieb handeln kann, beim Anfahren dasselbe Fahrgefühl zu vermitteln wie bei einem konventionellen Fahrzeug mit Verbrennungsmotor und Automatikge triebe, kann ein Kriechregler vorgesehen sein, der das Kraftfahrzeug aus dem Stillstand auf eine einstellbare Mindestgeschwindigkeit beschleunigt sobald die Betriebsbremse gelöst wird. Der Fahrer hat dabei üblicherweise die Möglichkeit über die Auslenkung des Bremspedals das angeforderte Drehmoment des Elekt romotors zu verringern oder bei stark gedrückter Bremse den Kriechregler zu de aktivieren. Damit hat er indirekt die Möglichkeit die Fahrzeuggeschwindigkeit zu beeinflussen. Wenn der Fahrer die Bremse löst, beschleunigt das Kraftfahrzeug wieder auf die eingestellte Mindestgeschwindigkeit. In order to give the driver of an electrically powered motor vehicle, which can be a purely electric vehicle or a hybrid vehicle in electric ferry operation, the same driving experience when starting off as with a conventional vehicle with an internal combustion engine and automatic transmission, a creep regulator can be provided, which accelerates the motor vehicle from standstill to an adjustable minimum speed as soon as the service brake is released. The driver usually has the option of reducing the required torque of the electromotor by deflecting the brake pedal or to de-activate the creep regulator when the brake is depressed strongly. This allows him to indirectly influence the vehicle speed. When the driver releases the brake, the motor vehicle accelerates again to the set minimum speed.
Indem dem Fahrer lediglich die Möglichkeit gegeben wird direkt das angeforderte Drehmoment jedoch nicht direkt die angeforderte Fahrzeuggeschwindigkeit zu beeinflussen, können äußere Einflüsse dazu führen, dass dieselbe Auslenkung des Bremspedals in verschiedenen Situationen zu einer unterschiedlichen Ge schwindigkeit des Kraftfahrzeugs führt. So kann eine Auslenkung des Bremspe dals die auf ebener Fahrbahn ein langsames Anfahren des Fahrzeugs bewirkt, an einer Steigung möglicherweise nicht ausreichen, um das Fahrzeug in Bewe gung zu setzen oder sogar zu einem ungewollten Zurückrollen des Kraftfahr zeugs führen. Um die gewünschte Fahrzeuggeschwindigkeit zu erreichen, muss der Fahrer die äußeren Einflüsse selbst kompensieren, indem er die Auslenkung des Bremspedals so anpasst, dass die von ihm gewünschte Geschwindigkeit er reicht wird. Since the driver is only given the option of directly influencing the requested torque but not directly influencing the requested vehicle speed, external influences can lead to the same deflection the brake pedal leads to a different speed of the motor vehicle in different situations. For example, a deflection of the brake pedal, which causes the vehicle to start slowly on a level roadway, may not be sufficient on an incline to set the vehicle in motion or even lead to the vehicle rolling back unintentionally. In order to achieve the desired vehicle speed, the driver must compensate for external influences himself by adjusting the deflection of the brake pedal so that the desired speed is achieved.
Die DE 102 21 835 Al schlägt vor in einem von einem Elektromotor angetriebe nen Fahrzeug einen Neigungssensor anzuordnen. Der Kriechregler berücksich tigt Sensordaten des Neigungssensors, indem er das gemäß einer Auslenkung des Bremspedals angeforderte Drehmoment so modifiziert, dass das Kraftfahr zeug dieselbe Geschwindigkeit erreicht, die es bei derselben Auslenkung des Bremspedals auf einer ebenen Fahrbahn erreichen würde. DE 102 21 835 A1 proposes to arrange an inclination sensor in a vehicle driven by an electric motor. The creep controller takes into account sensor data from the inclination sensor by modifying the torque requested in accordance with a deflection of the brake pedal so that the motor vehicle reaches the same speed that it would reach with the same deflection of the brake pedal on a level roadway.
Offenbarung der Erfindung Disclosure of the invention
Das Verfahren zum Vorgeben eines Solldrehmoments eines Elektromotors eines Kraftfahrzeugs kann während eines Anfahrvorgangs verwendet werden, um das Solldrehmoment in einem Kriechregler vorzugeben. Der Elektromotor kann dabei sowohl die einzige Antriebsquelle des Kraftfahrzeugs sein als auch ein Elektro motor eines Hybridfahrzeugs, welcher bei einem rein elektrischen Anfahrvorgang verwendet wird. Aus einer Auslenkung eines Bremspedals des Kraftfahrzeugs wird eine Sollgeschwindigkeit des Kraftfahrzeugs ermittelt. Die Auslenkung kann beispielsweise in Abhängigkeit eines Bremspedalwegs oder auch eines Brems drucks in einem Hauptzylinder ermittelt werden. Das Solldrehmoment wird dann aus der Sollgeschwindigkeit ermittelt. The method for specifying a target torque of an electric motor of a motor vehicle can be used during a start-up process in order to specify the target torque in a creep regulator. The electric motor can be both the only drive source of the motor vehicle and an electric motor of a hybrid vehicle, which is used in a purely electric start-up process. A target speed of the motor vehicle is determined from a deflection of a brake pedal of the motor vehicle. The deflection can be determined, for example, as a function of a brake pedal travel or a brake pressure in a master cylinder. The target torque is then determined from the target speed.
Dieses Verfahren ermöglicht eine einfache Applikation in einer Software, in der zu jedem Bremswunsch eine gewünschte Sollgeschwindigkeit eingestellt werden kann. Es ist also nicht erforderlich, ein Drehmomentlimit durch mehrfache Versu che experimentell zu ermitteln. Hierzu kann insbesondere vorgesehen sein, dass die Sollgeschwindigkeit mittels eines Kennfeldes aus der Auslenkung des Brems pedals ermittelt wird. This method enables simple application in software in which a desired target speed can be set for each braking request. It is therefore not necessary to experimentally determine a torque limit through multiple experiments. For this purpose, it can be provided in particular that the target speed is determined by means of a map from the deflection of the brake pedal.
Das Vorgeben erfolgt vorzugsweise mittels eines PI-Reglers, der in einfacher Weise in einer Software implementiert werden kann. The specification is preferably made by means of a PI controller, which can be easily implemented in software.
Dem PI-Regler wird vorzugsweise eine Differenz zwischen der Sollgeschwindig keit und einer Ist-Geschwindigkeit des Kraftfahrzeugs zugeführt. Durch die ge schwindigkeitsbasierte Regelung wird ein unabhängig von der Steigung der Fahr bahn für den Fahrer immer gleich bleibendes Rangierverhalten des Kraftfahr zeugs erhalten. Auch bei anderen Einflüssen auf das Kraftfahrzeug, die dazu füh ren können, dass ein bestimmtes Drehmoment in einer geringeren Geschwindig keit resultiert, als dies unter normalen Bedingungen zu erwarten wäre, wie bei spielsweise bei einem erhöhten Fahrzeuggewicht durch starke Beladung oder dem Anhängen eines Anhängers an das Kraftfahrzeug, kann mittels des Verfah rens die gewünschte Sollgeschwindigkeit eingestellt werden, ohne dabei das Ausgangsdrehmoment zu verringern. A difference between the target speed and an actual speed of the motor vehicle is preferably fed to the PI controller. The speed-based regulation ensures that the driver always has the same maneuvering behavior of the vehicle regardless of the gradient of the road. Even with other influences on the motor vehicle that can lead to a certain torque resulting in a lower speed than would be expected under normal conditions, such as an increased vehicle weight due to heavy loads or the attachment of a trailer the motor vehicle, the desired target speed can be set by means of the method without reducing the output torque.
Ein weiterer Vorteil des Verfahrens gegenüber einer indirekten Verringerung der Geschwindigkeit des Kraftfahrzeugs gegenüber der eingestellten Mindestge schwindigkeit in Abhängigkeit von der Auslenkung des Bremspedals mittels einer Momentenlimitierung besteht darin, dass ein Wind-Up-Effekt vermieden werden kann, welcher eine Begrenzung des Reglerausgangs des Kriechreglers mit sich bringen würde. Another advantage of the method compared to an indirect reduction in the speed of the motor vehicle compared to the set minimum speed as a function of the deflection of the brake pedal by means of a torque limitation is that a wind-up effect can be avoided, which also limits the controller output of the creep controller would bring itself.
Das Computerprogramm ist eingerichtet jeden Schritt des Verfahrens durchzu führen insbesondere, wenn es auf einem Rechengerät oder auf einem elektroni schen Steuergerät abläuft. Es ermöglicht die Implementierung unterschiedlicher Ausführungsformen des Verfahrens auf einem elektronischen Steuergerät ohne hieran bauliche Veränderungen vornehmen zu müssen. Hierzu ist es auf dem maschinenlesbaren Speichermedium gespeichert. Durch Aufspielen des Computerprogramms auf ein herkömmliches elektroni sches Steuergerät wird das elektronische Steuergerät erhalten, welches einge richtet ist, um ein Solldrehmoment eines Elektromotors eines Kraftfahrzeugs während eines Anfahrvorgangs mittels des Verfahrens vorzugeben. The computer program is set up to carry out each step of the method, in particular when it runs on a computing device or on an electronic control device. It enables the implementation of different embodiments of the method on an electronic control device without having to make structural changes to it. For this purpose, it is stored on the machine-readable storage medium. By uploading the computer program to a conventional electronic cal control device, the electronic control device is obtained, which is set up to specify a target torque of an electric motor of a motor vehicle during a start-up process by means of the method.
Kurze Beschreibung der Zeichnungen Brief description of the drawings
Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen dargestellt und wird in der nachfolgenden Beschreibung näher erläutert. An embodiment of the invention is shown in the drawings and is explained in more detail in the following description.
Figur 1 zeigt schematisch Komponenten eines Kraftfahrzeugs, dem mittels eines Ausführungsbeispiels des erfindungsgemäßen Verfahrens ein Solldrehmoment seines Elektromotors vorgegeben werden kann. FIG. 1 shows schematically components of a motor vehicle to which a setpoint torque of its electric motor can be specified by means of an embodiment of the method according to the invention.
Figur 2 zeigt eine Reglerstruktur eines Teils eines Kriechreglers gemäß dem Stand der Technik. FIG. 2 shows a controller structure of part of a creep controller according to the prior art.
Figur 3 zeigt eine Reglerstruktur eines Teils eines Kriechreglers gemäß einem Ausführungsbeispiel der Erfindung. FIG. 3 shows a controller structure of part of a creep controller according to an exemplary embodiment of the invention.
Ausführungsbeispiel der Erfindung Embodiment of the invention
Ein Kraftfahrzeug, das als Elektrofahrzeug ausgeführt ist, weist einen in Figur 1 dargestellten Elektromotor 10 auf. Dieser wird von einem elektronischen Steuer gerät 20 gesteuert. Ein Bremspedal 30 weist einen Pedalkörper 31 auf, mittels dessen der Fahrer des Kraftfahrzeugs es betätigen kann. Das Bremspedal 30 ist an einem Gelenk 32 schwenkbar gelagert. In einer teilweise ausgelenkten Posi tion 30a liegt eine Auslenkung ß vor, die an das elektronische Steuergerät 20 weitergeleitet wird. A motor vehicle that is designed as an electric vehicle has an electric motor 10 shown in FIG. 1. This is controlled by an electronic control device 20. A brake pedal 30 has a pedal body 31 by means of which the driver of the motor vehicle can operate it. The brake pedal 30 is pivotably mounted on a joint 32. In a partially deflected position 30a, there is a deflection β which is forwarded to the electronic control unit 20.
Ein herkömmlicher Kriechregler, der in dem elektronischen Steuergerät 20 imple mentiert werden kann, weist ein Reglerelement 21 auf, das in Figur 2 dargestellt ist. Diesem wird die Auslenkung ß zugeführt. Mittels eines Kennfeldes 22 wird aus der Auslenkung ß ein Solldrehmoment MSOII des Elektromotors 10 ermittelt. Bei einem Anfahrvorgang des Kraftfahrzeugs, bei dem sein Gaspedal nicht betä tigt wird, wird das Ist-Drehmoment des Elektromotors 10 vom Kriechregler auf dieses Solldrehmoment MSoii geregelt. In einem Ausführungsbeispiel des erfindungsgemäßen Verfahrens weist dasA conventional creep regulator, which can be implemented in the electronic control unit 20, has a regulator element 21, which is shown in FIG. The deflection β is fed to this. A setpoint torque M SO II of the electric motor 10 is determined from the deflection β by means of a characteristic map 22. During a start-up process of the motor vehicle in which its accelerator pedal is not actuated, the actual torque of the electric motor 10 is regulated by the creep regulator to this target torque M S oii. In one embodiment of the method according to the invention, the
Reglerelement 21 zur Ermittlung des Soll-Drehmoments MSoii, die in Figur 3 dar gestellte Struktur auf. Auch diesem Reglerelement 21 wird die Auslenkung ß zu geführt. In einem Kennfeld 23, das sich vom Kennfeld 22 des herkömmlichen Reglerelements 21 unterscheidet, wird aus der Auslenkung ß eine Sollgeschwin- digkeit vson des Kraftfahrzeugs ermittelt. Aus dieser Sollgeschwindigkeit vson und einer Istgeschwindigkeit v,st des Kraftfahrzeugs, wird eine Differenz Dn ermittelt. Diese Differenz Dn wird einem PI-Regler 24 zugeführt. Jener kann aus dem Vor zeichen der Differenz erkennen, ob zum Erreichen der Sollgeschwindigkeit VSOII eine Erhöhung oder eine Verringerung der Istgeschwindigkeit v,st notwendig ist und um welchen Betrag diese Erhöhung oder Verringerung erfolgen soll. Daraus wird vom PI-Regler 24 ein Solldrehmoment MSoii des Elektromotors 10 ermittelt, das in der gleichen Weise wie im herkömmlichen Kriech regier weiterverarbeitet wird. Dieses Verfahren ermöglicht es dem Fahrer durch die Auslenkung ß des Bremspedals 30 die Sollgeschwindigkeit VSOII des Kraftfahrzeugs direkt einzustel- len und unabhängig von äußeren Einflüssen, die auf das Kraftfahrzeug wirken, eine Beschleunigung des Fahrzeugs auf diese gewünschte Geschwindigkeit VSOII zu erreichen. Controller element 21 for determining the target torque M S oii, the structure presented in FIG. 3. The deflection β is also fed to this control element 21. In a characteristic map 23, which differs from the characteristic map 22 of the conventional regulator element 21, a setpoint speed v so n of the motor vehicle is determined from the deflection β. A difference Dn is determined from this setpoint speed v so n and an actual speed v, st of the motor vehicle. This difference Dn is fed to a PI controller 24. That person can recognize from the sign of the difference whether an increase or a decrease in the actual speed v, st is necessary to reach the setpoint speed V SO II and by what amount this increase or decrease should take place. From this, the PI controller 24 determines a target torque M S oii of the electric motor 10, which is further processed in the same way as in the conventional creep regier. This procedure enables the driver by the deflection ß of the brake pedal 30, the target speed V SO len einzustel- of the motor vehicle directly II and independent of external influences acting on the motor vehicle to achieve an acceleration of the vehicle on this desired speed V SO II.

Claims

Ansprüche Expectations
1. Verfahren zum Vorgeben eines Solldrehmoments (MSoii) eines Elektromotors (10) eines Kraftfahrzeugs während eines Anfahrvorgangs, worin aus einer Auslenkung (ß) eines Bremspedals (30) eine Sollgeschwindigkeit (VSOII) des Kraftfahrzeugs ermittelt wird und das Solldrehmoment (MSoii) aus der Sollge schwindigkeit (vsoii) ermittelt wird. 1. A method for specifying a target torque (M S oii) of an electric motor (10) of a motor vehicle during a starting process, in which a target speed (V SO II) of the motor vehicle is determined from a deflection (β) of a brake pedal (30) and the target torque ( M S oii) from the Sollge speed (vsoii) is determined.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Sollgeschwin digkeit (vsoii) mittels eines Kennfeldes aus der Auslenkung (ß) des Bremspe dals (30) ermittelt wird. 2. The method according to claim 1, characterized in that the Sollgeschwin speed (v soii ) is determined by means of a map from the deflection (ß) of the brake pedal (30).
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Vor geben mittels eines PI-Reglers erfolgt. 3. The method according to claim 1 or 2, characterized in that the before giving takes place by means of a PI controller.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass dem PI-Regler eine Differenz (Dn) zwischen der Sollgeschwindigkeit (VSOII) und einer Istge- schwindigkeit (vist) des Kraftfahrzeugs zugeführt wird. 4. The method according to claim 3, characterized in that the PI controller is supplied with a difference (Dn) between the setpoint speed (V SO II) and an actual speed (vi st ) of the motor vehicle.
5. Computerprogramm, welches eingerichtet ist, jeden Schritt des Verfahrens nach einem der Ansprüche 1 bis 4 durchzuführen. 5. Computer program which is set up to carry out each step of the method according to one of claims 1 to 4.
6. Maschinenlesbares Speichermedium, auf welchem ein Computerprogramm nach Anspruch 5 gespeichert ist. 6. Machine-readable storage medium on which a computer program according to claim 5 is stored.
7. Elektronisches Steuergerät (20), welches eingerichtet ist, um ein Solldrehmo ment (Msoii) eines Elektromotors (10) eines Kraftfahrzeugs während eines An fahrvorgangs mittels eines Verfahrens nach einem der Ansprüche 1 bis 4 vor zugeben. 7. Electronic control unit (20), which is set up to provide a Solldrehmo ment (Msoii) of an electric motor (10) of a motor vehicle during a driving process by means of a method according to any one of claims 1 to 4.
PCT/EP2020/078366 2019-10-29 2020-10-09 Method for specifying a target torque WO2021083637A1 (en)

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