阅读说明：本技术 环境友好型车辆的扭矩分配式惯性行驶控制方法 (The torque distribution formula inertia traveling control method of environmentally friendly vehicle ) 是由 许志旭 赵泰焕 于 2019-04-26 设计创作，主要内容包括：本公开涉及环境友好型车辆的扭矩分配式惯性行驶控制方法,包括：当检测到在惯性行驶控制下使环境友好型车辆减速的事件时,由控制器根据该事件计算距离变量和速度变量；由控制器通过划分电动机扭矩和液压制动扭矩来计算环境友好型车辆的惯性行驶所需的减速扭矩；以及由控制器执行惯性行驶协同控制,其中,在没有驾驶员干预的情况下利用通过电动机扭矩进行的电动机控制和通过液压制动扭矩进行的液压制动控制来执行减速。(This disclosure relates to the torque distribution formula inertia traveling control method of environmentally friendly vehicle, comprising: when detecting makes the event of environmentally friendly vehicle deceleration under inertia traveling control, calculated according to the event apart from variable and speed variables by controller；Deceleration torque needed for dividing the inertia traveling of motor torque and hydraulic braking torque to calculate environmentally friendly vehicle is passed through by controller；And inertia traveling Collaborative Control is executed by controller, wherein execute deceleration using the Motor Control carried out by motor torque and the hydraulic braking carried out by hydraulic braking torque control in the case where no driver's intervention.)

1. a kind of torque distribution formula inertia traveling control method of environmentally friendly vehicle, the described method comprises the following steps:

When detecting makes the event of the environmentally friendly vehicle deceleration under inertia traveling control, as controller according to Event is calculated apart from variable and speed variables；

By the controller, by the inertia for dividing environmentally friendly vehicle described in motor torque and hydraulic braking torque arithmetic Deceleration torque needed for traveling；And

Inertia traveling Collaborative Control is executed by the controller, wherein pass through the motor control carried out by the motor torque System and the hydraulic braking control carried out by the hydraulic braking torque, execute deceleration in the case where no driver's intervention.

2. according to the method described in claim 1, wherein, according to the inertia traveling target configuration diagram of the environmentally friendly vehicle It is described apart from variable and the speed variables to calculate.

3. according to the method described in claim 2, wherein, it is described apart from variable include starting position, conversion position and target position It sets, and

Wherein, the starting position, the conversion position and the target position are set in a time-sequential manner.

4. according to the method described in claim 2, wherein, the speed variables include current vehicle speed, estimated vehicle velocity And target vehicle velocity,

Wherein, the current vehicle speed is when the environmentally friendly vehicle is by the starting position apart from variable Car speed at time point, the estimated vehicle velocity are to work as to be configured in the starting position according to the inertia traveling target The car speed estimated when figure executes inertia traveling in the handoff position apart from variable, and the target vehicle velocity It is the car speed at the time point when the environmentally friendly vehicle reaches the target position apart from variable.

5. according to the method described in claim 1, wherein, being determined according to the deceleration energy of the environmentally friendly vehicle described Deceleration torque,

Wherein, the deceleration energy is the inertia traveling target configuration diagram using the environmentally friendly vehicle and does not apply described The size of the deceleration generated between the inertia traveling target configuration diagram of environmentally friendly vehicle.

6. according to the method described in claim 5, wherein, executing the deceleration torque and the deceleration energy by retarding power Between conversion.

7. according to the method described in claim 6, wherein, by the way that the deceleration energy of entire section is calculated divided by the unit time The retarding power.

8. according to the method described in claim 1, wherein, the step of calculating the maximum value of the motor torque, is as described in assigning Electric motor state when deceleration torque determines.

9. according to the method described in claim 8, wherein, the motor torque passes through the mapping deceleration torque and can electricity consumption Motivation deceleration torque and be calculated as the actual motor deceleration torque as intersection region.

10. according to the method described in claim 9, wherein, the actual motor deceleration torque is that the available motor subtracts The minimum value of fast torque.

11. according to the method described in claim 9, wherein, the region outside the intersection region of the deceleration torque is brake fluid pressure, And the brake fluid pressure is calculated as the hydraulic braking torque.

12. according to the method described in claim 1, further include:

When executing the inertia traveling Collaborative Control, detects the target position terminated as the inertia traveling Collaborative Control and arrive Up to the inertia traveling Cooperation controlling termination condition of condition and the release conditions interrupted as the inertia traveling Collaborative Control.

13. according to the method for claim 12, wherein when meeting, wheel lock occurs, anti-lock braking system ABS is operated When at least one condition in braking maneuver, the release conditions interrupt the inertia traveling Collaborative Control.

14. according to the method for claim 13, wherein the wheel lock occurs and ABS operation includes inertia row Critical condition is sailed, and

The braking maneuver includes the subsequent preferential release conditions of inertia traveling.

15. according to the method for claim 14, wherein under the inertia traveling critical condition, via by described Motor torque application step output 0 and the wheel lock executed occurs or the inertia traveling is interrupted in the control of ABS operation Collaborative Control.

16. according to the method for claim 14, wherein under the subsequent preferential release conditions of the inertia traveling, via logical The control of the braking maneuver executed to the motor torque using the rate output on slope is crossed to interrupt the inertia traveling Collaborative Control.

17. according to the method for claim 12, wherein under the release conditions, pass through the manipulation according to brake pedal When starting control when braking, control when limiting regenerative braking and stopping braking according to the release of the manipulation of brake pedal At least one of control controls vehicle driving.

18. according to the method described in claim 1, wherein, the controller includes cooperating with GPS and battery management system BMS Mixed control unit HCU, and the HCU and be configured to control motor motor control unit MCU and be configured to control The active hydraulic booster AHB of braking system processed cooperates.

19. according to the method for claim 18, wherein the HCU includes:

Vehicle deceleration energy calculator is configured to calculate the deceleration energy of the environmentally friendly vehicle for the deceleration torque Amount；

Available motor deceleration energy processor is configured to calculate the motor torque；And

Hydraulic braking torque calculator is configured to calculate the hydraulic braking torque.

20. according to the method for claim 19, wherein the available motor deceleration energy processor includes:

Available motor deceleration energy calculator is configured to calculate available motor deceleration torque；

Motor deceleration torque processor, be configured to by map the available motor deceleration torque and the deceleration torque come Calculate intersection region；And

Motor torque processor is configured so that the intersection region as actual motor deceleration torque to calculate the electricity Motivation torque.

Technical field

This disclosure relates to which the inertia traveling of environmentally friendly vehicle controls.More particularly, this disclosure relates to for torque point With (sharing) formula inertia traveling control method, wherein be used in the maximum of motor using being executed by hydraulic braking under state Property traveling Collaborative Control.

Background technique

Recently, the extension that control range is improved by fuel efficiency, in use motor as the environmental-friendly of power source The fuel efficiency further increased is pursued in type vehicle.

The example of the extension of control range is improved as fuel efficiency, there are vehicle deceleration situations.In vehicle braking process In, caused by vehicle deceleration situation is the deceleration in the inertia traveling control as vehicle, wherein vehicle is in no pilot control Control of slowing down actively is executed in the case where brake pedal, rather than is being realized for being converted kinetic energy according to the manipulation of brake pedal In the case of the vehicle braking controlled at the regenerative braking of electric energy.

Therefore, for inertia traveling control induction (induce) driver by raising fuel efficiency of slowing down in vehicle row Decelerating vehicles when front deceleration event (for example, navigation notice) occur while sailing, and under subsequent deceleration situations, inertia Traveling control declines the revolving speed of motor to prevent from wasting energy due to brake pedal forced deceleration vehicle, thus further Improve fuel efficiency.In this case, inertia traveling guidance and guidance function are implemented as to the induction of driver's decelerating vehicles Can, induction driver in reasonable time point discharges foot from accelerator pedal.

More particularly, inertia traveling control detection deceleration event, needs to make vehicle deceleration when vehicle travels, such as connect Refute point (IC), junction (JC), intersection, speed limit roadways, crankcase ventilaton, traffic lights, u turn, left-hand rotation or right-hand rotation, charge Stand, destination etc., and inertia traveling control induction driver in deceleration time point by foot from accelerator pedal or brake pedal Then upper release controls motor torque (i.e. negative torque) to execute the deceleration of vehicle.Therefore, with the friction by brake apparatus The regenerative braking that the brake force distribution of brake force and the regenerative braking force (electric braking force) of motor executes is different, inertia traveling control System only executes the deceleration of vehicle in the case where no friction brake force by the motor of running resistance and vehicle.

Therefore, it is controlled, can be dramatically increased for vehicle deceleration control by the inertia traveling coordinated with regenerative braking control The motor availability of system, while the increase rate of the fuel efficiency of environmentally friendly vehicle can be improved, and there is no driver The motor deceleration control of intervention can also have the availability suitable for infrastructure technique needed for autonomous vehicle.

However, above-mentioned inertia traveling control is only limitted to the control method of only motor, motor is used only in this method, and There is no hydraulic braking.Therefore, because the control method of only motor cannot use it is hydraulic with easiness and accuracy, because This is difficult to improve the reliability that driver carries out inertia traveling control, in particular for the limitation for preventing execution inertia traveling control Condition, so that the control method of only motor is inevitably insufficient and is unsuitable for the autonomous vehicle of not driver's intervention.

Summary of the invention

Embodiment of the disclosure is related to the environmentally friendly vehicle using torque distribution formula inertia traveling control method, passes through Inertia is realized in the motor deceleration control carried out by motor torque and the hydraulic braking control carried out by hydraulic braking torque Collaborative Control is travelled, this method can overcome the limitation that the inertia traveling control of motor is used alone, particularly, by using The inertia traveling Collaborative Control of hydraulic characteristic with control easiness and accuracy, in the reliability and fuel for improving driver The availability of the not autonomous vehicle of driver's intervention is improved while the effect that efficiency improves.

It is understood that the other objects and advantages of the disclosure by being described below, and becomes with reference to embodiment of the disclosure It obtains obviously.In addition, for the disclosure it will be apparent to those skilled in the art that, means claimed can be passed through And combinations thereof realize the disclosure objects and advantages.

In accordance with an embodiment of the present disclosure, torque distribution formula inertia traveling control method includes: environmentally friendly when detecting When the event that vehicle slows down under inertia traveling control, calculated according to the event apart from variable and speed variables by controller；By Controller is subtracted needed for the inertia traveling of motor torque and hydraulic braking torque to calculate environmentally friendly vehicle by dividing Fast torque；And by controller execute inertia traveling Collaborative Control, wherein in the case where no driver's intervention, by by The Motor Control of motor torque progress and the hydraulic braking carried out by hydraulic braking torque control to execute deceleration.

It can be according to environmentally friendly vehicle using the starting position of inertia traveling control, conversion position and target position Inertia traveling target configuration diagram (target profile) is calculated as apart from variable.In such a case, it is possible in a time-sequential manner Set starting position, conversion position and target position.

It can be according to environment using current vehicle speed, estimated vehicle velocity and the target vehicle velocity that inertia traveling controls The inertia traveling target configuration diagram of friendly vehicle is calculated as speed variables.In this case, current vehicle speed can be Car speed when environmentally friendly vehicle is by starting position apart from variable, estimated vehicle velocity can be when in start bit The car speed estimated when place executes inertia traveling according to inertia traveling target configuration diagram in the handoff position apart from variable is set, And target vehicle velocity can be the car speed when environmentally friendly vehicle reaches the target position apart from variable.

Deceleration torque for inertia traveling control can determine that this subtracts according to the deceleration energy of environmentally friendly vehicle Fast energy be the inertia traveling target configuration diagram of environmentally friendly vehicle application with do not apply between generate, and it is entire The deceleration energy of section can be calculated as deceleration torque after being calculated as retarding power divided by the unit time.

It can be used as the practical electricity that intersection region is formed and available motor deceleration torque is mapped to deceleration torque Motivation deceleration torque calculates the motor torque for inertia traveling Collaborative Control.Actual motor deceleration torque can be can With the minimum value of motor deceleration torque, and motor can be maximally utilised.For inertia traveling coordinated control The brake fluid in region that the motor torque that brake fluid pressure can be set to outside the intersection region of deceleration torque cannot manage Pressure.

When detecting inertia traveling Collaborative Control termination condition during executing inertia traveling Collaborative Control, torque distribution Formula inertia traveling control method may further include: when interrupting or terminating inertia traveling control, in the inertia row detected It sails and controls vehicle driving under Collaborative Control termination condition.

Inertia traveling control terminated due to target position reaching condition before, when meet wheel lock occur, it is antilock When at least one in dead braking system (ABS) operation and braking maneuver, inertia traveling Collaborative Control termination condition can be applied. Wheel lock occurs and ABS operation can be classified as inertia traveling critical condition, and under inertia traveling critical condition, inertia Travelling Collaborative Control can be by via the wheel lock for exporting (step output) 0 and execution to motor torque application step It is fixed to occur or the control of ABS operation is interrupted.Meanwhile braking maneuver can be classified as the subsequent preferential release conditions of inertia traveling, And under the subsequent preferential release conditions of inertia traveling, inertia traveling Collaborative Control can be by via to motor torque application The rate output (rate output of a slope) on slope and the control of braking maneuver executed are interrupted.

Release conditions can be related to the brake pedal of the driver of interruption together with inertia traveling Collaborative Control, make Control when can be by control when starting braking, limitation regenerative braking and terminate at least one of control when braking To control the traveling of environmentally friendly vehicle.

Controller may be constructed the ring including the mixed control unit (HCU) and battery management system (BMS) that cooperate with GPS Border friendly vehicle, and environmentally friendly vehicle may be configured such that the motor control unit (MCU) of control motor Cooperate with the active hydraulic booster (AHB) and HCU of control braking system.

HCU may include the vehicle deceleration energy for calculating the deceleration energy of environmentally friendly vehicle for deceleration torque Calculator, the available motor deceleration energy processor for calculating motor torque and for calculating hydraulic braking torque Hydraulic braking torque calculator.

Available motor deceleration energy processor may include electronic for calculating can be used for available motor deceleration torque Machine deceleration energy calculator, for calculating the electricity of intersection region by the way that available motor deceleration torque is mapped to deceleration torque Motivation deceleration torque processor and motor torque is calculated for using intersection region as actual motor deceleration torque Motor torque processor.

Detailed description of the invention

Fig. 1 is the flow chart of torque distribution formula inertia traveling control method according to the exemplary embodiment of the disclosure.

Fig. 2 is according to the exemplary embodiment of the disclosure by inertia traveling Collaborative Control realization torque distribution formula inertia Travel the example of the environment-friendly type vehicle of control.

Fig. 3 is to illustrate inertia traveling target configuration diagram according to the exemplary embodiment of the disclosure and do not execute Collaborative Control When vehicle estimated vehicle velocity between target position car speed difference curve graph.

Fig. 4 is to show the target position according to the exemplary embodiment of the disclosure that will reach inertia traveling target configuration diagram The deceleration energy of required vehicle is converted to the exemplary diagram of the deceleration torque of vehicle.

Fig. 5 is to show according to the exemplary embodiment of the disclosure calculate by inertia traveling Collaborative Control to reach target position Set the exemplary diagram of required hydraulic braking torque and motor deceleration torque.

Specific embodiment

Hereinafter with reference to attached drawing, exemplary embodiments of the present disclosure are described in more detail, and these embodiments are the disclosure Example, and disclosure those skilled in the art can implement the disclosure in different forms so that the present disclosure is not limited to These embodiments.

For the ease of reference, inertia traveling variable, event, target vehicle velocity and inertia applied to inertia traveling control Traveling is defined as follows.

Inertia traveling variable can be substantially based on starting position, conversion position, target position, current vehicle speed, by Car speed, estimated vehicle velocity and target vehicle velocity are controlled to calculate, and further basis can be based on deceleration energy, subtract The condition of fast torque, motor torque and hydraulic braking torque calculates or inertia traveling variable can be set as setting value, Or it can be used as the result of the mapping processing of condition value and obtain.However, calculating, setting value or mapping processing result pass through root Change according to the optimization of the drive condition and specification of vehicle and each device, therefore this is not limited to particular value.

Event (or deceleration event or deceleration event situation) refers to positioned at vehicle front and vehicle is in the road of vehicle driving The position for needing to slow down on the road.

Target vehicle velocity is the predetermined value of each event.For example, target vehicle velocity can be according to such as obliquely The road conditions on face or flat ground setting fixing speed, need speed limit speed limit roadways rate limitation, in intersection The fixing speed at place and the fixing speed set according to the road curvature of crankcase ventilaton.

Inertia traveling, which refers to, to be opened or discharges and driver is by accelerator pedal and brake pedal in engine clutch In the state of all unclamping, vehicle is travelled due to inertia.Therefore, inertia traveling may include sliding, and wherein vehicle is due to only existing The inertia of descending road vehicle and travel, but should understand inertia traveling in the broader sense compared with sliding.

It is compared with being controlled according to the torque distribution formula inertia traveling of the disclosure, the limitation of conventional inertia traveling control can be clear Understand to Chu as follows.

Traditional inertia traveling control can not achieve vehicle deceleration, moreover, in the reality smaller than available motor deceleration torque Motor is utilized in the case where the motor deceleration torque of border, so that vehicle deceleration is inevitably limited to the covering model of motor It encloses.Particularly, since traditional inertia traveling control does not use hydraulic braking, and therefore when the inertia traveling power of needs is high When, motor cannot be managed to execute inertia traveling control, and inertia traveling is restricted so that regeneration energy recovery inevitably by To limitation.

Further, since motor, therefore maximum available motor performance and vehicle shape is used only in conventional inertia traveling control State restrictive condition (for example, generation of motor specification and bms signal) is inevitably as the electricity for inertia traveling control The restrictive condition of motivation, and the limitation functionally that restrictive condition is inevitably used as inertia traveling to control, such as inertia Travel the limitation on guiding function and inertia traveling guidance display.

For example, the limitation on inertia traveling guiding function is the limitation inertia traveling guiding function when encountering speed camera Control, this is because when encounter hypervelocity camera and motor, which is used alone, does not converge on car speed according to inertia When the target velocity of traveling target configuration diagram, police is caused to enforce the law.

For example, the limitation in inertia traveling guidance display is that limitation battery is fully charged, battery charging limits, motor fills Difference between electric limitation, descending road, current vehicle speed and target vehicle velocity and the control close to target position, this It is required to be that determining inertia traveling controls whether can be used, this is because it is condition that battery can not charge that battery is fully charged, Battery charging limitation is temperature, the condition of voltage or electric current of battery, and motor can not be slowed down, motor charging limit System is the condition that motor can not slow down, and descending road is the item that descending road is severe and therefore motor can not slow down Part, the difference between current vehicle speed and target vehicle velocity are that car speed differs greatly and therefore motor can not The condition of deceleration, and close to target position be the deceleration conditions for only making undermoderated by motor.

It is therefore proposed that the torque distribution formula inertia traveling control method of Fig. 1 is to solve the above-mentioned of conventional inertia traveling control Problem.

With reference to Fig. 1, it is achieved by the steps of torque distribution formula inertia traveling control method: event when detection vehicle driving Generation (S10)；Inertia traveling variable (S20) needed for calculating inertia traveling control；It calculates and is turned round for the deceleration of vehicle deceleration Square (S30)；It executes inertia traveling Collaborative Control (S40)；And application inertia traveling Collaborative Control termination condition is to terminate or temporarily Stop inertia traveling control (S50).

Therefore, torque distribution formula inertia traveling control method has the main spy for executing inertia traveling Collaborative Control (S40) Sign, and the execution (S40) of inertia traveling Collaborative Control executes vehicle including the use of vehicle deceleration torque and hydraulic braking torque Slow down.Particularly, allowable value using the maximum of motor as motor deceleration torque, and even if motor most In the case where allowable value greatly, hydraulic braking torque also manages the insufficient section of vehicle deceleration.

Therefore, torque distribution formula inertia traveling control method overcomes the conventional inertia traveling control that motor is only used alone The limitation of system improves the reliability of driver on the basis of the easiness of the hydraulic control of braking system and accuracy, and Solves the restrictive condition of inertia traveling control, so that effect of the inertia traveling control area extension to bring fuel efficiency to improve Fruit.Particularly, in torque distribution formula inertia traveling control method, according to the inertia traveling of the restrictive condition of inertia traveling control The extension of control area also can have the availability suitable for infrastructure technique needed for autonomous vehicle.

Therefore, torque distribution formula inertia traveling control method is applied to use motor as vehicle traction source and can Pass through the vehicle of Motor Control regeneration mode and deceleration during inertia traveling.The representative of such vehicle has environmentally friendly vehicle , pure electric vehicle, hybrid vehicle, fuel cell electric vehicle etc..Particularly, hybrid vehicle not only includes General hybrid electric vehicle (HEV) further includes plug-in HEV (PHEV).

With reference to Fig. 2, environmentally friendly vehicle 1 includes the motor 3 for being used as power source, braking system 5, global positioning system (GPS) navigation device or simple GPS 10 and controller 20.

Particularly, motor 3 is the power source of environmentally friendly vehicle 1, and is matched with motor control unit (MCU) 40 Closing operation.Braking system 5 includes integrated braking auxiliary unit (IBAU), is controlled according to the manipulation of brake pedal by brake fluid pressure The wheel of environmentally friendly vehicle 1, and with 60 compounding practice of active hydraulic booster (AHB).Brake pedal is stepped on by driver It steps on and manipulates to allow to generate brake fluid pressure in hydraulic cylinder, be provided with for the braking light switch to external notification braking maneuver (BLS) brake-pedal travel (BPS) sensor and for detecting pedal travel, and be configured to according to braking maneuver to mixing Control unit (HCU) 30 provides signal.Therefore, motor 3 and braking system 5 are the general components of environmentally friendly vehicle 1.

Particularly, GPS 10 uses route topography information guidance vehicle driving, wherein the limitation car speed of each road, It plugs into the topography variation of point (IC), junction (JC) and charge station, and the vehicle driving variation turned left or turned right is classified as Event, and travel route setting is carried out on GPS 10.Therefore, GPS 10 is identical as the general GPS being installed on vehicle, but It is that difference is that GPS 10 cooperates with the controller 20 for inertia traveling control.

Particularly, controller 20 may include HCU 30, MCU 40, battery management system (BMS) 50 and AHB 60.Cause This, controller 20, which has, executes inertia traveling collaboration control by the operation of motor 3 and the brake cooperateed with braking system 5 The main feature of system, and controller 20 executes overall vehicle control, including starts inertia traveling control, distribution (sharing) Torque and all operations for terminating inertia traveling control.

For example, HCU 30 includes: vehicle deceleration energy calculator 31, for as being configured to control environmentally friendly vehicle The higher level controller of 1 traveling operates, and for calculate target position and starting position/conversion position/target position/ Deceleration torque needed between target vehicle velocity/conversion position；Available motor deceleration energy calculator 33, is used for and GPS 10 cooperations are charged according to motor limits power, available motor deceleration torque, motor deceleration torque and actual motor torsion Square calculates the contribution that motor controls inertia traveling, and is configured with available motor deceleration energy processor 33a, motor Deceleration torque processor 33b and motor torque processor 33c；And hydraulic braking torque calculator 35, for utilizing inertia Travel the insufficient torque of the hydraulic braking torque compensation motor 3 of control.

For example, MCU 40 controls motor 3, and including for carrying out inertia traveling control in association with HCU 30 Maximum charge torque processor 41 and motor torque output device 43.The charging of 41 operating motor of maximum charge torque processor Limitation setting and motor charging limitation Collaborative Control, notify electricity to the available motor deceleration energy processor 33a of HCU 30 Motivation charging limitation setting.The motor torque processor 33c of 43 cooperation HCU 30 of motor torque output is exported to motor 3 Motor torque output.

For example, BMS 50 controls the charged state (SOC) of battery and including carrying out torque point for cooperating with HCU 30 Maximum charge power processor 51 with control.Maximum charge power processor 51 executes battery SOC limitation setting, to prevent The battery overcharge of HCU 30, and battery charging limitation Collaborative Control is executed, to the available motor deceleration energy of HCU 30 Processor 33a notifies battery SOC limitation setting.

For example, AHB 60 includes hydraulic braking amount processor 61 and hydraulic braking output device 63, to be stepped on according to braking The manipulation and control braking system 5 of plate 7, and cooperate with HCU 30 and carry out inertia traveling control.When with hydraulic braking torque arithmetic When the cooperation guidance of device 35 is calculated as the inertia traveling of hydraulic braking torque, hydraulic braking amount processor 61 is based on motor 3 cannot The amount of management determines hydraulic braking amount.Hydraulic braking output device 63 is defeated to braking system 5 according to determining hydraulic braking amount Hydraulic braking exports out.

In addition, environmentally friendly vehicle 1 includes three-dimensional (3D) the map number being stored in the data store of controller 20 According to segment.Therefore, controller 20 is using 3D map datum segment and during the driving period via the received global location of GPS receiver System (GPS) information identifies the event of current vehicle location and vehicle front, and controller 20 is in inertia traveling control period Between guide driver that should unclamp accelerator and step on by information provider (for example, indicator or Vehicular display device on instrument board) The optimum time point of plate.3D map datum segment can be 3D geography information, can provide 3D road information accurately Diagram data segment, which includes the elevation information in two-dimentional (2D) plane, and 3D map datum segment can mention Vehicle speed information is provided for event location and target and is believed from current vehicle location to the sideways inclined of object event position Breath.For this purpose, 3D map datum segment can be the map for the Senior Officer's auxiliary system (ADAS) being pre-installed on vehicle Database, and target regulation vehicle speed information, the surrounding road of the location information for each event for needing to slow down, each event The inclination information on road etc. can be used by being input and stored in the 3D map data base of ADAS.

Hereinafter, the calculating of calculating (S20), deceleration torque of event occurs detection (S10), inertia traveling variable (S30), in the execution (S40) of inertia traveling Collaborative Control and the application (S50) of inertia traveling Collaborative Control termination condition Each will be described in detail referring to figs. 2 to Fig. 5.

As shown in Fig. 2, the control main body of inertia traveling control includes HCU 30, MCU 40, BMS 50 and AHB 60 Controller 20, and the control target of inertia traveling control is motor 3 and braking system 5.

Particularly, controller 20 and HCU 30 are performed in unison with the detection (S10) of event generation.

With reference to Fig. 2, controller 20 cooperates with the generation (S10) according to the event detection event of GPS 10 with HCU 30, and Event is the information for including limitation car speed, IC, JC, charge station, left-hand rotation or right-hand rotation etc..Therefore, when environmentally friendly vehicle 1 Where speed limit roadways, intersection, crankcase ventilaton, IC, JC, traffic lights or charge station position, should reach GPS 10 On the travel route for the destination that the destination of upper setting or environmentally friendly vehicle 1 should stop execute u turn, turn left or At the position of right-hand rotation when driving, the detection (S10) of event generation can be executed.However, foregoing teachings are illustrative, and this It discloses without being limited thereto, and may include fixed target vehicle velocity and all positions for needing vehicle deceleration in event.

Particularly, the calculating (S20) of inertia traveling variable includes calculating inertia traveling variable, which includes The speed variables apart from variable and car speed of vehicle location, and apart from variable and speed variables and it is applied to conventional inertia Those of traveling control is identical.

With reference to Fig. 2, travel route is set on GPS 10 by driver, and the generation of GPS 10 appears on travel route Event information, sideways inclined information and current vehicle location information.Then, controller 20, which can be used, is stored in storage unit Map datum segment in (not shown) and via the received GPS information of GPS receiver (not shown), obtains current vehicle location Information, the location information of 1 front event of environmentally friendly vehicle, the target in event provide vehicle speed information.

In this case, map datum segment is 3D map datum segment, and 3D map datum segment can be The map data base of ADAS, wherein inputting and storing the target rule of the location information, each event that need each event slowed down Determine vehicle speed information, inclination information of surrounding road of each event etc..

Therefore, control body operation of the controller 20 as the calculating (S20) for executing inertia traveling variable.

With reference to Fig. 3, according to inertia traveling target configuration diagram to controlled for inertia traveling starting position, conversion position, Target position, estimated vehicle velocity and target vehicle velocity are classified.In addition, when environmentally friendly vehicle 1 is decelerated to estimation When the target position of car speed and arrival event, target position car speed difference refer to inertia traveling target configuration diagram with Difference between the estimated vehicle velocity of environmentally friendly vehicle 1 when not executing inertia traveling Collaborative Control.Fig. 3 shows and answers For conventional inertia traveling control starting position, conversion position, target position, estimated vehicle velocity, target vehicle velocity and The identical concept of inertia traveling target configuration diagram.Therefore, target vehicle velocity is expressly defined as inertia traveling control and terminates target Car speed.In addition, when the driver for checking inertia traveling guidance discharges foot at starting position from accelerator pedal Start feedforward control, and maintain to conversion position, starts feedback control when reaching and converting position, and maintain to arrive target position It sets.Particularly, during feedforward control and feedback control, for the control in environmentally friendly 1 deceleration of vehicle controller 20 The lower negative torque for carrying out battery charging is applied to motor 3.

Therefore, the calculating (S20) of inertia traveling variable includes calculating target position and target vehicle velocity (S21), calculating Starting position and current vehicle speed (S22) and calculating conversion position and estimated vehicle velocity (S23).

In the calculating (S21) of target position and target vehicle velocity, calculate as apart from variable target position and work For the target vehicle velocity of speed variables.

For example, target position is confirmed as being spaced the position of 0m with GPS 10, and target vehicle velocity is by event It determines, which is classified as IC, JC, charge station and left-hand rotation or right-hand rotation and reflecting according to the limitation car speed of event It penetrates, such inertia traveling control is terminated in target position.

Particularly, when determining the target vehicle velocity for terminating inertia traveling control, conventional inertia row can be applied The target vehicle velocity of control is sailed, such as " in view of the target vehicle velocity of sideways inclined ".In view of the target of sideways inclined Car speed is determined and by the sideways inclined Information application of current location to the target position of environmentally friendly vehicle 1 , and target vehicle velocity be by by target regulation car speed multiplied by obliquity factor and calculate, such as " target regulation Car speed × obliquity factor (provides car speed about target, the value obtained by considering the mean pitch of road). Obliquity factor is provided in the form of obliquity factor table (or figure), and obliquity factor table (or figure) is used in the pretest process phase Between the information that obtains and prepare.

In addition, calculating in the calculating (S22) of starting position and current vehicle speed as the starting position apart from variable With the current vehicle speed as speed variables.

Starting position and it is determined as α (setting value) for example, calculating, is the distance away from target position, and current vehicle Speed is determined to be in the car speed at the time point when environmentally friendly vehicle 1 passes through starting position.

Particularly, be set as the distance away from target position starting position refer to driver should unclamp accelerator pedal so as to Start inertia traveling and at the same time operating the position of inertia traveling guiding function.According to foregoing teachings, reaches starting position and refer to Operation information provider (not shown) with check the operation of the inertia traveling as caused by driver and induce driver by foot from It is discharged on accelerator pedal.It can be by utilizing the display including indicator, audio frequency and video navigation (AVN) device on instrument board The vision or Auditory identification component of device and head-up display (HUD) guide for the inertia traveling of driver.

In addition, calculating in the calculating (S23) of conversion position and estimated vehicle velocity as the conversion position apart from variable With the estimated vehicle velocity as speed variables.

For example, conversion position is the position that feedforward control is converted to feedback control, and pass through application mapping and target Car speed converts position to determine.Estimated vehicle velocity is confirmed as car speed, based on including starting position and translation bit It the distance between sets, current vehicle speed, running resistance and starting position at starting position and the height between conversion position The factor for spending difference, according to inertia traveling target configuration diagram, when environmentally friendly vehicle 1 is travelled with inertia traveling in starting position When, the car speed is estimated in handoff position.

Particularly, conversion position can be Distance Remaining, according to target vehicle velocity and event information (IC, JC, crossroad Mouthful etc.) determine the Distance Remaining using setting data slot (according to the different tables (or map) of country), such as " open Beginning position and the distance between target position-Distance Remaining (distance from target position to conversion position) ".

Furthermore, it is possible to which estimated vehicle velocity is calculated as the value by offset compensation (from current location to target position The value that obtains of each position), the value using estimation under the current vehicle speed of environmentally friendly vehicle 1 flat ground Car speed (value for inputting and storing), the load torque according to road inclination and the crawling according to car speed (creep) torque information calculates, and such as " estimates flat ground car speed+offset ".Offset can be defined as " [(vehicle (C/D) value (input corresponding with running resistance and the vehicle characteristics value that the stores) × tire Dynamic Radius that slides (input is simultaneously The vehicle characteristics value of storage) × F1 (factor values for inputting and storing)+(load torque × F2 (factor values for inputting and storing))+ (crawling torque (torque that motor generates) × power-train efficiency) (the vehicle characteristics value for inputting and storing)].

Specifically, in the calculating of deceleration torque (S30), motor deceleration torque and hydraulic braking torque are respectively according to ring Border friendly vehicle 1 is calculated from conversion position to the required deceleration energy of target position.At this point, motor deceleration torque is electricity Motivation utilization rate is maximized to reduce subtracting for environmentally friendly vehicle 1 using inertia traveling in the case where no driver's intervention The region of fast energy, and hydraulic braking torque is the deceleration energy for executing hydraulic braking to reduce environmentally friendly vehicle 1 Region, the region cannot be managed by maximizing motor utilization rate.

With reference to Fig. 2, controller 20 using HCU 30, and HCU 30 by vehicle deceleration energy calculator 31, can electricity consumption Motivation deceleration energy processor 33a, motor deceleration torque processor 33b, motor torque processor 33c and hydraulic braking are turned round Square calculator 35 calculates motor deceleration torque and hydraulic braking torque.

With reference to Fig. 4, during the inertia traveling of environmentally friendly vehicle 1, reached needed for target position from conversion position Environmentally friendly vehicle 1 when deceleration energy is illustrated as inertia traveling target configuration diagram and does not execute inertia traveling Collaborative Control Difference between estimated vehicle velocity.

With reference to Fig. 2 and Fig. 4, the calculating (S30) of deceleration torque can be executed as follows.

As shown in Fig. 2, in order to calculate deceleration energy, the vehicle deceleration energy calculator 31 of HCU 30 considers target location Estimated vehicle velocity (estimated vehicle velocity of the environmentally friendly vehicle 1 when not executing inertia traveling Collaborative Control), conversion The controlled car speed of current vehicle speed, target location at position is (according to the expection vehicle of inertia traveling target configuration diagram Speed, is set as different values according to the rendering intent of developer) and handoff position current vehicle speed.According to Foregoing teachings, controlled car speed is calculated according to inertia traveling target configuration diagram, according to current vehicle speed, target vehicle Speed and conversion the distance between position and target position come calculate from convert position to the time of target position, be accordingly used in The deceleration energy of inertia traveling can be calculated according to inertia traveling target configuration diagram.

Then, deceleration energy is converted into retarding power, and by the way that deceleration energy is divided into conversion position and target The required power of predetermined unit between position calculates retarding power.In this case, predetermined unit can be 100ms, But the present disclosure is not limited to particular values.Hereafter, retarding power is converted into deceleration torque, and according to about the used of retarding power Deceleration torque is calculated as controlled car speed by property traveling target configuration diagram.

As described above, via retarding power by deceleration energy balane be deceleration torque, be applied to motor deceleration torque With the calculating of hydraulic braking torque.

Then, motor deceleration torque and hydraulic braking torque are calculated as follows.

Fig. 5 is illustrated by being mapped to the deceleration torque of deceleration energy Actual motor torque, and at the same time, it is that cannot pass through the deceleration of available motor torque management by hydraulic braking torque arithmetic Torque.

As shown in Fig. 2, by at the maximum charge power of the maximum charge torque processor 41 and BMS 50 of MCU 40 The available motor deceleration energy processor 33a for the HCU 30 that device 51 cooperates is managed to calculate the available motor torque of motor 3.

For example, available motor deceleration energy processor 33a is handled by motor Collaborative Control and maximum charge torque The cooperation setting motor charging limitation of device 41, and set by battery Collaborative Control and the cooperation of maximum charge power processor 51 The battery charging limitation of the charged state (SOC) of battery is to prevent battery overcharge, and available motor deceleration energy process Device 33a calculates available motor torque according to battery charging limitation and motor charging limitation.

Then, the motor deceleration torque processor 33b and motor torque processor 33c of HCU 30 calculates maximum electronic Machine power is used for the chargeable motor torque of each car speed with determination, and calculating chargeable motor torque conduct can electricity consumption Motivation deceleration torque, and actual motor deceleration is calculated by mapping available motor deceleration torque and deceleration torque and is turned round Square.

Therefore, actual motor deceleration torque has the minimum value of deceleration torque and available motor deceleration torque, and It is confirmed as the main function of the motor 3 controlled for inertia traveling.

In addition, as shown in Fig. 2, by receive motor deceleration torque processor 33b's as a result, HCU 30 hydraulic system Hydraulic braking torque is calculated in dynamic torque calculator 35.

For example, hydraulic braking torque calculator 35 checks the portion not managed by actual motor deceleration torque in deceleration torque Point, and the part is calculated as by hydraulic braking torque by brake fluid pressure.

Therefore, hydraulic braking torque is confirmed as the booster action of the motor 3 controlled for inertia traveling.

Particularly, the execution (S40) of inertia traveling Collaborative Control be carried out by actual motor deceleration torque it is electronic The inertia traveling control of machine 3 is performed as the state of the inertia traveling Collaborative Control carried out by hydraulic braking torque.

With reference to Fig. 2, the motor torque output device 43 of MCU 40 is according to the motor torque processor 33c's of HCU 30 Actual torque deceleration torque generates the output for being transported to motor 3.Meanwhile 61 basis of hydraulic braking amount processor of AHB 60 The hydraulic braking torque of the hydraulic braking torque calculator 35 of HCU 30 calculates hydraulic braking amount, then the hydraulic system of AHB 60 Dynamic output device 63 generates the output for being transported to braking system 5.

Therefore, the inertia traveling control of environmentally friendly vehicle 1 is cooperateed with operation while motor 3 and braking system 5 Execute inertia traveling Collaborative Control.Particularly, above-mentioned inertia traveling Collaborative Control is mainly in the inertia traveling for only passing through motor 3 The inertia traveling control that braking system 5 is executed under the primary condition for the purpose for being difficult to realize inertia traveling Collaborative Control is controlled, and And when only can be realized the purpose of inertia traveling Collaborative Control by the inertia traveling control of motor 3, inertia traveling collaboration Control stops the inertia traveling control of braking system 5 immediately.

Therefore, inertia traveling Collaborative Control can be by the inertia traveling control for maximally utilising motor 3 Under state, the high efficiency of inertia traveling control is maintained using the inertia traveling control of braking system 5 by minimally.

Specifically, the application (S50) of inertia traveling Collaborative Control termination condition is it is meant that when detecting termination or stopping inertia The various conditions for travelling Collaborative Control for the moment, control vehicle according to the condition detected rather than inertia traveling Collaborative Control Traveling.In this case, the type of the termination condition of inertia traveling Collaborative Control may include the mesh of environmentally friendly vehicle 1 What cursor position reaching condition (wherein inertia traveling Collaborative Control fair termination) and inertia traveling Collaborative Control should interrupt immediately Release conditions.In this case, release conditions are applied to the low friction situation of environmentally friendly vehicle 1, or application is released Condition is put to solve the problems, such as vehicle safety immediately, when the unsteady attitude of environmentally friendly vehicle 1, which can Fuel efficiency can be made to degenerate using the hydraulic braking of inertia traveling Collaborative Control due to active.

For example, target position reaching condition refers to environmentally friendly vehicle 1 by executing inertia traveling Collaborative Control (S40) And target position is reached, and release conditions refer to the wheel lock generation of wheel lock detection signal, anti-lock braking system (ABS) at least one of ABS operation, the braking maneuver of brake pedal signal (brake-pedal travel) of controller signals are in ring Border friendly vehicle 1 generates before reaching target position.Therefore, environmental-friendly even if when executing inertia traveling Collaborative Control Type vehicle 1 can also be switched to the termination of inertia traveling control by target position reaching condition, and can also be by quick Management inertia traveling controls the case where should interrupting by release conditions to ensure the safety of environmentally friendly vehicle 1.

Particularly, inertia traveling control terminated due to target position reaching condition before, when wheel lock occur, When at least one of ABS operation and braking maneuver meet, using release conditions.Specifically, allow will be different for release conditions Method of shutting down is applied to the execution of the inertia traveling Collaborative Control configured with wheel lock generation, ABS operation and braking maneuver (S40).For example, the interrupt method with the execution (S40) of the inertia traveling Collaborative Control of ABS operation occurs relative to wheel lock It is that zero motor torque of output is controlled by step (step).The execution of inertia traveling Collaborative Control relative to braking maneuver (S40) interrupt method is that the slope of motor torque is converged on zero by through-rate control.For this purpose, controller 20 is by wheel lock It is fixed to occur to be set as the first priority as inertia traveling critical condition with ABS operation, and using braking maneuver as inertia row It sails subsequent preferential release conditions and is set as the second priority.

In addition, release conditions are related to the brake pedal operation of the driver of interruption together with inertia traveling Collaborative Control, So that release conditions using start braking when control, limitation regenerative braking when control and terminate braking when control in At least one traveling to control environmentally friendly vehicle 1.In this case, as shown in Fig. 2, controller 20 and HCU 30, MCU 40, BMS 50, AHB 60 and transmission control unit (TCU) (not shown) execute Collaborative Control together.In addition, crawling Torque is generated by motor 3, and during inertia traveling (or sliding), the crawling torque generated due to motor 3 is usual For negative torque (sliding regenerative torque), and therefore it can pass through motor 3 during generating crawling torque by motor 3 Electric power generate operation execute battery charging.Particularly, motor 3 can be determined as using torque by that will add torsion Square is added to basic crawling torque and the value that obtains, the additional torque according to current vehicle location information and target vehicle velocity come It determines.

For example, by application, " crawling is turned round since control when starting braking may be performed that regenerative braking control Square × (existing crawling torque when starting of crawling torque/braking of variation when braking starts) " controls motor 3 to maintain The crawling torque ratio of variation.According to foregoing teachings, can constantly and continuously keep trampling with driver brake pedal when Between rate at point identical rate while reduce motor torque.

Control when due to limitation regenerative braking can not be performed as regenerative braking control, by turning round motor Square is switched to existing crawling torque to control motor 3.At this point, basic crawling torque is according to vehicle due to vehicular deceleration state Speed is gradually reduced, but is in order to prevent more than the higher rate of predeterminated level, is passed through and is limited using rate limit and filter The rate of basic crawling torque is made, to control the variation of basic crawling torque to become flat.

In addition, discharging feelings of the brake pedal without generating total braking amount (that is, total braking amount=0) due to driver Control when terminating braking is executed under condition, so that motor torque is converted to basic crawling torque to control motor 3.This When, due to vehicular deceleration state, basic crawling torque is gradually decreased according to car speed, is in order to prevent more than predetermined water still Flat higher rate is turned round by being limited the rate of basic crawling torque using rate limit and filter to control basic crawling The variation of square is to become flat.

As described above, the torque distribution formula inertia traveling based on the environmentally friendly vehicle 1 according to the present embodiment controls, control Device processed detection during environmentally friendly vehicle 1 travels needs the event slowed down, according to the event calculate target vehicle velocity, when Vehicle in front speed and estimated vehicle velocity, will be used for the deceleration torque that environmentally friendly vehicle 1 slows down be divided into motor torque and Hydraulic braking torque, guidance inertia traveling control, and execute inertia traveling Collaborative Control, wherein it starts simultaneously at by electronic The Motor Control and controlled by the braking system that hydraulic braking torque carries out that machine torque carries out.Therefore, inertia traveling cooperates with Control improves the reliability of driver using the hydraulic control with easiness and accuracy, while overcoming merely with electronic The limitation of the conventional inertia traveling control of machine, and the restrictive condition of inertia traveling control is also solved, to improve fuel efficiency Improved effect.

In addition, motor and braking system can be carried out simultaneously based on the inertia traveling Collaborative Control according to the present embodiment Torque distribute control, make it possible to measure by the hydraulic Synergistic method according to hydraulic priority acccess control or using predetermined hydraulic pressure braking Hydraulic contribution methods, the inertia traveling control performance of motor is carry out various modifications.

What torque distribution formula inertia traveling control method of the invention can be controlled by Motor Control and hydraulic braking Inertia traveling Collaborative Control, maximally utilises motor, to improve the regenerative braking contribution rate of motor, and uses Management cannot be solved the restrictive condition of inertia traveling control by the hydraulic braking of the part of motor management, allow to pass through Environmentally friendly vehicle utilizes the control technology for being suitable for the not autonomous vehicle of driver's intervention.

In addition, the torque distribution formula inertia traveling control method of the disclosure realizes following movement and effect.

Firstly, fuel efficiency improvement effect be due to the fact that, when be used only motor execute inertia traveling control when The solution of the restrictive condition of limitation is so that inertia traveling control area extends, so that additional fuel economy is improved about 3.3%.

Secondly, it can be ensured that precise control, because inertia traveling Collaborative Control is using easily controllable hydraulic execution , so that accuracy will not be reduced in the case where controlling motor, battery or car speed.Particularly, inertia row The application for sailing Collaborative Control overcomes the limitation for ensuring precise control for causing the various limiting factors in inertia traveling control, So that inertia traveling control, which can extend to, needs high-precision control area, such as hypervelocity camera.

Further, since the fact that can accurately follow the target velocity for the desired each event of driver, mention The reliability that high driver feels is to increase frequency of use, so that the effect of merchantability improves.Particularly, inertia traveling draws It leads function and enforces section for speed camera, this can most experience the improvement of merchantability effect for driver.

According to the present invention, the guiding function control of inertia traveling control is executed on the basis of using hydraulic, therefore, During inertia traveling, can to the inertia traveling of the disclosure control carry out various modifications, such as, by hydraulic priority acccess control into Capable hydraulic cooperative control method or the hydraulic contribution control method carried out by predetermined hydraulic pressure braking amount, so that enhancing is to environment The applicability of friendly vehicle.