CN103991451B - The method for controlling motor vehicle driven by mixed power - Google Patents

Abstract

The disclosure provides a kind of method for controlling motor vehicle driven by mixed power, and methods described includes the explosive motor operated in automatic mode and at least one traction motor make it that the wheel torque of combination is the function of accelerator pedal position and speed.Under gear selection mode, wheel torque is also the function of virtual gear number.Virtual gear number changes in response to driver activation's gear selector or automatically changed in response to the change of speed.Vehicle is transformed into gear selection mode in response to driver activation's downshift selector.When shift happens, initial virtual gear number is selected, to ensure wheel torque increase.

Description

The method for controlling motor vehicle driven by mixed power

Technical field

The disclosure relates generally to input in response to driver and control the combination of engine speed and motor vehicle driven by mixed power Output torque.

Background technology

With discrete gear ratio speed changer（discrete ratio transmission）Vehicle in, except speed change Device from a gear ratio conversion be another gearratio when short intervals during, the rotating speed of transmission input shaft passes through restriction One group of gearratio and be constrained to proportional to speed.When torque-converters is locked, engine speed be also confined to speed into Ratio.In addition, separated with power（power-split）In the hybrid electric vehicle of framework, speed changer does not exist Mechanically apply strict relation between engine speed and speed.

Even in the vehicle with automatic transmission（Gearratio or engine are generally determined by controller in the vehicle The selection of rotating speed）In, some drivers also tend to surmount controller once in a while, to provide the operation similar to manual transmission. For some vehicles equipped with shift paddle or other driver's interaction features, it allows driver to signal request relative to vehicle Higher or lower gearratio for the gearratio that controller automatically selects, and engine speed is associated with vehicle torque Change.In the speed changer of discrete gear ratio, controller rings by the way that gear shift is a gearratios different in discrete gear ratio This kind of instruction is answered, the discrete gear ratio correspondingly adjusts engine speed and the moment of torsion amplification of association is provided at wheel.However, With buncher（CVT）Or the vehicle of similar gearbox（Such as the motor vehicle driven by mixed power of power separation）In, because becoming Fast device can not provide discrete gear ratio the moment of torsion amplification different with what is associated in itself, so response is more complicated.

The content of the invention

In various embodiments, motor vehicle driven by mixed power control strategy implements four kinds of different operation modes.Vehicle control device In response to multiple driver's interactive elements（Such as including gear lever, downshift selector and upshift selector）Operation and determine Which kind of operation mode any given time uses.In two kinds of operation modes, controller allows driver to select influence to start The virtual gear of the combination output torque of machine rotating speed and engine and one or more traction motors.Transported according to which kind of is enabled Different logics can be used to close engine and only pass through driven by power in rotary-die type, controller.

In one embodiment, a kind of method for controlling motor vehicle driven by mixed power includes：In automatic mode, engine is controlled And traction motor, then increase wheel torque, to be transformed into gear selection mode.In automatic mode, wheel torque is to be based on Pedal position and speed.Under gear selection mode, vehicle torque is also based on driver in addition to based on pedal position and speed Revisable virtual gear number.Under gear selection mode, wheel torque reduces with the increase of virtual gear number.The side Method may include in response to upshift selector operation and make virtual gear number increase and in response to downshift selector operation and Reduce virtual gear number.Being transformed into gear selection mode can be started by the operation for the selector that downshifts.When being transformed into gear During selection mode, methods described may include that selection will cause the increased highest virtual gear number of moment of torsion.

In another embodiment, a kind of controller for motor vehicle driven by mixed power include input channel, output channel and Control logic.Input channel receives instruction speed, the accelerator pedal position of driver's operation, the driver behaviour for the selector that downshifts The input signal of driver's operation of work and upshift selector.Channel is exported to send to engine and at least one traction motor Control signal.Control logic is configured as controlling engine and traction motor in automatic mode, then increases wheel torque, with It is transformed into gear selection mode.In automatic mode, wheel torque is to be based on pedal position and speed.In gear selection mode Under, wheel torque is also based on the revisable virtual gear number of driver in addition to based on pedal position and speed.Selected in gear Under pattern, wheel torque reduces with the increase of virtual gear number.The controller may be in response to the operation of upshift selector And increase virtual gear number and reduce virtual gear number in response to the operation for the selector that downshifts.Selected when being converted to gear During pattern, controller may be selected that the increased highest initial virtual gear number of moment of torsion will be caused.

A kind of controller for motor vehicle driven by mixed power includes input channel, output channel and control logic.Input letter Road receives the signal of the operation of speed, the accelerator pedal position of driver's operation and instruction downshift selector.Export channel It is configured to control engine and at least one traction motor.Control logic be configured as controlling in automatic mode engine and Traction motor, to produce wheel torque based on pedal position and speed；Increase wheel torque, to be transformed into gear selection mode, Wherein, wheel torque is to be based on the revisable virtual gear number of driver, pedal position and speed.

The control logic is configured as when given virtual gear is operated with gear selection mode, and regulation wheel is turned round Square so that vehicle torque is less than its wheel in next higher virtual gear under identical pedal position and speed and turned round Square.

The control logic is configured as selecting available highest initial virtual gear number, so that when in pedal position and car When being transformed into gear selection mode in the case of fast substantial constant, wheel torque increase.

The controller also includes control logic, and the control logic is configured as operating under gear selection mode When, by increasing wheel torque come the operation in response to the selector that downshifts.

The controller also includes：Input channel, receive the signal of the operation of instruction upshift selector；Control logic, quilt It is configured to when being operated under gear selection mode, by reducing wheel torque come the operation in response to the selector that upshifts.

In another embodiment, a kind of motor vehicle driven by mixed power includes planetary gearsets and controller.The member of planetary gearsets Part（Including central gear, ring gear and pinion frame）It is drivably connected to engine, one group of driving wheel and first Motor.Second motor is drivably connected to wheel.Controller is configured as controlling engine and motor in automatic mode, so After increase wheel torque, to be transformed into gear selection mode.In automatic mode, wheel torque is to be based on pedal position and car Speed.Under gear selection mode, wheel torque is also revisable virtual based on driver in addition to based on pedal position and speed Gear number.When being transformed into gear selection mode, controller may be selected that the increased highest initial virtual gear of moment of torsion will be caused Number.

In another embodiment, a kind of vehicle includes：Planetary gearsets, the first element of planetary gearsets driveably connect Engine is connected to, the second element of planetary gearsets is connected drivably to the first motor, and the third element of planetary gearsets can It is drivingly connected to one group of wheel；Second motor, it is connected drivably to one group of wheel；Controller, controller with start it is mechanical, electrical Machine, accelerator pedal, upshift selector and downshift selector are communicated, and the controller is configured as：In automatic mode Under operate engine and motor, wherein, be sent to the net moment of torsion of one group of wheel in response to accelerator pedal position and speed Change and change；Operate engine and motor under gear selection mode, wherein, the net moment of torsion for being sent to one group of wheel is also rung It should change in the revisable virtual gear number of driver；It is shelves from automatic mode switch in response to the operation for the selector that downshifts Position selection mode, the conversion include the initial virtual gear number of selection so that be sent to the net moment of torsion of one group of wheel relative to Net moment of torsion increase of the automatic mode underdrive to one group of wheel.

It is chosen from automatic mode switch for the initial virtual gear selected during gear selection mode, so that The net moment of torsion of one group of wheel will be sent in next higher virtual gear number less than accelerating in automatic mode with identical Device pedal position and speed are sent to the net moment of torsion of one group of wheel.

One or more advantages can be provided according to multiple embodiments of the disclosure.For example, it is used to control according to the disclosure The system and method for motor vehicle driven by mixed power processed in the motor vehicle driven by mixed power with buncher or similar gearbox simulation or Emulate the manual or gear selection mode of ladder gearratio automatic transmission.In addition, the disclosure is multiple tactful to hybrid power The driver of vehicle provides more interactive controllings, manually to instruct power drive system rotating speed and acceleration, so as to provide improvement Luxurious feature and kinesthesia by.

By below in conjunction with the accompanying drawings to preferred embodiment carry out detailed description, above-mentioned advantage and further advantage and Feature will become obvious.

Brief description of the drawings

Fig. 1 is vehicle driveline, the control for showing the representative embodiment according to the motor vehicle driven by mixed power of the disclosure The schematic diagram of device and user interaction features；

Fig. 2 is the state transition graph of the operation of the system or method that show embodiment of the disclosure；

Fig. 3 is to show the flow chart according to the operation of system or method when in normal operating mode of multiple embodiments；

Fig. 4 is to show to be instructed in speed, accelerator pedal position and wheel torque according to the representative embodiment of the disclosure Between relation curve map；

Fig. 5 is to show to be instructed in speed, target engine power and engine speed according to the representative embodiment of the disclosure Between relation curve map；

Fig. 6 is to show to be worked as according to multiple embodiments to be in real-time gearshift control（LID）System or method during operation mode The flow chart of operation；

Fig. 7 be show according to the representative embodiment of the disclosure the accelerator pedal position of reality, virtual gear number or The curve map of relation between operation mode and the pedal position of modification；

Fig. 8 is speed, virtual gear number and engine power the adjustment limitation for showing the representative embodiment according to the disclosure （engine power clipping limit）Between relation curve map；

Fig. 9 is the flow for showing the operation of system or method when in motion operation mode in accordance with an embodiment of the present disclosure Figure；

Figure 10 is to show that multiple embodiments of the disclosure are used to close or restart engine in specific operation mode The flow chart of the operation of strategy；And

Figure 11 is the operation for showing multiple embodiments system or method when in SST operation modes according to the disclosure Flow chart.

Embodiment

As needed, it is disclosed that the specific embodiment of the present invention；However, it should be understood that disclosed embodiment is only this The example of invention, the present invention can be implemented in the form of a variety of and be alternative.Accompanying drawing is not necessarily to scale；It can amplify or minimum Change some features to show the details of particular elements.So specific structural and functional details disclosed herein should not be construed as Limit, and be only the representative basis for instructing those skilled in the art differently to implement the present invention.

Fig. 1 schematically illustrates the power drive system for hybrid electric vehicle.Power drive system includes can The explosive motor 20 that is drivingly connected to pinion frame 22, the generator 24 for being drivably connected to central gear 26 and It is drivably connected to the output shaft 28 of ring gear 30.It can be driven when mechanical energy flow path between these components be present Ground connects them, the rotating speed of element is constrained to substantially proportional.Pinion frame 22 supports one group of planetary gear 32, makes Obtain each planetary gear and engage engagement in lasting with central gear 26 and ring gear 30.Output shaft 28 directly or（Such as Pass through differential assembly）Indirect driving moment.

Traction motor 34 is drivably connected to output shaft 28.Generator 24 and traction motor 34 are to convert electrical energy into The mechanical energy of rotation or the reversible electric machine that the mechanical energy of rotation is converted to electric energy.It is believed that term " generator " and " horse Up to " only as label in order to the function of describing without limiting each motor or operating.Generator 24 and traction motor 34 are all electric It is connected to battery 36.

The rotating speed of central gear 26, tooth rest 22 and ring gear 30 is linearly related so that the rotating speed of tooth rest 22 It is the weighted average of the rotating speed of central gear 26 and ring gear 30.So in the present arrangement not by the rotating speed of engine 20 It is constrained to proportional to the rotating speed of output shaft 28.Alternately, can be by correspondingly setting generator speed and independently of speed To select or control engine speed.The combination transmitted by mechanical energy transmission and electric energy makes power be transmitted from engine to output Axle.During some operating modes, ignore loss in efficiency, engine 20 can produce than transmitting to the more power of power of output shaft and By the Diversity Transmit of power to battery 36.During other operating modes, the battery 36 that is combined with generator 24 and/or traction motor 34 The power transmitted by engine 20 can be supplemented so that more power are transmitted to output shaft 28.

Engine 20, generator 24 and traction motor 34 are responsive to the control signal from controller 38.These controls Torque capacity caused by signal determination processed.Controller also receives the rotating speed letter from engine 20, generator 24 and traction motor 34 Number and the state-of-charge signal from battery 36.Controller is from brake pedal 40, accelerator pedal 42, gear lever （PRNDS）44th, steering wheel 46, downshift selector 48, upshift selector 50 and cruise control buttons 51 receive instruction driver The input signal of intention.Gear lever 44 allows driver to select park shelves, reverse gear, neutral gear, traveling shelves and motion shelves driving mode. For example, upshift selector and the plectrum that selector can be mounted on steering wheel opposite side that downshifts.Others upshift selector With downshift selector embodiment（Such as the other positions of gear lever）It is known and suitable for the present invention.

In some operation modes, with respect to the change of discrete shift event, engine speed may be in response to add The change of fast device pedal position and continuously change.Such situation（terminology）It should not be construed as excluding digital control Device（It is a large amount of but the control signal of limited quantity is horizontal with frequently time interval controls）Use.

Fig. 2 shows top layer（top level）State of a control.Controller is since state 60 and once driver uses The selection traveling shelves of gear lever 44（D）Position, be then converted to general mode 62.Flow chart in Fig. 3 is shown in general mode Operating.General mode is since at 64.In the normal mode, controller repeats sets output torque, at 68 at 66 Engine mode 68 is set, engine power is set at 69 and the operation of engine speed is set at 70.In common mould Under formula, form is used at step 66（Such as figure 4 illustrates form）Calculated based on accelerator pedal position and speed Target output torque.In Fig. 4, curve 202,204,206,208,210 and 212 is respectively illustrated respectively in accelerator pedal position Wheel torque instructs the function as speed at 0%, 20%, 40%, 60%, 80% and 100% put.It can be passed from traction motor rotating speed Sensor or wheel speed sensor calculate speed.Being used at step 68 includes battery charge state, output power command, accelerates Engine mode is arranged to operate or shut down by a variety of input signals of device pedal position and speed.If engine mode is fortune OK, then target engine power and target engine speed are calculated at step 69 and 70, to transmit desired output torque And minimize fuel consumption while holding the cell at desired state-of-charge.If battery charge state is close to target water It is flat, then target engine power is equal to will be transmitted to the power of wheel（It can be calculated from target wheel torque and speed Draw）.If battery charge state is relatively low, then target engine power is arranged to higher, to produce extra power to electricity Charged in pond.If battery charge state is high, target engine power is arranged to relatively low to save fuel.Use form（Example Form as shown in Figure 5）Target engine speed is calculated based on target engine power and speed.In Figure 5, curve 214, 216th, 218,220,222,224 speed and engine speed instruction when target engine power difference are respectively illustrated with 226 Between functional relation.Finally, the operating parameters of engine, generator and traction motor are adjusted so that actual output torque Tend to the target of selection with engine speed.

Referring again to Fig. 2, when driver enables downshift selector 48, controller is just converted to reality from general mode 62 When gearshift control（LID, Live-In-Drive）Mode 72.LID patterns allow driver to be influenceed by selecting virtual gear number Engine speed and wheel torque.The operating of LID patterns is shown by Fig. 6 flow chart.Once into LID patterns, then exist Step 74 place controller select initial virtual gear ratio and be then repeatedly carried out locate to be used for set in step 76 and 66 ' it is defeated Go out moment of torsion, engine power and engine speed are set at step 69 ' and 78 and virtual pass is updated in step 80 and 82 The operation of dynamic ratio.Each operation in these operations hereinafter will be discussed in detail in addition.As shown in Fig. 2 many situations are led Controller is caused to convert back general mode 62, these situations drop to the drop below low threshold value or automatically selected including speed Shelves.In addition, when controller is detected by the cruising conditions for enabling instruction of cruise control 51 or by accelerator pedal position The loose accelerator pedal situation and the situation for the decompression instruction put continue to can trigger conversion during certain predetermined time amount.So And if controller detects high driver's workload at step 84（For example, such as these workloads can pass through steering wheel 46 big steering, big driftage, pitching or roll rate, or high longitudinally or laterally acceleration instruction）, then latter type Situation will not cause conversion.

At step 76, form is used（Such as the form shown in Fig. 7）Calculate and repair from the accelerator pedal position of measurement The accelerator pedal position changed.The accelerator pedal position of the modification be used for replace step 66 ' in actual pedal position with Calculate target output torque.In the figure 7, curve 240,242,244,246,248,250,252 and 254 is indicated respectively for First, the modification as actual pedal position function of the virtual gear of second, third, fourth, fifth, the six, the 7th and the 8th Pedal position.The curve in Fig. 7 is selected to simulate the output torque capacity of power drive system and discrete gear ratio speed changer.Tool Say, for the accelerator pedal position of given any non-zero, with virtual gear number body（It is 1 grade to 8 in this example Shelves）Increase, caused target output torque reduce.Step 76 and 66 ' combined effect are engine and at least one traction horse The operating reached causes the output torque of the combination to correspond to one of multiple output torque functions, for the speed of association Each output torque function has different output torques at the maximum of accelerator pedal position.

Initial virtual gear is selected at step 74.Operation point on Fig. 7 is before transformation along line 236.Controller Selection corresponds to the virtual gear number of next higher curve in curve 240-254.In other words, controller is based on current reality Border pedal position selection virtual gear number so that the pedal position changed in the virtual gear of selection is higher than actual pedal position Put, but the pedal position changed in next higher virtual gear will be less than actual pedal position.If for example, before transformation Operation point is 258, then will select 4 grades so that operation point becomes a little 260.Such effect is to ensure that in constant accelerator position The place of putting increases wheel torque if LID patterns are changed into from general mode.

As shown in fig. 6, in LID mode 7s 2, target engine power is calculated in step 69 ' place and is calculated at step 78 Target engine speed.At step 78, controller uses form（Such as the form shown in Fig. 8）Based on speed and currently The virtual gear number of selection calculates the adjustment limitation for engine power first.In fig. 8, curve 262,264,266,268, 270th, 272,274 and 276 respectively illustrate when virtual gear number difference, between speed and engine power adjustment limitation Functional relation.In addition, curve 278 represents the maximum of engine power adjustment limitation and speed.For example, if current is virtual Gear number is 4, then adjustment will be set to limit according to curve 268.If adjustment limitation is higher than target engine power, tune is used Whole limitation replaces target engine power to calculate target engine speed.When using adjustment limitation, relatively low virtual gear Number engine speed will set higher virtual gear number it is higher.Equally, when using adjustment limitation, target is started Machine rotating speed will not change with the change of accelerator pedal position.When adjustment limitation is less than target engine power（When selection compared with During high virtual gear number more likely）When, then the target engine speed in LID patterns is identical with general mode. Adjustment limitation does not influence the engine power for being conditioned for transmission objectives wheel torque of instruction.

It is also shown in FIG. 6, in step 80, controller inspection upshift selector or the selector that downshifts enable and it is corresponding Ground adjusts virtual gear number.In step 82, controller determines the need for automatically adjusting virtual gear number.Specifically, may be used Upshift is triggered by the increase of speed.Similarly, can indicate to downshift when speed reduces.However, as described above, work as instruction Controller converts back general mode 62 during automatic downshift.In this embodiment, calibration fluid drive standard causes virtual gear number Automatic change than the gear shift in traditional discrete gear ratio automatic transmission less frequently（common）.

Referring again to Fig. 2, whenever gear lever 44 is moved on to motion by driver（S）During position, controller is just from general mode 62 are converted to motor pattern 94.The operation of motor pattern is shown by the flow chart in Fig. 9.Controller is repeated in 96 Hes 66 ' ' locate for setting output torque, engine speed is set at 99 and the operation of engine mode being set at 98.For The reaction more moved is provided to accelerator pedal movement, adding based on the modification shown in the heavy line 238 such as Fig. 7 middle and upper parts Fast device pedal position calculates target output torque.Select actual accelerator pedal position and the accelerator pedal position of modification it Between mapping make it that its value is equal with maximum 239 at the minimum value 237, but changed for all by-level Value it is higher.

As shown in figure 9, target is set to start using algorithm as the class of algorithms with being used in general mode at step 99 Machine rotating speed.However, target engine speed by the value used relative to being scaling up specified amount in the ordinary mode（Such as 10-20%）.Different from the algorithm of the setting engine mode used in the ordinary mode, moving as indicated in step 98 The algorithm used in pattern only closes engine in stationary vehicle and brake pedal.Figure 10 illustrates the hair of modification Motivation pattern sets algorithm.If engine is currently off at 100, then if at 104 vehicle moving or Person's brake pedal at 106 is release, then restarts engine at step 102.Similarly, if engine is current Operating, then only at 110 vehicle be static and at 112 brake pedal be depressed just at step 108 close engine.

As shown in Fig. 2 if driver is enabled in upshift selector or downshift selector when in motor pattern 94 Any one, then controller is converted to selection gear speed-changing（SST）Pattern 114.In SST patterns, such as retouched on LID patterns State, target engine torque and target engine speed are set based on virtual gear number.However, controller will keep SST moulds Formula is until driver is by controlling gear shift selector 48 or 50 up to the several seconds or by the way that gear lever 44 is moved back into traveling shelves（D shelves） Position and untill indicating that the pattern is left in expectation.The operation of SST patterns is shown by the flow chart in Figure 11.Step 74 ' Middle use and the above-described method similarity method used when entering LID patterns（Except initial operation point is along the song in Fig. 7 Line 238 rather than along outside curve 236）Initial virtual gear number is set.So controller selects highest virtual gear number, it is right The pedal position changed for the gear number is than higher in motor pattern.This ensures once be changed into SST patterns, then to increase Wheel torque.In SST patterns, step 80 ' place in response to downshift selector 48 and upshift selector 50 enable with LID Identical mode adjusts virtual gear number in pattern.In addition, controller may be in response to the change of speed or accelerator pedal position And virtual gear number is automatically adjusted, upshift or downshift.When vehicle soon stops, the automatic feature sets virtual gear number For 1 grade.However, driver can be by operating gear shift selector and the override selection when the vehicle is still at step 118. In SST patterns, engine mode depends on virtual gear number, speed and accelerator pedal position.At step 120, control Device calculates the tail-off limit, and the limit is less than the accelerator pedal position and enables driven by power（electric drive） Accelerator pedal position.It is to export the function of power demand, virtual gear number and speed to close the limit.By black in Fig. 7 Color circle shows the closing limit for being used for multiple gearratios at specific speed and output power demand.When enabling higher void Intend gear number（That is 5-8 shelves）One of and accelerator pedal position be less than close the limit when, use the common hair of general mode Motivation pattern algorithm 68 '.If enable relatively low virtual gear number（That is 1-4 shelves）Or if accelerator position is higher than engine The limit is closed, then using the motion shelves of more addition of constraints and the algorithm 98 ' of LID patterns.

As implemented by above-described representative exemplifying, one or more can be provided according to multiple embodiments of the disclosure Individual advantage, such as the analogue step gearratio fluid drive in the motor vehicle driven by mixed power with buncher or similar gearbox The manual or gear selection mode of device.In addition, multiple strategies of the disclosure provide more hand over to the driver of motor vehicle driven by mixed power Mutually control, manually to instruct power drive system rotating speed and acceleration, so as to provide improved luxury and kinesthesia by.

Although described above is example embodiment, it is not intended that these embodiments describe the present invention it is all can The form of energy.On the contrary, the word used in specification is descriptive words and non-limiting word, and it should be understood that and not depart from In the case of the spirit and scope of the present invention, it can be variously modified.In addition, multiple features for performing embodiment can be combined with shape Into further embodiment of the present invention.Although multiple embodiments can be described as providing for one or more desired features excellent Point or better than other embodiments, it is understood by one skilled in the art that depending on specific application or implement, can to one or Multiple features are compromised to realize desired system property.These attributes include but is not limited to：Cost, intensity, durability, life Order life cycle costing, marketability, outward appearance, packaging, size, maintenanceability, weight, manufacturability, the convenience etc. of assembling.Retouched State not have for the advisability embodiment described here implemented less than other embodiments or prior art of one or more characteristics Have outside the scope of the present disclosure and can it is expected to be used for special applications.

Claims (6)

1. a kind of method for controlling motor vehicle driven by mixed power, including：

Engine and traction motor are controlled in automatic mode, to produce wheel torque based on pedal position and speed；

Increase wheel torque, to be transformed into gear selection mode, wherein, wheel torque is to be based on the revisable virtual shelves of driver Position number, pedal position and speed.

2. the method for claim 1, wherein under gear selection mode, wheel torque is with the increasing of virtual gear number Add and reduce.

3. method as claimed in claim 2, wherein, methods described also includes：When in the constant situation of speed and pedal position Under when being transformed into gear selection mode, highest initial virtual gear number is selected, so that wheel torque increases.

4. the method for claim 1, wherein start the conversion in response to the operation for the selector that downshifts.

5. the method for claim 1, wherein methods described also includes：When being operated under gear selection mode, response Reduce virtual gear number in driver's operation of downshift selector and increase wheel torque.

6. the method for claim 1, wherein methods described also includes：When being operated under gear selection mode, response Increase virtual gear number in driver's operation of upshift selector and reduce wheel torque.