Drive control device of moving body

Abstract

To provide a drive control device of a moving body capable of increasing a regeneration amount without hindering a driver's brake operation and causing too much deceleration. A drive control device of a moving body that updates a regenerative pattern of a driving motor of the moving body including a brake that generates a braking force by being linked to an operation amount of a brake pedal, the drive control device including an external world information acquisition unit that acquires external world information and a brake detector that detects ON/OFF of the brake, wherein when the brake detector detects ON, the regenerative pattern is changed based on the external world information acquired by the external world information acquisition unit such that a braking distance only decreases.

Claims

1. A drive control device of a moving body that updates a regenerative pattern of a driving motor of the moving body including a brake that generates a braking force by being linked to an operation amount of a brake pedal, the drive control device comprising: an external information acquisition unit that acquires external information; and a brake detector that detects ON/OFF of the brake, wherein when the brake detector detects ON, the regenerative pattern is changed by increasing a regenerative force based on the external information acquired by the external information acquisition unit such that the braking force of the brake decreases while the regenerative force increases thereby improving fuel efficiency.

2. The drive control device of a moving body according to claim 1, wherein the external information is a type of a deceleration object, a relative distance, and a relative speed registered in advance.

3. The drive control device of a moving body according to claim 2, further comprising: a target behavior operation unit that calculates a target distance and a target speed of the moving body from the type, the relative distance, and the relative speed, wherein the regenerative pattern is changed such that a speed of the moving body at the target distance is the target speed.

4. The drive control device of a moving body according to claim 3, wherein when the brake detector detects ON, torque of the driving motor is changed based on the external information such that deceleration of the moving body only increases.

5. The drive control device of a moving body according to claim 4, wherein at least one of the deceleration objects is a preceding vehicle on a traveling route of the moving body.

6. The drive control device of a moving body according to claim 4, wherein at least one of the deceleration objects is a red signal stop line on a traveling route of the moving body.

7. The drive control device of a moving body according to claim 4, wherein at least one of the deceleration objects is a tollgate on a traveling route of the moving body.

8. The drive control device of a moving body according to claim 4, wherein at least one of the deceleration objects is a road curve on a traveling route of the moving body.

9. The drive control device of a moving body according to claim 4, wherein at least one of the deceleration objects is a width decreased portion on a traveling route of the moving body.

10. The drive control device of a moving body according to claim 4, wherein at least one of the deceleration objects is a downhill grade on a traveling route of the moving body.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) FIG. 1 is a diagram showing an outline configuration of a drive control device according to a first embodiment.

(2) FIG. 2 is a block diagram of a control operation unit 8 according to the first embodiment.

(3) FIG. 3 is a block diagram of a target deceleration operation unit 101 according to the first embodiment.

(4) FIG. 4 is a block diagram of a target deceleration torque operation unit 103 according to the first embodiment.

(5) FIG. 5 is a diagram illustrating an operation example of the drive device when the present invention in the first embodiment is not used.

(6) FIG. 6 is a diagram illustrating an operation example of the drive device according to the first embodiment.

(7) FIG. 7 is a diagram illustrating an operation example of the drive device according to the first embodiment.

(8) FIG. 8 is an image diagram when vehicles stop in front at a red signal in the first embodiment.

(9) FIG. 9 is an image diagram when entering a red signal while there is no vehicle in front in the first embodiment.

(10) FIG. 10 is a diagram showing a driving force when the accelerator is released in a second embodiment.

(11) FIG. 11 is a diagram showing a block diagram of the target deceleration operation unit 101 according to the second embodiment.

DESCRIPTION OF EMBODIMENTS

(12) Hereinafter, the embodiments to carry out the present invention will be described with reference to the drawings. In the embodiments described below, the present invention is described by taking a case when applied to a drive system of an electric vehicle in which a motor is the only power source of the vehicle as an example, but the present invention can also be applied to the control device of motor vehicles of rolling stock, construction vehicles and the like and motor vehicles in which an engine as an internal combustion engine and a motor are used as power sources of the vehicle, for example, hybrid vehicles (passenger cars), freight vehicles such as hybrid trucks, and buses such as hybrid buses.

First Embodiment

(13) FIG. 1 is a diagram showing the configuration of a drive control device of an electric vehicle in the first embodiment. Broken line arrows in FIG. 1 show the flow of signals. The vehicle includes a battery 1 as an energy source of the vehicle, a motor 2 to electrically drive the vehicle, an inverter power supply 3 to make a power conversion between the battery 1 and the motor 2, and the control operation unit 8 to control the inverter power supply 3, a braking device 7 and the like.

(14) The inverter power supply 3 converts a direct current supplied from the battery 1 into a three-phase alternating current by pulse width modulation (PWM) and supplies the alternating current to the motor 2. The motor 2 converts electric energy supplied as a three-phase alternating current from the inverter power supply 3 into kinetic energy. Power generated by the motor 2 as kinetic energy is transmitted to a reduction gear 4 and decelerated by a deceleration mechanism inside the reduction gear 4 and then transmitted left and right driving wheels 6 via a differential mechanism 5 to become a driving force to drive the vehicle. In addition, kinetic energy of the vehicle is converted into electric energy by causing the motor 2 to perform a regenerative operation so that the electric energy can be recovered to the battery 1. The recovered electric energy can be converted into kinetic energy again and thus, fuel efficiency of the vehicle can be improved by causing the motor 2 to perform a regenerative operation.

(15) The braking device 7 that generates a braking force of the vehicle in accordance with an operation amount of a brake pedal 13 is provided near the driving wheel 6. The braking device 7 includes a hydraulic booster and a frictional force is generated by pressing the driving wheel 6 by a hydraulic operating force generated by the hydraulic booster. Accordingly, kinetic energy is converted into thermal energy to brake the vehicle.

(16) In FIG. 1, the control operation unit 8 is comprised of CPU, a memory and the like and controls the motor 2 by executing a control program. The control operation unit 8 can change torque generated by the motor 2 and regenerated power charged in the battery 1 by sending a command to the inverter power supply 3 to change the magnitude of current passed to the motor 2 or the frequency of an alternating current.

(17) As shown in FIG. 1, a vehicle speed sensor 9 to detect the vehicle speed, an accelerator sensor 10 to detect an accelerator pedal opening (operation amount of the accelerator pedal), a brake switch 11 to detect ON/OFF of the brake pedal 13, and an external recognition sensor 12 to acquire external world information are connected to the control operation unit 8. The external recognition sensor 12 can detect the type of a deceleration object of the vehicle, the relative distance, and the relative speed as external world information.

(18) To detect a braking force generated by the braking device 7, an expensive sensor such as a stepping force sensor of the brake pedal is needed. In the embodiments of the present invention, a sensor to detect a braking force generated by the braking device 7 or the like is not provided to reduce the system cost.

(19) Next, the configuration of the control operation unit 8 will be described using FIG. 2. A target driving torque operation unit 100 calculates the target torque of the motor 2, that is, the target driving torque when there is no intervention of deceleration control after a vehicle speed signal is input from the vehicle speed sensor 9 and an accelerator opening signal is input from the accelerator sensor 10. The accelerator opening of the accelerator pedal is proportional to an output request and thus, the accelerator opening is converted into an output request and divided by the vehicle speed to calculate a driving force request of the vehicle, that is, the target driving torque of the motor 2.

(20) A target behavior operation unit 99 calculates a target distance 198 and a target speed 199 at the target distance 198 after a vehicle speed signal is input from the vehicle speed sensor 9 and the type of a deceleration object, the relative distance, and the relative speed are input from the external recognition sensor 12 as external world information. Correspondences from the relative distance, relative speed, and vehicle speed of the deceleration object to the target distance 198 and the target speed 199 are stored in a memory provided in the control operation unit 8 as a numerical map for each type of the deceleration object.

(21) The target deceleration operation unit 101 calculates the intended deceleration, that is, target deceleration 201 when there is an intervention of deceleration control after a brake switch signal is input from the brake switch 11, the target distance 198 and the target speed 199 are input from the target behavior operation unit 99, and a vehicle speed signal is input from the vehicle speed sensor 9.

(22) A deceleration operation unit 102 calculates deceleration 202 of the vehicle by a difference calculation after a vehicle speed signal is input from the vehicle speed sensor 9.

(23) The target deceleration torque operation unit 103 calculates target deceleration torque 203 to match the deceleration 202 calculated by the deceleration operation unit 102 to the target deceleration 201 calculated by the target deceleration operation unit 101 when there is an intervention of deceleration control after a vehicle speed signal is input from the vehicle speed sensor 9, a brake switch signal is input from the brake switch 11, the target deceleration 201 is input from the target deceleration operation unit, and the deceleration 202 is input from the deceleration operation unit 102.

(24) A control intervention arbitration unit 104 determines whether to allow an intervention of deceleration control after an accelerator opening signal is input from the accelerator sensor 10, target driving torque 200 is input from the target driving torque operation unit 100, and the target deceleration torque 203 is input from the target deceleration torque operation unit 103. If the accelerator opening signal is equal to a predetermined value or less, the control intervention arbitration unit 104 determines to allow an intervention and sends the target deceleration torque 203 to the inverter power supply 3 as target torque 204. If the accelerator opening signal is equal to a predetermined value or more, the control intervention arbitration unit 104 determines to not allow an intervention and sends the target driving torque 200 to the inverter power supply 3 as the target torque 204.

(25) The target torque 204 is sent to the inverter power supply 3 and torque control is performed so that the torque is generated.

(26) Next, the target deceleration operation unit 101 will be described using FIG. 3.

(27) In the target deceleration operation unit 101, a target deceleration calculation 110 determines a target deceleration base value 210 (Gb) from the target distance 198 (Lr), the target speed 199 (Vr), and the vehicle speed signal (V) input from the target behavior operation unit 99 as Gb=(V.sup.2Vr.sup.2)/(2Lr). The target deceleration base value 210 (Gb) is deceleration to reach the target speed 199 (Vr) from the vehicle speed signal (V) after traveling the target distance 198 (Lr). Therefore, a braking distance of the vehicle decreases as the target deceleration base value 210 (Gb) increases. Here, the braking distance is a travel distance needed for the vehicle speed to be decelerated to a predetermined value.

(28) A last value hold 111 calculates a target deceleration last value 211 as the last value of the target deceleration 201.

(29) A select-high 112 selects the larger of the target deceleration base value 210 (Gb) input from the target deceleration calculation 110 and the target deceleration last value 211 input from the last value hold 111 to calculate a target deceleration change direction limiting value 212. Thus, the braking distance by the target deceleration change direction limiting value 212 is always shorter than the braking distance when the last value of the target deceleration 201 is used.

(30) A selector 113 outputs the target deceleration base value 210 as the target deceleration 201 when a brake switch signal is OFF and the target deceleration change direction limiting value 212 as the target deceleration 201 when the brake switch signal is ON after the brake switch signal is input from the brake switch 11, the target deceleration base value 210 is input from the target deceleration calculation 110, and the target deceleration change direction limiting value 212 is input from the select-high 112. When the brake switch is ON, the target deceleration 201 changes such that the braking distance only decreases.

(31) As described above, the target deceleration 201 changes such that the braking distance only decreases when the brake switch is ON and thus, changes of the target deceleration 201 do not hinder the driver's brake operation.

(32) Next, the target deceleration torque operation unit 103 will be described using FIG. 4.

(33) In the target deceleration torque operation unit 103, a torque converter 120 calculates a target deceleration torque base value 220 (Tb) from the vehicle speed signal (V) input from the vehicle speed sensor 9 and the target deceleration 201 (Gr) input from the target deceleration operation unit 101 as Tb={M.Math.Gr+M.Math.g.Math.+(.Math.Cd.Math.A.Math.V.sup.2)/2}.Math.R/. where M is the estimated value of the vehicle weight, g is the gravitational acceleration, is the estimated value of the rolling resistance coefficient, is the air density, Cd is the estimated value of a Cd value, A is the frontal projected area, R is the radius of a vehicle wheel, and r is the reduction ratio from a motor shaft to an axle.

(34) A difference between the target deceleration 201 input from the target deceleration operation unit 101 and the deceleration 202 input from the deceleration operation unit 102 is found at 1000 to calculate a deceleration deviation 221.

(35) A proportion operation 121 calculates a proportion correction value 222 by multiplying the deceleration deviation 221 by a constant when a brake switch signal input from the brake switch 11 is OFF. When the brake switch signal is ON, the last value of the proportion correction value 222 is output as the proportion correction value 222.

(36) An integral operation 122 calculates an integral correction value 223 by multiplying an integrated value of the deceleration deviation 221 by a constant when a brake switch signal input from the brake switch 11 is OFF. When the brake switch is ON, the last value of the integral correction value 223 is output as the integral correction value 223. At 1001, the sum of the target deceleration torque base value 220, the proportion correction value 222, and the integral correction value 223 is calculated to set the sum as the target deceleration torque 203.

(37) By adding the proportion correction value 222 and the integral correction value 223 to the target deceleration torque base value 220 as described above, the deceleration 202 of the vehicle can be matched to the target deceleration 201 so that the speed at the target distance 198 is the target speed 199. Accordingly, fuel efficiency of the vehicle can be improved by increasing the regeneration amount without decelerating too much. When the brake switch is ON as described above, the last values are used as the proportion correction value 222 and the integral correction value 223 and thus, the braking distance decreases for the target deceleration torque 203. Therefore, changes of the target deceleration torque 203 do not hinder the driver's brake operation.

(38) Effects of the present embodiment will be described using FIGS. 5, 6, and 7.

(39) FIG. 5 is a diagram illustrating an operation when the present embodiment is not used, that is, when the brake is ON, the regenerative pattern is not changed such that the braking distance only decreases. When the driver releases the accelerator at time t1, the drive device increases the braking force using regeneration up to F1 so that the speed at the target distance 198 is decelerated to the target speed 199 based on external world information. When the driver steps on the brake to increase deceleration at time t2, a braking force by the friction brake is generated. However, the drive device determines that the deceleration by the friction brake is too much and decreases the braking force using regeneration so that the speed at the target distance 198 is the target speed 199. As a result, in the time between time t2 and time t3, the braking force does not change in response to the driver's brake operation so that the drive device hinders the driver's brake operation. Therefore, a stop position L1 at time t4 exceeds the driver's target stop position.

(40) FIG. 6 is a diagram illustrating an operation when the present embodiment is used, that is, when the brake is ON, the regenerative pattern is changed such that the braking distance only decreases. When the driver releases the accelerator at time t5, the drive device according to the present embodiment increases the braking force using regeneration up to F2 such that the speed at the target distance 198 is decelerated to the target speed 199 based on external world information. Accordingly, fuel efficiency can be improved. When the driver steps on the brake to increase deceleration at time t6, a braking force by the friction brake is generated. At this point, it is necessary to change the regenerative pattern such that the braking distance increases to match the speed at the target distance 198 to the target speed 199, but the brake is ON and the drive device according to the present embodiment does not change the regenerative pattern. Thus, in the time between time t6 and time t7, the braking force can be changed by reflecting the driver's brake operation. Accordingly, the stop position at time t7 can be selected as the driver's target stop position.

(41) FIG. 7 is a diagram illustrating an operation when the brake is ON and the regenerative pattern is changed such that the braking distance only decreases and also from time t10 onward, the target distance 198 and the target speed 199 approach the driver's intention. When the driver releases the accelerator at time t9, the drive device according to the present embodiment increases the braking force using regeneration up to F3 such that the speed at the target distance 198 is decelerated to the target speed 199 based on external world information. Accordingly, fuel efficiency can be improved. When the driver steps on the brake to increase deceleration at time t9, a braking force by the friction brake is generated. At this point, it is necessary to change the regenerative pattern such that the braking distance increases to match the speed at the target distance 198 to the target speed 199, but the brake is ON and the drive device according to the present embodiment does not change the regenerative pattern. Thus, in the time between time t9 and time t10, the braking force can be changed by reflecting the driver's brake operation. If the target distance 198 and the target speed 199 change as shown in FIG. 7 from time t10 to time t11, the drive device according to the present embodiment changes the regenerative pattern to match the speed at the target distance 198 to the target speed 199. While the brake is ON from time t10 to time t11, the regenerative pattern needs to be changed such that the braking distance decreases to match the speed at the target distance 198 to the target speed 199 and therefore, the braking force using regeneration is changed up to F4. The driver always fine-tunes the brake operation so as to stop the vehicle in the driver's target stop position. The target distance 198 and the target speed 199 change from time t10 to time t11 and thus, the driver eases up on the brake operation to stop the vehicle in the target stop position. As a result, the braking force by the friction brake is decreased and the braking force using regeneration can be increased and therefore, fuel efficiency can further be improved. Also, the stop position at time t12 can be selected as the driver's target stop position.

(42) The external recognition sensor 12 may be any sensor capable of detecting the distance to an object in front of the local vehicle such as a laser radar, a radar, and a stereo camera and in the present embodiment, a stereo camera is used as the external recognition sensor 12.

(43) The stereo camera used as the external recognition sensor 12 in the present embodiment can detect a preceding vehicle as a deceleration object. Thus, when decelerated with respect to the preceding vehicle, fuel efficiency can be improved by increasing the regeneration amount.

(44) In a situation shown in FIG. 8 in which a signal 701 is red and vehicles 702, 703 stop in front, a laser radar or a radar cannot determine whether the vehicles 702, 703 that stop or a wall that happens to appear in front until the distance to a local vehicle 704 becomes short and so cannot determine to increase regeneration sufficiently in advance.

(45) However, a stereo camera can determine that an object present before is a vehicle based on the color and shape of a vehicle and the distance to the recognized object can be detected from the time when the object is far away so that the regeneration amount can be increased.

(46) The stereo camera used as the external recognition sensor 12 in the present embodiment can detect a curve on a traveling route as a deceleration object. Thus, when decelerated with respect to a curve on the traveling route, fuel efficiency can be improved by increasing the regeneration amount.

(47) The stereo camera used as the external recognition sensor 12 in the present embodiment can detect a width decreased portion on the traveling route as a deceleration object. Thus, when decelerated with respect to a width decreased portion on the traveling route, fuel efficiency can be improved by increasing the regeneration amount.

(48) In addition, using a map of a navigation system jointly as the external recognition sensor 12 can be considered. By using a map of a navigation system jointly, the external recognition sensor 12 in the present embodiment can detect a red signal stop line on the traveling route. Thus, when decelerated with respect to a red signal stop line on the traveling route, fuel efficiency can be improved by increasing the regeneration amount.

(49) When, as shown in FIG. 9, there is no object in front of a local vehicle 705, the regeneration amount cannot be increased by using a laser radar or a radar. In such a case, the regeneration amount can be increased even in a situation as shown in FIG. 9 by detecting a red signal using a stereo camera and calculating the distance to a stop line from a map.

(50) By using a map of a navigation system jointly, the external recognition sensor 12 in the present embodiment can detect a tollgate on the traveling route. Thus, when decelerated with respect to a tollgate on the traveling route, fuel efficiency can be improved by increasing the regeneration amount.

(51) By using a map of a navigation system jointly, the external recognition sensor 12 in the present embodiment can detect a downhill grade on the traveling route. Thus, when decelerated with respect to a downhill grade on the traveling route, fuel efficiency can be improved by increasing the regeneration amount.

Second Embodiment

(52) FIG. 10 is a diagram showing a driving force when the accelerator is released in the second embodiment of the present invention and FIG. 11 is a diagram showing a block diagram of the target deceleration operation unit 101 in the second embodiment of the present invention. The second embodiment is a modification of a portion of the configuration (configuration of the target driving torque operation unit 100 and the target deceleration operation unit 101) of the first embodiment described above. The same reference signs are attached to elements similar to those shown in FIGS. 1 and 2 and the description below focuses on differences.

(53) The target driving torque operation unit 100 calculates the target torque of the motor 2, that is, the target driving torque when there is no intervention of deceleration control after a vehicle speed signal is input from the vehicle speed sensor 9 and an accelerator opening signal is input from the accelerator sensor 10. The accelerator opening of the accelerator pedal is proportional to an output request and thus, the accelerator opening is converted into an output request, divided by the vehicle speed, and a basic driving force at accelerator release 403 being added to calculate a driving force request of the vehicle, that is, the target driving torque of the motor 2.

(54) FIG. 10 is a diagram showing the driving force when the accelerator is released. When the vehicle speed is equal to a predetermined value or less, the driving force is a positive value corresponding to a creep. When the vehicle speed is equal to the predetermined value or more, the driving force is negative.

(55) In the target deceleration operation unit 101 according to the second embodiment, a target gain calculation 310 determines a target gain base value 410 from the target distance 198 (Lr), the target speed 199 (Vr), and the vehicle speed signal (V) input from the target behavior operation unit 99. The target gain base value 410 is multiplied by a basic driving force at accelerator release 402 to be used for calculating the driving force at accelerator release 403. The target gain base value 410 is a value to achieve the target speed 199 (Vr) after traveling the target distance 198 (Lr) if decelerated by the driving force at accelerator release 403 when the accelerator is released. Therefore, the braking distance of the vehicle decreases as the target gain base value 410 increases. Here, the braking distance is a travel distance needed for the vehicle speed to be decelerated to a predetermined value.

(56) The last value hold 111 calculates a target gain last value 411 as the last value of a target gain 401 (K).

(57) The select-high 112 selects the larger of the target gain base value 410 input from the target gain calculation 310 and the target gain last value 411 input from the last value hold 111 to calculate a target gain change direction limiting value 412. Thus, the braking distance by the target gain change direction limiting value 412 is always shorter than the braking distance when the last value of the target gain 401 (K) is used.

(58) The selector 113 outputs the target gain base value 410 as the target gain 401 (K) when a brake switch signal is OFF and the target gain change direction limiting value 412 as the target gain 401 (K) when the brake switch signal is ON after the brake switch signal is input from the brake switch 11, the target gain base value 410 is input from the target gain calculation 310, and the target gain change direction limiting value 412 is input from the select-high 112. When the brake switch is ON, the target gain 401 (K) changes such that the braking distance only decreases.

(59) As described above, the target deceleration 201 changes such that the braking distance only decreases when the brake switch is ON and thus, changes of the target gain 401 (K) do not hinder the driver's brake operation.

(60) A basic driving force calculation at accelerator release 311 calculates the basic driving force at accelerator release 402 by inputting a vehicle speed signal. The basic driving force at accelerator release 402 is, as shown in FIG. 10, a positive value corresponding to a creep when the vehicle speed is equal to a predetermined value or less. When the vehicle speed is equal to the predetermined value or more, the driving force is negative.

(61) An integrating unit 312 calculates the driving force at accelerator release 403 by integrating the basic driving force at accelerator release 402 and the target gain 401 (K).

(62) A deceleration conversion 313 calculates the target deceleration 201 (Gr) from the driving force at accelerator release 403 (Fc) as Gr={FcMg.Math.(.Math.Cd.Math.A.Math.V.sup.2)/2}/M.

(63) In the target deceleration operation unit 101 according to the second embodiment, the driving force while regeneration is increased, that is, the driving force at accelerator release 403 is made K times the basic driving force at accelerator release 402 and thus, the creep can continuously be linked when the vehicle is decelerated. Also when regeneration is increased, the deceleration pattern is close to normal deceleration by an engine brake and thus, an uncomfortable feeling of the driver can be reduced and the driver's brake operation can be made easier.

REFERENCE SIGNS LIST

(64) 1 battery 2 motor 3 inverter power supply 4 reduction gear 5 differential mechanism 6 driving wheel 7 braking device 8 control operation unit 9 vehicle speed sensor 10 accelerator sensor 11 brake switch 12 external recognition sensor 13 brake pedal 99 target behavior operation unit 100 target driving torque operation unit 101 target deceleration operation unit 102 deceleration operation unit 103 target deceleration torque operation unit 104 control intervention arbitration unit 110 target deceleration calculation 111 last value hold 112 select-high 113 selector 120 torque converter 121 proportion operation 122 integral operation 198 target distance 199 target speed 200 target torque 201 target deceleration 202 deceleration 203 target deceleration torque 204 target torque 210 target deceleration base value 212 target deceleration change direction limiting value 220 target deceleration torque base value 221 deceleration deviation 222 proportion correction value 223 integral correction value 310 target gain calculation 311 basic driving force calculation at accelerator release 312 integrating unit 313 deceleration conversion 401 target gain 402 basic driving force at accelerator release 403 driving force at accelerator release 410 target gain base value 411 target gain last value 412 target gain change direction limiting value 701 signal 702, 703 vehicle 704 local vehicle 705 local vehicle