DE102020005275A1 - Device for controlling a vehicle - Google Patents

Abstract

The invention relates to a device for controlling a vehicle (10), comprising a drive control module (2.2) and a display unit (2.9), with a navigation module (3.1) or a route planning process (1), a horizon module (3.2) and a recognition module (3.3) are provided, the navigation module (3.1) or the route planning process (1) being designed to specify a route and to transmit it to the horizon module (3.2), the horizon module (3.2) being designed to determine possible critical points on the route, wherein the detection module (3.3) is designed to simulate and/or calculate load and energy data that can lead to functional restrictions of the vehicle (10) on the planned route, taking current operating data (3d) into account, and if with a very high probability of a possible functional restriction coinciding with a determined critical point, a preventive abre A corrective measure is initiated in the drive control module (2.2) to avoid the functional restriction and corresponding information is output on the display unit (2.9), whereby in the event that the functional restriction cannot be avoided with a preventive regulatory measure, the digital road map on the display unit (2.9 ) a request for an emergency stop is issued and/or the emergency stop is carried out automatically.

Description

The invention relates to a device for controlling a vehicle according to claim 1. The device serves to prevent an unplanned vehicle standstill in critical situations in electrically powered vehicles.

A vehicle with an electric drive can suddenly come to a standstill if the traction battery dries up or if there are various faults or overloads. In a conventional vehicle with a combustion engine, such failure scenarios are much less likely and the effects are often less expensive to rectify. For example, an empty tank can be quickly refilled from a reserve canister; however, a charger for an electric vehicle is not readily available everywhere. Due to the technical design of electric drive systems, curtailment, for example due to thermal overload of batteries, inverters and electric motors, is more possible than in a classic vehicle with a combustion engine. It is also conceivable that a partial failure of fuel cell stacks or battery modules leads to energy bottlenecks and must be dealt with in good time in order to prevent a temporary breakdown or a massive loss of driving performance in certain dangerous situations and/or areas.

the end JP08214403 a driving controller for an electric vehicle is known, the purpose of which is to increase safety by allowing movement using the remaining power of a battery at a short distance for emergency maneuvers, even during the stoppage of the electric vehicle due to low battery voltage. The operation of the motor is controlled by controlling the battery power supplied to the motor by means of a motor operation control block in a normal operation in which the battery voltage monitored by a battery monitoring block has not dropped to a threshold or below and while the electric vehicle is running. When the battery voltage drops below the threshold, a halt command is issued by the battery monitor block and engine operation is halted, an emergency run command is transmitted to the engine operation control block by closing an emergency switch, and emergency maneuvers and movements are stopped by the small remaining Power enabled until the battery is completely empty. Accordingly, even if the battery is discharged to the stop voltage for some reason and electric travel has stopped at a dangerous place, the electric vehicle can be maneuvered in an emergency and move to a safe place under its own power.

The invention is based on the object of specifying an improved device for controlling an electrically driven vehicle in order to prevent an unplanned vehicle standstill in critical situations.

The object is achieved according to the invention by a device for controlling a vehicle according to claim 1.

Advantageous configurations of the invention are the subject matter of the dependent claims.

A device according to the invention for controlling a vehicle with an electric drive motor, a battery and a high-voltage circuit includes an onboard system with a drive control module and a display unit. According to the invention, a navigation module or a route planning process, a horizon module and a recognition module are provided, with the navigation module or the route planning process being designed to specify a route and to transmit it to the horizon module, with the horizon module being used to determine possible critical points on the route at which a Breakdown of the vehicle is to be avoided, in combination with the respective position using the planned route and access to a digital road map and for transmitting information about the possible critical points to the detection module, the detection module for simulating and / or calculating Load and energy data that can lead to functional restrictions of the vehicle is formed on the planned route, taking into account current operating data provided by the drive control module, the load and energy data n a battery temperature, a state of charge of the battery, an inverter temperature, an axle oil temperature, bearing temperature and/or winding temperature of the electric drive motor, energy and/or power of a fuel cell and/or the battery, insulation resistance of the high-voltage circuit, and diagnostic information relating to components include possible imminent failure scenarios, with the detection module also being designed to, if there is a very high probability that a possible functional restriction coincides with a determined critical point, to initiate a preventive regulating measure in the drive control module to avoid the functional restriction and to output corresponding information on the display unit, where the detection module is also designed to, in the event that the functional restriction cannot be avoided with a preventive curtailment measure, with the aid of the digital road map, an N o stop of the vehicle in front of the determined critical Place to plan and issue a request for an emergency stop on the display unit and / or perform the emergency stop automatically.

The device proposed according to the invention recognizes possible failure or curtailment scenarios at an early stage by means of a prediction and prevents the vehicle from entering a potentially dangerous situation (e.g. railroad crossing, blind curve area, bottleneck) or a situation with massive obstruction for traffic (tunnel, bottleneck, crossing area). drives in. Such a situation can be prevented either by anticipatory intervention in the operating strategy to save energy, torque reduction, activation of reserves (e.g. SOC) etc. for safe passage or by a timely emergency stop at a suitable point before the relevant situation occurs.

In particular, such a function can be used as support in the case of unmanned, large, heavy vehicles, autonomous trucks, but also in the case of manned vehicles.

Exemplary embodiments of the invention are explained in more detail below with reference to drawings.

• 1 ein schematisches Blockschaltbild eines Onboard-Systems eines Fahrzeugs, und
• 2 ein schematisches Blockschaltbild eines Offboard-Systems für ein Fahrzeug mit Anbindung an eine Cloud.

show:

• 1 a schematic block diagram of an onboard system of a vehicle, and
• 2 a schematic block diagram of an offboard system for a vehicle with connection to a cloud.

Corresponding parts are provided with the same reference symbols in all figures.

1 is a schematic block diagram of an onboard system of a vehicle, comprising a navigation module 3.1, a horizon module 3.2, a recognition module 3.3, a display unit 2.9 and a drive control module 2.2 for a drive train.

1. 1) Engstellen an Baustellen, beispielsweise durch Spurverengung,
2. 2) Tunnels,
3. 3) Große Kreuzungsbereiche,
4. 4) Bahnübergänge,
5. 5) Extreme Stausituationen mit langen Standzeiten, und
6. 6) Enge unübersichtliche Straßenabschnitte

in Kombination mit der jeweiligen Position.By entering a route into the navigation module 3.1, a route 3a is determined and forwarded to the horizon module 3.2. Optionally, additional information from cloud services 4 can also be used, for example traffic information 4.1, current construction site information 4.2, weather conditions 4.3 etc transfer. There, with the help of the planned route and access to a digital road map, possible critical points such as:

1. 1) Bottlenecks at construction sites, for example due to lane narrowing,
2. 2) tunnels,
3. 3) Large crossing areas,
4. 4) level crossings,
5. 5) Extreme traffic jams with long downtimes, and
6. 6) Narrow confusing road sections

in combination with the respective position.

1. a) Batterietemperatur: Abregelung der Batterie führt zu akutem Energiemangel -> vorübergehendes Liegenbleiben,
2. b) Ladezustand der Batterie (SOC): Energiemangel führt zum Liegenbleiben,
3. c) Invertertemperatur: Abregelung der Antriebsleistung -> vorübergehendes Liegenbleiben,
4. d) Achsöltemperatur, Lagertemperatur oder Wicklungstemperatur des elektrischen Antriebsmotors: Abregelung der Antriebsleistung -> vorübergehendes Liegenbleiben,
5. e) Energie/Leistung der Brennstoffzelle und der Batterie: vorübergehender Energiemangel und Liegenbleiben,
6. f) Isolationswiderstand des Hochvolt-Kreises: Ausfall des Hochvolt-Systems -> Liegenbleiben, und
7. g) Diagnoseinformation von allen wesentlichen Komponenten bezüglich möglicher bevorstehender Ausfallszenarien.

This information about the possible critical points 3b is forwarded to the detection module 3.3. The detection module 3.3 simulates and/or calculates all important load and energy data on the planned route that can lead to functional restrictions of the vehicle. This includes:

1. a) Battery temperature: Limiting the battery leads to acute lack of energy -> temporary breakdown,
2. b) State of charge of the battery (SOC): lack of energy leads to breakdown,
3. c) Inverter temperature: derating of the drive power -> temporary breakdown,
4. d) Axle oil temperature, bearing temperature or winding temperature of the electric drive motor: curtailment of the drive power -> temporary breakdown,
5. e) energy/performance of the fuel cell and the battery: temporary lack of energy and breakdown,
6. f) Insulation resistance of the high-voltage circuit: failure of the high-voltage system -> breakdown, and
7. g) Diagnostic information from all essential components regarding possible upcoming failure scenarios.

For this purpose, the drive control module 2.2 supplies current operating data 3d from the drive train so that the calculation of the state variables (a to g) of the drive train described above can be started with current values.

The detection module 3.3 carries out a precalculation of the relevant state variables based on the initial conditions. Classic simulation models can be used for thermal or energetic limitations while for non-thermal or energetic failure scenarios, statistical methods with probability analyses, load spectra and methods of artificial intelligence can also be used.

1. a. Durch präventive Abregelmaßnahmen, beispielsweise durch Reduktion erlaubter Antriebsmomente oder Veränderung der Thermoregelung können festgestellte kritische Situationen vermieden werden. Ist dies der Fall, wird der Fahrer über die Anzeigeeinheit 2.9 informiert und die ermittelte Maßnahme umgesetzt. Dies kann zu gewissen Leistungs- und Funktionseinschränkungen führen, wobei diese über Schwellwerte und Parameter eingestellt werden können.
2. b. Ist keine präventive Maßnahme (mehr) möglich, muss ein Nothalt oder ein Anhalten des Fahrzeuges vor der Gefahrenstelle durchgeführt werden. Da bereits im Vorfeld bekannt ist, dass es zu einer solchen Situation kommt, kann dieser Halt durch Suche nach einer geeigneten Stelle mithilfe einer digitalen Karte geplant werden. Im Vorfeld des geplanten Nothalts kann der Fahrer über die Anzeigeeinheit 2.9. informiert werden. Möglich ist ein kaskadiertes Warnkonzept, dass erst dann eingreift, wenn der Fahrer des Fahrzeugs die Warnungen ignoriert. Im Falle eines autonom fahrenden Fahrzeugs kann direkt die vorgesehene Nothaltplanung umgesetzt werden.

If it is determined that there is a very high probability that a possible failure scenario coincides with the danger zones 1) to 6) identified above, two options for action are examined:

1. a. Critical situations that have been identified can be avoided through preventative curtailment measures, for example by reducing permitted drive torques or changing the thermoregulation. If this is the case, the driver is informed via display unit 2.9 and the measure determined is implemented. This can lead to certain performance and functional limitations, which can be set using threshold values and parameters.
2. b. If preventive measures are not (or no longer) possible, an emergency stop or the vehicle must be stopped in front of the danger zone. Since such a situation is known in advance, this stop can be planned by searching for a suitable spot using a digital map. In the run-up to the planned emergency stop, the driver can use the display unit 2.9. be informed. A cascaded warning concept is possible that only intervenes if the driver of the vehicle ignores the warnings. In the case of an autonomously driving vehicle, the intended emergency stop planning can be implemented directly.

2 is a schematic block diagram of an offboard system for a vehicle 10, which has an onboard system 2, which is similar to that in FIG 1 shown can be formed. The offboard system has a cloud system 3 to which the onboard system 2 of the vehicle 10, a logistics planning center 1 and other cloud services 4 are connected.

The route course 3a is specified here with a route planning process 1 of a dispatcher embedded in a transport management system (TMS) and is exchanged with the cloud system 3, in which a horizon module 3.2 and a recognition module 3.3 can be provided, in which the already explained above Calculation regarding the possible failure scenarios can be made at danger points.

1. 1) Engstellen an Baustellen, beispielsweise durch Spurverengung,
2. 2) Tunnels,
3. 3) Große Kreuzungsbereiche,
4. 4) Bahnübergänge,
5. 5) Extreme Stausituationen mit langen Standzeiten, und
6. 6) Enge unübersichtliche Straßenabschnitte

in Kombination mit der jeweiligen Position.In particular, possible critical points such as:

1. 1) Bottlenecks at construction sites, for example due to lane narrowing,
2. 2) tunnels,
3. 3) Large crossing areas,
4. 4) level crossings,
5. 5) Extreme traffic jams with long downtimes, and
6. 6) Narrow confusing road sections

in combination with the respective position.

1. a) Batterietemperatur: Abregelung der Batterie führt zu akutem Energiemangel -> vorübergehendes Liegenbleiben,
2. b) Ladezustand der Batterie (SOC): Energiemangel führt zum Liegenbleiben,
3. c) Invertertemperatur: Abregelung der Antriebsleistung -> vorübergehendes Liegenbleiben,
4. d) Achsöltemperatur, Lagertemperatur oder Wicklungstemperatur des elektrischen Antriebsmotors: Abregelung der Antriebsleistung -> vorübergehendes Liegenbleiben,
5. e) Energie/Leistung der Brennstoffzelle und der Batterie: vorübergehender Energiemangel und Liegenbleiben,
6. f) Isolationswiderstand des Hochvolt-Kreises: Ausfall des Hochvolt-Systems -> Liegenbleiben, und
7. g) Diagnoseinformation von allen wesentlichen Komponenten bezüglich möglicher bevorstehender Ausfallszenarien.

This information about the possible critical points 3b is forwarded to the detection module 3.3. The detection module 3.3 simulates and/or calculates all important load and energy data on the planned route that can lead to functional restrictions of the vehicle. This includes:

1. a) Battery temperature: Limiting the battery leads to acute lack of energy -> temporary breakdown,
2. b) State of charge of the battery (SOC): lack of energy leads to breakdown,
3. c) Inverter temperature: derating of the drive power -> temporary breakdown,
4. d) Axle oil temperature, bearing temperature or winding temperature of the electric drive motor: curtailment of the drive power -> temporary breakdown,
5. e) energy/performance of the fuel cell and the battery: temporary lack of energy and breakdown,
6. f) Insulation resistance of the high-voltage circuit: failure of the high-voltage system -> breakdown, and
7. g) Diagnostic information from all essential components regarding possible upcoming failure scenarios.

For this purpose, the drive control module 2.2 in the onboard system 2 supplies current operating data from the drive train so that the calculation of the state variables (a to g) of the drive train described above can be started with current values.

The detection module 3.3 carries out a precalculation of the relevant state variables based on the initial conditions. Classic simulation models can be used for thermal or energetic limitations while for non-thermal or energetic failure scenarios, statistical methods with probability analyses, load spectra and methods of artificial intelligence can also be used.

Current data 2a from the vehicle 10 about the state of the drive is called up cyclically or on demand, and traffic information 4.1, construction site information 4.2 and weather conditions 4.3 from the cloud services 4 are taken into account.

If an intervention becomes necessary, information 1b can also be transmitted to the dispatcher from the cloud 3 in addition to an output on the display unit 2.9 in the vehicle 10.

Advantage of the cloud variant according to 2 is the better usability for autonomous vehicles, the more comprehensive information about the current traffic and weather events as well as the topicality of the road maps with, for example, short-term changes such as construction sites.

A device for preventing an unplanned vehicle standstill in critical situations in electrically powered vehicles can have one or more of the 1 and 2 components shown include.

In particular, thermal and/or energetic overload scenarios with driving function failures can be predicted using route planning and a forecast horizon.

The thermal and/or energetic overload scenarios with driving function failures can be compared with bottlenecks, crossing areas, tunnels, construction sites, traffic jam areas, extreme topographies and level crossings on the planned route.

If overlapping is detected, measures can be checked and implemented to prevent a critical situation through anticipatory power curtailment or through energy-saving measures.

If predictive measures are no longer possible, an emergency stop can be planned and implemented in advance in order to avoid the critical situation that has been identified. In an autonomous vehicle, the emergency stop can be performed automatically.

In a manually operated vehicle, information can be output to the driver via a display device and a cascaded warning concept can be implemented.

A planned emergency stop in the event of a temporary lack of energy or overheating can be used to eliminate the energy gap by operating the fuel cell system or to cool the overheated component by operating thermal management and then continue driving, with the duration of the emergency stop being controlled by the device can be controlled.

Failure scenarios that are not thermally or energetically related can be detected predictively, for example through abnormalities in component behavior. The detection can be carried out using methods of artificial intelligence and the emergency stop can be planned and executed in good time.

In the event of a failure-related reduction in the power output of the fuel cell, the critical points with a simultaneous lack of energy can be identified and avoided by proactively regulating the drive power.

In the event of a failure-related reduction in the power output of the fuel cell, the critical points with a simultaneous lack of energy can be identified and used by a planned and controlled emergency break to charge the energy storage device (buffer battery).

In the event of a failure-related or overload-related reduction in the power output/consumption of the backup battery, the critical points with a simultaneous lack of energy can be identified and avoided by anticipatory curtailment of the drive power.

In the event of a failure-related or overload-related reduction in the power output/consumption of the backup battery, the critical points with a simultaneous lack of energy can be identified and used by a planned and controlled emergency break to charge the energy storage (backup battery) and/or to regenerate the energy storage.

If the insulation resistance of the high-voltage circuit is low or falling, it is possible to predict that the switch-off limit value will not be reached before critical situations occur, and an emergency stop can be used in good time beforehand.

The axle oil temperature, bearing temperature and/or winding temperature of the electric drive motor and/or the drive inverter temperature can be monitored with regard to being exceeded, and if there is a risk of it being exceeded and the associated curtailment in a critical situation, predictive performance re production or a planned cooling break.

Information about planned or implemented measures can be reported back to the dispatcher/fleet operator.

Reference List

1

route planning process

1b

information

2

onboard system

2.2

drive control module

2.9

display unit

2a

current data

3

cloud system

3.1

navigation module

3.2

horizon module

3.3

detection engine

3a

itinerary

3b

Information about possible critical points

3d

current operating data

4

cloud service

4.1

traffic information

4.2

site information

4.3

weather conditions

10

vehicle

QUOTES INCLUDED IN DESCRIPTION

This list of the documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• JP 08214403 [0003]

Claims (6)

Device for controlling a vehicle (10) with an electric drive motor, a battery and a high-voltage circuit, comprising an onboard system (2) with a drive control module (2.2) and a display unit (2.9), characterized in that a navigation module (3.1 ) or a route planning process (1), a horizon module (3.2) and a recognition module (3.3) are provided, the navigation module (3.1) or the route planning process (1) being designed to specify a route and to transmit it to the horizon module (3.2). , The horizon module (3.2) for determining possible critical points on the route where the vehicle (10) should be avoided, in combination with the respective position using the planned route and access to a digital road map and for transmitting a Information about the possible critical points (3b) to the detection module (3.3) is formed, the detection module l (3.3) for simulating and/or calculating load and energy data that can lead to functional limitations of the vehicle (10) on the planned route, taking into account the current operating data (3d) provided by the drive control module (2.2), with the load - and energy data, a battery temperature, a state of charge of the battery, an inverter temperature, an axle oil temperature, bearing temperature and/or winding temperature of the electric drive motor, an energy and/or power of a fuel cell and/or the battery, an insulation resistance of the high-voltage circuit, and diagnostic information from Include components relating to possible imminent failure scenarios, the detection module (3.3) is also designed to, if with a very high probability a possible functional restriction coincides with a determined critical point, a preventive Abregelnahme in the drive control system dul (2.2) to avoid the functional restriction and to output corresponding information on the display unit (2.9), the detection module (3.3) also being designed to use the to plan an emergency stop of the vehicle (10) in front of the identified critical point using the digital road map and to issue a request for an emergency stop on the display unit (2.9) and/or to carry out the emergency stop automatically. device after claim 1 , characterized in that the navigation module (3.1), the horizon module (3.2) and the recognition module (3.3) are provided in the onboard system (2) of the vehicle (10). device after claim 1 , characterized in that the route planning process (1), the horizon module (3.2) and the recognition module (3.3) are provided in an offboard system to which the onboard system (2) of the vehicle (10) is wirelessly connected. Device according to one of the preceding claims, characterized in that the navigation module (3.1) or the route planning process (1) or the horizon module (3.2) are designed to receive information from cloud services (4), in particular traffic information (4.1), current construction site information (4.2) and weather conditions (4.3) to be taken into account. Device according to one of the preceding claims, characterized in that the detection module (3.3) is designed to use simulation models for the simulation and/or calculation for thermal or energetic limitations and for non-thermal or energetic failure scenarios statistical methods with probability analyses, load collectives and/or or to use methods of artificial intelligence. Device according to one of the preceding claims, characterized in that the device is also designed to eliminate an energy gap by operating a fuel cell system during a planned emergency stop in the event of a temporary lack of energy or overheating or by operating thermal management to cool the overheated component and then continue driving, the duration of the emergency stop being controllable by the device.

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