Patent Grant
11926331
The present disclosure relates to dynamic accelerator response management for a vehicle. More particularly, the present disclosure relates to dynamically remapping an associated response of a prime mover of a vehicle based on a position of an accelerator of the vehicle in response to a remapping condition.
The response of a prime mover (e.g., an engine, a motor, etc.) of a vehicle may be based on the position of an accelerator pedal or throttle. Typically the response is a static or near static accelerator response profile such that the demanded torque/power from the prime mover remains fairly consistent based on a single look-up table (or similar mechanism) as a function of the input accelerator position. Such a static or near static response may lead to inefficient operation under various conditions, especially in hybrid and electric vehicles.
One embodiment relates to an apparatus. The apparatus includes a position circuit, a speed circuit, and a response management circuit. The position circuit is structured to monitor a position of an accelerator of a vehicle. The position corresponds with an associated response of a prime mover of the vehicle. The associated response includes at least one of a torque output and a power output of the prime mover. The speed circuit is structured to monitor a speed of the vehicle. The response management circuit is communicably coupled to the position circuit and the speed circuit. The response management circuit is structured to receive an indication regarding the position of the accelerator and the speed of the vehicle; determine that the indication satisfies a remapping condition, the remapping condition including at least one of a creep condition, an obstacle condition, a deceleration condition, and a reverse condition; and dynamically remap the associated response of the prime mover of the vehicle based on the position of the accelerator in response to the indication satisfying the remapping condition.
Another embodiment relates to a method. The method includes receiving, by a processing circuit, an indication regarding at least one of a position of an accelerator of a vehicle and a speed of the vehicle. The position corresponds with an associated response of a prime mover of the vehicle. The associated response includes at least one of a torque output and a power output of the prime mover. The method further includes determining, by the processing circuit, that the indication satisfies a remapping condition, and remapping, by the processing circuit, the associated response of the prime mover of the vehicle in response to the indication satisfying the remapping condition.
Still another embodiment relates to a system. The system includes a controller communicably and operatively coupled to an accelerator and a prime mover of a vehicle. The controller is structured to receive an indication regarding at least one of a position of the accelerator and a speed of the vehicle, the position corresponding with an associated response of the prime mover; determine that the indication satisfies a remapping condition; and remap the associated response of the prime mover of the vehicle in response to the indication satisfying the remapping condition.
These and other features, together with the organization and manner of operation thereof, will become apparent from the following detailed description when taken in conjunction with the accompanying drawings.
Following below are more detailed descriptions of various concepts related to, and implementations of, methods, apparatuses, and systems for dynamic accelerator pedal/throttle response management and/or brake pedal/lever response management for a vehicle. The various concepts introduced above and discussed in greater detail below may be implemented in any number of ways, as the concepts described are not limited to any particular manner of implementation. Examples of specific implementations and applications are provided primarily for illustrative purposes.
Referring to the Figures generally, the various embodiments disclosed herein relate to systems, apparatuses, and methods for dynamic accelerator pedal/throttle response management and/or brake pedal/lever response management for a vehicle, and more specifically, remapping accelerator pedal/throttle response and/or brake pedal/lever response in response to and based on one or more remapping conditions. Conventional/traditional internal combustion engine (e.g., diesel, gasoline, etc.) propulsion powertrains typically have static (or near static) accelerator response profiles. In other words, the demanded torque/power from the primary power plant (e.g., a device that is mechanically coupled to the wheels, etc.) remains fairly consistent based on a single look-up table (or similar mechanism) as a function of the input accelerator position (e.g., accelerator pedal, throttle, etc.). For example, a common implementation is a table that provides a percentage of maximum torque as an output with respect to the input of accelerator position. This may also be manifested with acceleration based speed (ABS) and acceleration based torque (ABT) tables. Often times the transmission system acts as an intermediary between the engine and the driveline to provide a variation to the driveline torque as a function of load (e.g., accelerator pedal position, throttle position, etc.) and speed (e.g., transmission output, engine output, etc.). Some of the characteristics in terms of the engine output torque as a function of the accelerator position are an artifact of the engine characteristics. For example, an engine coupled to a torque converter/automatic transmission at full stop produces a specific amount of torque to maintain idle speeds while overcoming torque converter resistance. When the brakes are released, this engine output torque is amplified through the torque converter to provide a vehicle launch torque response even when the accelerator has not been depressed or otherwise engaged. This characteristic can be readily changed as a function of a torque converter K-factor or stiffness. The vehicle may accelerate at different rates depending upon a number of additional factors such as current road grade, vehicle mass, rolling resistance, powertrain component inertias, gear ratios, etc.
When migrating from conventional vehicle powertrains to either hybrid powertrain systems or electric vehicle (EV) architectures, an electric motor and not an engine, is mechanically coupled to the wheels. A transmission interface may or may not exist (e.g., depending upon the architecture, etc.). A motor does not need to maintain a positive speed “idle” state like an engine. Rather, a motor can produce torque at zero speed unlike an engine. For such system architectures, the traditional framework of the accelerator position response is not sufficient to maximize performance and fuel economy. Applicant has discovered certain expected behavior opportunities (e.g., remapping conditions, etc.) that a dynamic (or variable) accelerator response may lend itself to including (i) vehicle creep operation, (ii) curb climbing situations, (iii) dynamic braking/deceleration with varying traffic conditions, and (iv) vehicle reverse motion. Such dynamic accelerator response for the various remapping conditions is described herein in further detail.
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Components of the vehicle 10 may communicate with each other or foreign components using any type and any number of wired or wireless connections. For example, a wired connection may include a serial cable, a fiber optic cable, a CAT5 cable, or any other form of wired connection. Wireless connections may include the Internet, Wi-Fi, cellular, radio, Bluetooth, ZigBee, etc. In one embodiment, a controller area network (CAN) bus provides the exchange of signals, information, and/or data. The CAN bus includes any number of wired and wireless connections. Because the controller 150 is communicably coupled to the systems and components in the vehicle 10 of
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Accordingly, as transmissions vary from geared to continuous configurations (e.g., continuous variable transmission), the transmission 102 may include a variety of settings (gears, for a geared transmission) that affect different output speeds based on an input speed received thereby (e.g., from the second electromagnetic device 108, etc.). Like the engine 101 and the transmission 102, the driveshaft 103, the differential 104, and/or the final drive 105 may be structured in any configuration dependent on the application (e.g., the final drive 105 is structured as wheels in an automotive application and a propeller in a boat application, etc.). Further, the driveshaft 103 may be structured as any type of driveshaft including, but not limited to, a one-piece, two-piece, and a slip-in-tube driveshaft based on the application.
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According to an example embodiment, the energy storage device 109 includes one or more batteries (e.g., high voltage batteries, a lead-acid battery, a lithium-ion battery, etc.), one or more capacitors (e.g., super capacitors, etc.), and/or any other energy storage devices, or combination thereof. As shown in
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The vehicle subsystems 120 may include one or more electrically-powered accessories and/or engine-drive accessories. Electrically-powered accessories may receive power from the energy storage device 109, the first electromagnetic device 106, the second electromagnetic device 108, and/or the electromagnetic device 112 to facilitate operation thereof. Being electrically-powered, the accessories may be able to be driven largely independent of the engine 101 of the vehicle 10 (e.g., not driven off of a belt coupled to the engine 101). The electrically-powered accessories may include, but are not limited to, air compressors (e.g., for pneumatic devices, etc.), air conditioning systems, power steering pumps, engine coolant pumps, fans, and/or any other electrically-powered vehicle accessories.
In a traditional, non-hybrid or non-electric powertrain, the engine 101 receives a chemical energy input (e.g., a fuel such as gasoline, diesel, etc.) and combusts the fuel to generate mechanical energy, in the form of a rotating crankshaft. The transmission 102 receives the rotating crankshaft and manipulates the speed of the crankshaft (e.g., the engine revolutions-per-minute (RPM), etc.) to affect a desired driveshaft speed. The rotating driveshaft 103 is received by the differential 104, which provides the rotation energy of the driveshaft 103 to the final drive 105. The final drive 105 then propels or moves the vehicle 10.
In the powertrain 100 of the present disclosure, the engine 101 provides mechanical energy to the first electromagnetic device 106 such that the first electromagnetic device 106 generates electrical power. The first electromagnetic device 106 may provide the generated electrical power to at least one of the second electromagnetic device 108 and the energy storage device 109. The second electromagnetic device 108 receives electrical power from at least one of the first electromagnetic device 106 and the energy storage device 109 to generate and provide a mechanical output to the transmission 102. In the powertrain 110 of the present disclosure, the engine 101 provides mechanical energy to the electromagnetic device 112 such that the electromagnetic device 112 generates electrical power. The electromagnetic device 112 may provide the generated electrical power to at least one of the energy storage device 109 and the electrically-powered accessories 122. The electromagnetic device 112 may additionally or alternatively provide a mechanical output to the transmission 102. In the powertrain 115 of the present disclosure, the electromagnetic device 112 receives electrical power from the energy storage device 109 to generate and provide a mechanical output to the transmission 102.
The operator I/O device 130 may enable an operator of the vehicle 10 (or passenger or manufacturing, service, or maintenance personnel) to communicate with the vehicle 10 and the controller 150. By way of example, the operator I/O device 130 may include, but is not limited to, an interactive display, a touchscreen device, one or more buttons and switches, voice command receivers, and the like. In one embodiment, the operator I/O device 130 includes a brake pedal or a brake lever, an accelerator pedal, and/or an accelerator throttle.
The sensors 140 may include sensors positioned and/or structured to monitor operating characteristics of various components of the vehicle 10. By way of example, the sensors 140 may include a sensor structured to facilitate monitoring the state of charge (“SOC”), the state of health (“SOH”), and/or the power capacity of the energy storage device 109, and/or the flow of electricity into and/or out of the energy storage device 109 (e.g., current, voltage, power, etc.). The sensors 140 may additionally or alternatively include a position sensor structured to facilitate monitoring the position of the accelerator (e.g., accelerator pedal, accelerator throttle, etc.) and/or the brake (e.g., brake pedal, brake lever, etc.) of the vehicle 10. The sensors 140 may additionally or alternatively include a speed sensor structured to facilitate monitoring the speed of the vehicle 10. The sensors 140 may additionally or alternatively include an obstacle sensor structured to facilitate detecting whether the vehicle 10 (e.g., a wheel thereof, etc.) encounters an obstacle (e.g., a curb, a rock, a boulder, a speed bump, a pothole, etc.).
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In one configuration, the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and the response management circuitry 159 are embodied as machine or computer-readable media that is executable by a processor, such as the processor 152. As described herein and amongst other uses, the machine-readable media facilitates performance of certain operations to enable reception and transmission of data. For example, the machine-readable media may provide an instruction (e.g., command, etc.) to, e.g., acquire data. In this regard, the machine-readable media may include programmable logic that defines the frequency of acquisition of the data (or, transmission of the data). Thus, the computer readable media may include code, which may be written in any programming language including, but not limited to, Java or the like and any conventional procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program code may be executed on one processor or multiple remote processors. In the latter scenario, the remote processors may be connected to each other through any type of network (e.g., CAN bus, etc.).
In another configuration, the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and the response management circuitry 159 are embodied as hardware units, such as electronic control units. As such, the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159 may be embodied as one or more circuitry components including, but not limited to, processing circuitry, network interfaces, peripheral devices, input devices, output devices, sensors, etc. In some embodiments, the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159 may take the form of one or more analog circuits, electronic circuits (e.g., integrated circuits (IC), discrete circuits, system on a chip (SOCs) circuits, microcontrollers, etc.), telecommunication circuits, hybrid circuits, and any other type of “circuit.” In this regard, the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159 may include any type of component for accomplishing or facilitating achievement of the operations described herein. For example, a circuit as described herein may include one or more transistors, logic gates (e.g., NAND, AND, NOR, OR, XOR, NOT, XNOR, etc.), resistors, multiplexers, registers, capacitors, inductors, diodes, wiring, and so on. Thus, the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159 may also include programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices or the like. In this regard, the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159 may include one or more memory devices for storing instructions that are executable by the processor(s) of the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159. The one or more memory devices and processor(s) may have the same definition as provided below with respect to the memory 154 and the processor 152. Thus, in this hardware unit configuration, the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159 may be geographically dispersed throughout separate locations in the vehicle 10 (e.g., separate control units, etc.). Alternatively and as shown, the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159 may be embodied in or within a single unit/housing, which is shown as the controller 150.
In the example shown, the controller 150 includes the processing circuit 151 having the processor 152 and the memory 154. The processing circuit 151 may be structured or configured to execute or implement the instructions, commands, and/or control processes described herein with respect to the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159. Thus, the depicted configuration represents the aforementioned arrangement where the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159 are embodied as machine or computer-readable media. However, as mentioned above, this illustration is not meant to be limiting as the present disclosure contemplates other embodiments such as the aforementioned embodiment where the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and the response management circuitry 159, or at least one circuit of the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and the response management circuitry 159, are configured as a hardware unit. All such combinations and variations are intended to fall within the scope of the present disclosure.
The processor 152 may be implemented as one or more general-purpose processors, an application specific integrated circuit (ASIC), one or more field programmable gate arrays (FPGAs), a digital signal processor (DSP), a group of processing components, or other suitable electronic processing components. In some embodiments, the one or more processors may be shared by multiple circuits (e.g., the position circuit 155, the vehicle speed circuit 156, the obstacle detection circuit 157, the route look-ahead circuit 158, and/or the response management circuitry 159 may comprise or otherwise share the same processor which, in some example embodiments, may execute instructions stored, or otherwise accessed, via different areas of memory). Alternatively or additionally, the one or more processors may be structured to perform or otherwise execute certain operations independent of one or more co-processors. In other example embodiments, two or more processors may be coupled via a bus to enable independent, parallel, pipelined, or multi-threaded instruction execution. All such variations are intended to fall within the scope of the present disclosure. The memory 154 (e.g., RAM, ROM, Flash Memory, hard disk storage, etc.) may store data and/or computer code for facilitating the various processes described herein. The memory 154 may be communicably connected to the processor 152 to provide computer code or instructions to the processor 152 for executing at least some of the processes described herein. Moreover, the memory 154 may be or include tangible, non-transient volatile memory or non-volatile memory. Accordingly, the memory 154 may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described herein.
The communications interface 153 may include wired or wireless interfaces (e.g., jacks, antennas, transmitters, receivers, transceivers, wire terminals, etc.) for conducting data communications with various systems, devices, or networks. For example, the communications interface 153 may include an Ethernet card and port for sending and receiving data via an Ethernet-based communications network and/or a Wi-Fi transceiver for communicating via a wireless communications network. The communications interface 153 may be structured to communicate via local area networks or wide area networks (e.g., the Internet, etc.) and may use a variety of communications protocols (e.g., IP, LON, Bluetooth, ZigBee, radio, cellular, near field communication, etc.).
The communications interface 153 of the controller 150 may facilitate communication between and among the controller 150 and one or more components of the vehicle 10 (e.g., components of the powertrain 100, components of the powertrain 110, components of the powertrain 115, the vehicle subsystems 120, the operator I/O device 130, the sensors 140, the prime mover 170, a route look-ahead system 200, etc.). Communication between and among the controller 150 and the components of the vehicle 10 may be via any number of wired or wireless connections (e.g., any standard under IEEE 802, etc.). For example, a wired connection may include a serial cable, a fiber optic cable, a CAT5 cable, or any other form of wired connection. In comparison, a wireless connection may include the Internet, Wi-Fi, cellular, Bluetooth, ZigBee, radio, etc. In one embodiment, a controller area network (CAN) bus provides the exchange of signals, information, and/or data. The CAN bus can include any number of wired and wireless connections that provide the exchange of signals, information, and/or data. The CAN bus may include a local area network (LAN), or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).
The position circuit 155 is structured to receive position data (e.g., from a position sensor of the sensors 140, etc.) indicative of a position of an accelerator (e.g., accelerator pedal, throttle, etc.) and/or a brake (e.g., brake pedal, lever, etc.) of the vehicle 10. The position circuit 155 may thereby facilitate monitoring the position of the accelerator and/or the brake of the vehicle 10. According to an example embodiment, the position of the accelerator (e.g., the degree of engagement thereof, etc.) corresponds with an associated response of the prime mover 170 of the vehicle 10 (e.g., the engine 101, the second electromagnetic device 108, the electromagnetic device 112, etc.). The associated response of the prime mover 170 may include at least one of a torque output and a power output of the prime mover 170. According to an example embodiment, the position of the brake (e.g., the degree of engagement thereof, etc.) corresponds with an associated response of a braking system of the vehicle 10. For example, a depression of ten percent of the maximum allowable depression amount of the brake may correspond with the generation of a ten percent braking force. As another example, a depression of twenty percent of the maximum allowable depression amount may correspond with the generation of a thirty percent braking force. Thus, the braking force does not need to linearly correspond with the braking depression amount. Of course, in certain embodiments, a linear relationship may exist between the braking force and braking depression amount.
The vehicle speed circuit 156 is structured to monitor a speed of the vehicle 10. By way of example, the vehicle speed circuit 156 may include and/or be communicably coupled to a speed sensor of the sensors 140 that is structured to acquire speed data. The vehicle speed circuit 156 may thereby receive and interpret the speed data to determine the speed of the vehicle 10. In other embodiments, the vehicle speed circuit 156 otherwise receives and/or determines the speed of the vehicle 10.
The obstacle detection circuit 157 is structured to detect an obstacle condition regarding the vehicle 10 encountering an obstacle. By way of example, the obstacle detection circuit 157 may be structured to detect the obstacle condition indicting a wheel of the vehicle 10 encountered an obstacle. The “obstacle” refers to any impediment, course-altering, and/or change-of-driving (slow down, stop, speed-up) object. For example, the object may include, but it not limited to, a curb, a rock, a pothole, a speed bump, etc. For example, the obstacle detection circuit 157 may determine the obstacle condition in response to one of the wheels of the vehicle 10 starting to elevate higher relative to the rest of the wheels of the vehicle 10 (e.g., such that the suspension of the respective wheel assembly starts to compress or extend, the vehicle 10 starts to becomes unlevel, etc.). By way of another example, the obstacle detection circuit 157 may be structured to detect the obstacle condition indicating that a wheel of the vehicle 10 encountered an obstacle (e.g., a curb, a rock, a pothole, a speed bump, etc.) in response to the vehicle slowing down or being stopped by the obstacle (e.g., the wheel requires additional power to traverse the obstacle, etc.). For example, the vehicle 10 may encounter a curb when making a turn such that the wheel temporarily climbs the curb onto a sidewalk, an edge of a road, etc. Such detection of an obstacle may be facilitated by the use of various sensors (e.g., suspension displacement/position sensors, gyroscopes, accelerometers, force sensors, strain sensors, speed sensors, GPS, etc.) and/or data analytics (e.g., look-up tables, models, algorithms, etc.).
The route look-ahead circuit 158 is structured to receive route look-ahead data indicative of at least one of road parameters and traffic conditions ahead of the vehicle 10. By way of example, the route look-ahead circuit 158 may be communicably coupled to the route look-ahead system 200 (e.g., via the communications interface 153, etc.) and structured to receive the route look-ahead data therefrom. The road parameters may include information regarding road function class (e.g., freeway/interstate, arterial roads, collectors, local roads, unclassified roads, etc.), speed limits, road grade, road slope, road curvature, bridges, fuel stations, number of lanes, weather conditions, road surface conditions, and the like.
The response management circuitry 159 is structured to receive an indication regarding the position of the accelerator (e.g., from the position circuit 155, etc.), the position of the brake (e.g., from the position circuit 155, etc.), and/or the speed of the vehicle 10 (e.g., from the vehicle speed circuit 156, etc.). The response management circuity 159 may be further structured to determine that the indication regarding the accelerator position, the brake position, and/or the speed of the vehicle 10 satisfies a remapping condition. The “remapping condition” includes at least one of a creep condition, an obstacle condition, a braking/deceleration condition, and a reverse condition. The response management circuit 159 may be further structured to dynamically remap the associated response of the prime mover 170 of the vehicle 10 (e.g., where the response of the prime mover 170 is based on the position of the accelerator, etc.) and/or the braking system of the vehicle 10 in response to the indication satisfying the remapping condition. The various remapping conditions (e.g., the creep condition, the obstacle condition, the deceleration/braking condition, the reverse condition, etc.) are described more fully herein with regards to the creep circuit 160, the climbing circuit 161, the deceleration circuit 162, and the reverse circuit 163.
The creep circuit 160 is structured to detect the creep condition. By way of example, the creep circuit 160 may be structured to determine the creep condition is present in response to the speed of the vehicle 10 being less than a creep threshold speed level (e.g., for a threshold period of time, while experiencing braking events, while experiencing stopping events, etc.). The response management circuit 159 may be structured to remap the associated response of the prime mover 170 of the vehicle 10 from a normal driving mode of operation to a creep mode of operation such that the associated response of the prime mover 170 provides an output at a zero percent accelerator position and above a zero percent accelerator position during the creep condition.
Conventional powertrain systems (e.g., powertrains having an engine, a torque converter, an automatic transmission, etc.) may provide an immediate torque transmission to the wheels of a vehicle when the brake pedal is released. Such a torque transmission remains the same (e.g., assuming all else including vehicle weight, road grad, etc. is unchanged) every time the vehicle is at rest/stop and the brake pedal is released. In powertrains that include a motor-generator (e.g., the powertrain 100, the powertrain 110, the powertrain 115, etc.), such a torque transmission may be quite useful during slow maneuvers (e.g., vehicle creep, etc.) of a vehicle (e.g., at loading docks, high traffic conditions, etc.). However, this same characteristic may not be of value during normal vehicle operation for vehicles that have a motor-generator as a prime mover (e.g., the second electromagnetic device 108, the electromagnetic device 112, etc.) since each time the accelerator would drop to a zero percent position (e.g., while the vehicle is propelling, etc.), the prime mover would disadvantageously drop to a low torque state and a low efficiency operating condition.
The response management circuit 159 may therefore be structured to selectively remap the associated response of the prime mover 170 between the normal driving mode of operation and the creep mode of operation based on the speed of the vehicle 10 relative to the creep threshold speed level (e.g., three, five, seven, ten, fifteen, etc. miles per hour). For example, during regular or normal “higher” speed operation (e.g., at vehicle speeds above the creep threshold speed level, etc.), the response management circuit 159 may set the associated response of the prime mover 170 to the normal driving mode of operation. During the normal driving mode of operation, the prime mover 170 may provide (i) positive torque (e.g., for propulsion, etc.) at or above a predefined upper accelerator position (e.g., greater than or equal to 5%, 10%, etc. depressed), (ii) negative torque (e.g., for energy generation, etc.) at or below a predefined lower accelerator position (e.g., less than or equal to 0%, 1%, 2%, 3%, 5%, etc. depressed), and (iii) zero torque (e.g., for coasting, etc.) when the accelerator is between the predefined lower accelerator position and the predefined upper accelerator position.
The response management circuit 159 may further be structured to remap the associated response of the prime mover 170 based on the accelerator position from the normal driving mode of operation to the creep mode of operation in response to the vehicle speed decreasing below the creep threshold speed level. During the creep mode of operation, the prime mover 170 may provide positive torque at and above a 0% accelerator position (e.g., while the vehicle speed remains less than the creep threshold speed level, etc.). Remapping the associated response of the prime mover 170 to the creep mode of operation from the normal driving mode while at low speeds (e.g., at vehicle speeds that are less than the creep threshold speed level, etc.) may provide a creep operation without the need for an operator to switch back and forth between the accelerator and brake pedals, while providing for energy regeneration events with the accelerator during higher speed driving (e.g., at vehicle speeds that are greater than the creep threshold speed level, etc.).
The climbing circuit 161 is structured to perform various operations in response to the obstacle detection circuit 157 detecting the obstacle condition. By way of example, the climbing circuit 161 may be structured to determine the obstacle condition is present based on (i) determining the wheel of the vehicle 10 encountered an obstacle (e.g., via the obstacle detection circuit 157, etc.), (ii) determining the speed of the vehicle 10 is less than a climbing threshold speed level (e.g., based on the speed data acquired by the vehicle speed circuit 156, etc.), and/or (iii) determining the vehicle 10 is turning (e.g., based on a steering angle, a dash interface, a compass heading, etc.). The response management circuit 159 may be structured to remap the associated response of the prime mover 170 from a normal driving mode of operation to a climbing mode of operation such that the associated response of the prime mover 170 increases for a respective accelerator position in response to (i) the wheel of the vehicle 10 encountering the obstacle, (ii) the speed of the vehicle 10 being less than the climbing threshold speed level, and/or (iii) the vehicle 10 making a turn.
As an example, during slow velocity maneuvers, vehicles may experience a wheel/tire that comes into contact with a curb (e.g., a transit bus making a tight turn in a city, etc.), causing the speed of the vehicle to decrease or stop the vehicle completely. Conventionally, such an event requires an operator to provide substantial change to the accelerator position that in turn results in increased engine torque to facilitate the obstacle climb maneuver. Advantageously, the response management circuit 159 may be structured to remap the associated response of the prime mover 170 from the normal driving mode of operation to the climbing mode of operation in response to the climbing circuit 161 detecting the obstacle condition. Therefore, the operator does not need to provide a substantial change to the accelerator positon to traverse the obstacle. For example, during the climbing mode of operation, the prime mover 170 may provide an increased torque output based on the accelerator position relative to the same accelerator position during the normal driving mode of operation. By way of example, a 10% accelerator position may correspond with a 10% of the max torque of the prime mover 170 during the normal driving mode of operation, while the 10% accelerator position may correspond with an increased percentage of the max torque of the prime mover 170 (e.g., 15%, 25%, 30%, 50%, etc.). Therefore, the response management circuit 159 may ramp up the associated response of the prime mover 170 based on the accelerator position without waiting for an operator response or input. The response management circuit 159 may be further structured to revert (e.g., de-scale, remap, etc.) the associated response back to the normal driving mode of operation after the obstacle has been traversed and the obstacle condition has been overcome.
The deceleration circuit 162 is structured to detect the deceleration condition regarding a deceleration or braking event for the vehicle 10 (e.g., based on the position of the brake, etc.). The deceleration circuit 162 may be further structured to determine whether the vehicle speed is greater than a deceleration threshold speed level (e.g., based on the speed data acquired by the vehicle speed circuit 156, etc.). The response management circuit 159 may be structured to remap the associated response of the prime mover 170 such that the associated response of the prime mover 170 activates at a lower accelerator position than prior to the deceleration or braking event upon a subsequent acceleration and/or while the speed of the vehicle 10 is greater than the deceleration threshold speed level. In some embodiments, the response management circuit 159 is further structured to dynamically adjust the lower accelerator position based on the route look-ahead data (e.g., acquired by the route look-ahead circuit 158, etc.).
The response management circuit 159 may therefore be structured to selectively remap the associated response of the prime mover 170 between a normal driving mode of operation and a deceleration mode of operation based on the deceleration or braking event being detected (e.g., the vehicle 10 slowing down, a brake pedal being depressed, the speed of the vehicle being above the deceleration threshold speed level, etc.). For example, during regular or normal “higher” speed operation, the response management circuit 159 may set the associated response of the prime mover 170 to the normal driving mode of operation. During the normal driving mode of operation, the prime mover 170 may provide (i) positive torque (e.g., for propulsion, etc.) at or above a predefined upper accelerator position (e.g., greater than or equal to 5%, 10%, etc. depressed), (ii) negative torque (e.g., for energy generation, etc.) at or below a predefined lower accelerator position (e.g., less than or equal to 0%, 1%, 2%, 3%, 5%, etc. depressed), and (iii) zero torque (e.g., for coasting, etc.) when the accelerator is between the predefined lower accelerator position and the predefined upper accelerator position.
The response management circuit 159 may further be structured to remap the associated response of the prime mover 170 based on the accelerator position from the normal driving mode of operation to the deceleration mode of operation in response to the vehicle speed decreasing (e.g., the vehicle 10 slowing down, a brake pedal being depressed, etc.), while the speed of the vehicle 10 remains above the deceleration threshold speed level. During the deceleration mode of operation, the prime mover 170 may provide positive torque at and above a lower or lesser accelerator position than prior to the deceleration or braking event upon a subsequent acceleration (e.g., when the brake pedal is released and the accelerator is reengaged, etc.).
Referring to
The reverse circuit 163 is structured to detect the reverse condition regarding the vehicle 10 driving in reverse (e.g., in response to a shift lever being manipulated into a reverse position, etc.). The reverse circuit 163 may be further structured to determine whether the vehicle speed is less than a reverse threshold speed level (e.g., based on the speed data acquired by the vehicle speed circuit 156, etc.). The response management circuit 159 may be structured to remap the associated response of the prime mover 170 from a normal driving mode of operation to a reverse mode of operation such that the associated response of the prime mover 170 reduces for a respective accelerator position during the reverse condition and/or while the speed of the vehicle 10 is less than the reverse threshold speed level.
As an example, during slow velocity reverse maneuvers, conventional vehicle systems typically have the same accelerator position response curve as during forward motion. Advantageously, the response management circuit 159 may be structured to remap the associated response of the prime mover 170 from the normal driving mode of operation to the reverse mode of operation in response to the reverse circuit 163 detecting the reverse condition such that the associated response of the prime mover 170 reduces for a respective accelerator position. Such reduction in the associated response provides the operator with increased resolution and control while driving in reverse. For example, full pedal travel while in the reverse mode of operation may not correspond with 100% of the toque and/or power of the prime mover 170. By way of example, a 100% accelerator position may correspond with a lesser torque output (e.g., 50%, 75%, 25%, etc.) of the prime mover 170 during the reverse driving mode of operation. Reverse maneuvers may therefore be more easily performed due to providing an operator with less pedal sensitivity, and therefore increased control over the speed of the vehicle 10.
In some embodiments, the response management circuit 159 is structured to additionally or alternatively remap the associated response of the braking system of the vehicle 10 (e.g., friction brakes, motor-generator braking, etc.) based on the position of the brake (e.g., degree of engagement thereof, etc.). Such remapping may be useful to increase energy regeneration during stopping and/or deceleration events. By way of example, the response management circuit 159 may be structured to remap the response of the prime mover 170 such that the prime mover 170 provides a greater portion of vehicle braking than the friction brakes of the vehicle 10 for a greater portion of the brake travel (e.g., to increase energy regeneration, etc.) during certain stopping/deceleration events. Such stopping/deceleration events may include events where immediate stopping is not required, the vehicle 10 is traveling below a preset speed threshold (e.g., twenty, thirty, forty, etc. miles-per-hour), etc. For example, the response management circuit 159 may remap the associated response of the braking system such that the prime mover 170 is favored over the friction brakes for greater brake travel when the vehicle 10 is not near another vehicle or obstacle (e.g., no imminent collision is detected, etc.). As another example, the response management circuit 159 may remap the associated response of braking system such that the prime mover 170 is favored over the friction brakes for greater brake travel when the vehicle 10 is traveling at lower speeds such that the friction brakes are not needed to sufficiently slow the vehicle 10. In some embodiments, the response management circuit 159 is structured to additionally or alternatively remap the associated response of the prime mover 170 of the vehicle 10 based on the position of the brake upon subsequent acceleration of the vehicle 10 in response to engagement of the accelerator (e.g., such as described herein regarding the deceleration condition, etc.).
Referring now to
At process 602, the controller 150 is structured to receive an indication regarding at least one of an accelerator position of an accelerator of a vehicle (e.g., the vehicle 10, etc.) and a speed of the vehicle. The accelerator position may correspond with an associated response of a prime mover (e.g., the prime mover 170, the engine 101, the second electromagnetic device 108, the electromagnetic device 112, etc.) of the vehicle. The associated response may include at least one of a torque output and a power output of the prime mover. At process 604, the controller 150 is structured to monitor the speed of the vehicle for a deceleration condition. By way of example, the deceleration condition may be detected based on a deceleration event indicated by the speed of the vehicle reducing, a brake pedal being pressed, etc. and/or while the speed of the vehicle remains above a threshold speed level (e.g., the vehicle is not moving too slowly, etc.). At process 606, the controller 150 is structured to detect the deceleration condition regarding the deceleration event for the vehicle. At process 608, the controller 150 is structured to remap the associated response of the prime mover such that the associated response of the prime mover activates at a lower accelerator position than prior to the deceleration event upon a subsequent acceleration in response to the deceleration condition.
Referring now to
At process 702, the controller 150 is structured to receive an indication regarding at least one of an accelerator position of an accelerator of a vehicle (e.g., the vehicle 10, etc.) and a speed of the vehicle. The accelerator position may correspond with an associated response of a prime mover (e.g., the prime mover 170, the engine 101, the second electromagnetic device 108, the electromagnetic device 112, etc.) of the vehicle. The associated response may include at least one of a torque output and a power output of the prime mover. At process 704, the controller 150 is structured to monitor the speed of the vehicle for a creep condition. By way of example, the creep condition may be detected based on the speed of the vehicle reducing and/or remaining below a threshold speed level (e.g., the vehicle is moving relatively slowly, etc.). At process 706, the controller 150 is structured to detect the creep condition in response to the speed of the vehicle being less than the threshold speed level. At process 708, the controller 150 is structured to remap the associated response of the prime mover such that the associated response of the prime mover provides an output at and above a zero percent accelerator position during the creep condition.
Referring now to
At process 802, the controller 150 is structured to receive an indication regarding at least one of an accelerator position of an accelerator of a vehicle (e.g., the vehicle 10, etc.) and a speed of the vehicle. The accelerator position may correspond with an associated response of a prime mover (e.g., the prime mover 170, the engine 101, the second electromagnetic device 108, the electromagnetic device 112, etc.) of the vehicle. The associated response may include at least one of a torque output and a power output of the prime mover. At process 804, the controller 150 is structured to detect an obstacle condition regarding a wheel of the vehicle encountering an obstacle (e.g., a curb, a rock, a speed bump, etc.). At process 806, the controller 150 may optionally be structured to determine whether the speed of the vehicle is less than a threshold speed level. At process 808, the controller 150 may optionally be structured to determine whether the vehicle is making a turn. At process 810, the controller 150 is structured to remap the associated response of the prime mover such that the associated response of the prime mover increases for a respective accelerator position during the obstacle condition in response to the obstacle condition, the speed of the vehicle being less than the threshold speed level, and/or the vehicle making a turn.
Referring now to
At process 902, the controller 150 is structured to receive an indication regarding at least one of an accelerator position of an accelerator of a vehicle (e.g., the vehicle 10, etc.) and a speed of the vehicle. The accelerator position may correspond with an associated response of a prime mover (e.g., the prime mover 170, the engine 101, the second electromagnetic device 108, the electromagnetic device 112, etc.) of the vehicle. The associated response may include at least one of a torque output and a power output of the prime mover. At process 904, the controller 150 is structured to detect a reverse condition regarding of the vehicle driving in reverse. At process 906, the controller 150 may optionally be structured to determine whether the speed of the vehicle is less than a threshold speed level. At process 908, the controller 150 is structured to remap the associated response of the prime mover such that the associated response of the prime mover reduces for a respective accelerator position during the reverse condition.
It should be understood that no claim element herein is to be construed under the provisions of 35 U.S.C. § 112(f), unless the element is expressly recited using the phrase “means for.”
For the purpose of this disclosure, the term “coupled” means the joining or linking of two members directly or indirectly to one another. Such joining may be stationary or moveable in nature. For example, a propeller shaft of an engine “coupled” to a transmission represents a moveable coupling. Such joining may be achieved with the two members or the two members and any additional intermediate members. For example, circuit A communicably “coupled” to circuit B may signify that the circuit A communicates directly with circuit B (i.e., no intermediary) or communicates indirectly with circuit B (e.g., through one or more intermediaries).
While various circuits with particular functionality are shown in
As mentioned above and in one configuration, the “circuits” may be implemented in machine-readable medium for execution by various types of processors, such as processor 152 of
While the term “processor” is briefly defined above, it should be understood that the term “processor” and “processing circuit” are meant to be broadly interpreted. In this regard and as mentioned above, the “processor” may be implemented as one or more general-purpose processors, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), digital signal processors (DSPs), or other suitable electronic data processing components structured to execute instructions provided by memory. The one or more processors may take the form of a single core processor, multi-core processor (e.g., a dual core processor, triple core processor, quad core processor, etc.), microprocessor, etc. In some embodiments, the one or more processors may be external to the apparatus, for example the one or more processors may be a remote processor (e.g., a cloud based processor). Alternatively or additionally, the one or more processors may be internal and/or local to the apparatus. In this regard, a given circuit or components thereof may be disposed locally (e.g., as part of a local server, a local computing system, etc.) or remotely (e.g., as part of a remote server such as a cloud based server). To that end, a “circuit” as described herein may include components that are distributed across one or more locations.
It should be noted that although the diagrams herein may show a specific order and composition of method steps, it is understood that the order of these steps may differ from what is depicted. For example, two or more steps may be performed concurrently or with partial concurrence. Also, some method steps that are performed as discrete steps may be combined, steps being performed as a combined step may be separated into discrete steps, the sequence of certain processes may be reversed or otherwise varied, and the nature or number of discrete processes may be altered or varied. The order or sequence of any element or apparatus may be varied or substituted according to alternative embodiments. Accordingly, all such modifications are intended to be included within the scope of the present disclosure as defined in the appended claims. Such variations will depend on the machine-readable media and hardware systems chosen and on designer choice. It is understood that all such variations are within the scope of the disclosure.
The foregoing description of embodiments has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from this disclosure. The embodiments were chosen and described in order to explain the principals of the disclosure and its practical application to enable one skilled in the art to utilize the various embodiments and with various modifications as are suited to the particular use contemplated. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the embodiments without departing from the scope of the present disclosure as expressed in the appended claims.
This application claims the benefit of U.S. Provisional Application No. 62/524,893, filed Jun. 26, 2017, which is incorporated herein by reference in its entirety.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/US2018/039249 | 6/25/2018 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2019/005654 | 1/3/2019 | WO | A |
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| Number | Date | Country | |
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| 20210403006 A1 | Dec 2021 | US |
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| 62524893 | Jun 2017 | US |
