Vehicle mass and road load estimation in an EV condition

• US 10,507,820 B2
• Filed: 08/04/2017
• Issued: 12/17/2019
• Est. Priority Date: 08/04/2017
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Hawley, Thomas S., Eto, Shingo
• Primary Examiner(s): Lang, Michael D
• Application Number:
  US15/669,854
• Publication Number:
  US 20190039595A1
• Time in Patent Office: 865 Days
• CPC Class Codes: B60K 2006/4825 Electric machine connected or connectable to gearbox input shaft
• CPC Class Codes: B60K 6/387 Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
• CPC Class Codes: B60L 15/2018 for braking on a slope
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 15/2045 for optimising the use of energy
• CPC Class Codes: B60L 15/2081 for drive off on a slope
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/14 Acceleration
• CPC Class Codes: B60L 2240/16 longitudinal
• CPC Class Codes: B60L 2240/26 Vehicle weight
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/44 related to combustion engines
• CPC Class Codes: B60L 2240/622 by satellite navigation
• CPC Class Codes: B60L 2240/642 Slope of road
• CPC Class Codes: B60L 2240/68 Traffic data
• CPC Class Codes: B60L 2260/42 by adaptive correction
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 20/12 using control strategies taking into account route information estimation or calculation of non-directly measurable driving parameters B60W40/00
• CPC Class Codes: B60W 20/30 Control strategies involving selection of transmission gear ratio control of change speed gearings, together with other vehicle sub-units B60W10/10; HEV transmission gearing B60K6/36; gearings and control thereof F16H
• CPC Class Codes: B60W 2510/083 : Torque
• CPC Class Codes: B60W 2510/1005 : Transmission ratio engaged
• CPC Class Codes: B60W 2510/182 : Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2520/10 : Longitudinal speed
• CPC Class Codes: B60W 2520/105 : Longitudinal acceleration
• CPC Class Codes: B60W 2530/10 : Weight
• CPC Class Codes: B60W 2552/15 : Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2556/50 : of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/0666 : Engine torque
• CPC Class Codes: B60W 2710/083 : Torque
• CPC Class Codes: B60W 2720/106 : Longitudinal acceleration
• CPC Class Codes: B60W 40/072 : Curvature of the road
• CPC Class Codes: B60W 40/1005 : Driving resistance
• CPC Class Codes: B60W 40/105 : Speed
• CPC Class Codes: B60W 50/0097 : Predicting future conditions
• CPC Class Codes: G01G 19/02 : for weighing wheeled or rolling bodies, e.g. vehicles
• CPC Class Codes: G01G 19/086 : wherein the vehicle mass is dynamically estimated
• CPC Class Codes: G01P 15/18 : in two or more dimensions
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 903/93 : Conjoint control of different elements

Abstract

Systems and methods provide accurate determinations of relevant vehicle mass that can take into account any load being carried and/or towed by a vehicle, such as an electric vehicle or hybrid vehicle. Systems and methods also provide accurate road load measurements that can take into account road gradient(s) and the impact of gravity. Accordingly, the dynamic nature of relevant vehicle mass and road load can be captured. Efforts to optimize operation and/or take preemptive action to provide more efficient performance, enhance the drive experience, etc. can be better achieved through the more accurate determinations of relevant vehicle mass and road load achieved by these systems and methods.

Claims

1. A method comprising:

determining relevant mass of a vehicle during a low speed condition while the vehicle is powered only by an electric motor, the low speed condition comprising a speed of the vehicle determined at a time when launch inertia no longer contributes to the speed of the vehicle;

calculating road load associated with the vehicle based on the relevant mass of the vehicle, current acceleration or deceleration of the vehicle, and current drive force of the vehicle; and

dynamically adjusting the current drive force of the vehicle based upon the relevant mass of the vehicle, the road load associated with the vehicle, and current road grade, the dynamic adjustment being at least one of a response to at least one of a current road condition and a current operating characteristic of the vehicle, and a preemptive action in anticipation of at least one of an upcoming road condition and an upcoming operating characteristic of the vehicle.

2. The method of claim 1, wherein the vehicle comprises a hybrid electric vehicle or an electric vehicle, and the hybrid electric vehicle further comprising an internal combustion engine.

3. The method of claim 1, wherein determining the relevant mass of the vehicle comprises calculating the relevant mass as a function of the current drive force generated by the electric motor and a current rate of acceleration or deceleration.

4. The method of claim 3, further comprising measuring the current drive force as a function of force due to negative motor torque and force due to friction braking while the vehicle is in a deceleration condition.

5. The method of claim 3, wherein determining the relevant mass of the vehicle further comprises determining whether the vehicle is traversing a graded condition.

6. The method of claim 5, further comprising obtaining and applying a road grade correction factor to the relevant mass by calculating force attributed to the grade and adding the force attributed to the grade to the current drive force generated by the electric motor upon a determination that the vehicle is traversing the grade.

7. The method of claim 6, wherein the low speed condition comprises a condition during which the vehicle is traveling below approximately 30 kilometers per hour.

8. The method of claim 5, further comprising utilizing the relevant mass of the vehicle as the relevant mass when dynamically adjusting the current drive force upon a determination that the vehicle is not traversing the grade.

9. The method of claim 1, further comprising determining the road load upon a determination that the vehicle is traveling above approximately 30 kph.

10. The method of claim 9, wherein determining the road load comprises calculating the road load as a function of the current drive force generated by the electric motor, the relevant mass of the vehicle, and force due to gravity.

11. The method of claim 1, further comprising determining the relevant mass of the vehicle while the vehicle is in an acceleration condition, and the vehicle is traveling at a speed less than approximately 30 kilometers per hour.

12. The method of claim 11, further comprising determining torque generated by the electric motor, and wherein the current drive force is calculated as a function of the torque generated by the electric motor, a torque multiplication factor associated with a gear ratio of a torque converter of the vehicle, a value indicative of drivetrain efficiency, the gear ratio, a differential gear ratio associated with a differential gear device of the vehicle, and a radius of a wheel of the vehicle.

13. The method of claim 12, further comprising, determining the torque generated by the electric motor subsequent to a launch condition at a time when the torque converter is in a taut state.

14. The method of claim 1, wherein the relevant mass of the vehicle comprises a mass of the vehicle and one or more loads, the one or more loads being at least one of carried and towed by the vehicle.

15. A vehicle, comprising:

one or more electric motors; and

an electronic control unit adapted to;

determine that the vehicle is operating in a travel mode during which only the one or more electric motors are being used to drive the vehicle;

determine a relevant mass of the vehicle after passage of a launch condition based upon the drive force generated by the one or more motors and calculated at the wheels of the vehicle; and

determine a road load associated with the vehicle as a function of the relevant mass of the vehicle after passage of the launch condition.

16. The vehicle of claim 15, wherein the electronic control unit repeatedly determines the road load during operation of the vehicle, and based upon the repeated determinations, generates a road load profile for the vehicle, the determination of the road load being a function of gravitational impact on the vehicle in addition to being a function of the relevant mass of the vehicle.

17. The vehicle of claim 15, wherein the electronic control unit determines the relevant mass of the vehicle as a function of the drive force generated by the one or more motors and a rate of acceleration or deceleration of the vehicle if the vehicle is traveling a level section of road.

18. The vehicle of claim 15, wherein the electronic control unit determines the relevant mass of the vehicle as a function of the drive force generated by the one or more motors, a rate of acceleration or deceleration of the vehicle, and road gradient if the vehicle is traveling downhill.