Method for operating a motor vehicle having at least two drives and a motor vehicle having at least two drives
In a motor vehicle having two, in particular electrical, drives, a partial torque is in each case intended to be assigned to the individual drives from a demanded total torque, to be precise taking account of the energy efficiency on the one hand and the stability of the vehicle on the other hand. A first controller is responsible for taking account of the energy efficiency, and predetermines a bandwidth of possible partial torques for an individual drive. This bandwidth may be restricted by a second controller, when driving stability requires this. The second controller is coupled to appropriate sensors (yaw rate sensor, lateral acceleration sensor, longitudinal acceleration sensor) and knows the steering angle φ. In the course of interchanging data signals with a first control device, the partial torques are defined with the involvement of the second control device, for which purpose the first control device emits control commands.
1. A method for operating a motor vehicle having at least two drives units, comprising:
receiving an input from a vehicle driver at a first control device;
determining a total torque at the first control device based on the input from the vehicle driver;
receiving at the first control device, first measured values relating to first variables;
predetermining at the first control device, a family of combinations of respective partial torques for individual drive units;
sending first data signals from the first control device to a second control device, the first data signals relating to the family of combinations;
receiving at the second control device, second measured values relating to second variables, which differ from the first variables;
selecting at the second control device, a chosen combination from the family of combinations;
sending second data signals from the second control device to the first control device, the second data signals relating to the chosen combination;
splitting the total torque at the first control device only after receiving the second data signals from the second control device, the total torque being split into final partial torques for the individual drive units, the total torque being split into final partial torques based on criteria different from the first and second variables; and
sending control commands from the first control device to the individual drive units, in order to demand from the individual drive units the respective final partial torques.
2. The method according to claim 1 , wherein
the first data signals sent by the first control device to the second control device relate to a maximum and a minimum partial torque,
in response to the first data signals, the second control device sends the first control device feedback information relating to the maximum and the minimum partial torque and/or relating to a defined partial torque for at least one of the drive units, with the feedback information being applicable to at least one time period during operation of the motor vehicle, and
the feedback information suggests:
reducing the maximum torque and/or the defined partial torque, and/or
increasing the minimum partial torque and/or the defined partial torque.
3. The method according to claim 1 , wherein
the second measured values received at the second control device relate to at least one of a yaw rate of the motor vehicle, a longitudinal acceleration of the motor vehicle, a lateral acceleration of the motor vehicle, and a steering angle on a steering control, and
the second control device takes the second measured values into account in the selection of the chosen combination.
4. The method according to claim 1 , wherein
at least one of the drive units is an electrical drive, and
the first measured values received by the first control device relate to a battery which is associated with the electrical drive.
5. The method according to claim 1 , wherein
the first measured values received by the first control device relate to a rotation speed of a motor or engine and/or relate to a temperature of the motor or engine and/or relate to a gear which has been selected at a gearbox, and/or relate to an operating mode.
6. The method according to claim 2 , wherein
the second measured values received at the second control device relate to at least one of a yaw rate of the motor vehicle, a longitudinal acceleration of the motor vehicle, a lateral acceleration of the motor vehicle, and a steering angle on a steering control, and
the second control device takes the second measured values into account in the selection of the chosen combination.
7. The method according to claim 6 , wherein
at least one of the drive units is an electrical drive, and
the first measured values received by the first control device relate to a battery which is associated with the electrical drive.
8. The method according to claim 7 , wherein
the first measured values received by the first control device relate to a rotation speed of a motor or engine and/or relate to a temperature of the motor or engine and/or relate to a gear which has been selected at a gearbox, and/or relate to an operating mode.
9. The method according to claim 1 , wherein
predetermining the family of combinations at the first control device comprises splitting torque between an electrical motor and a gasoline engine based on energy efficiency, and
the second control device restricts the partial torque applied to one or more wheels for driving stability.
10. The method according to claim 1 , wherein after receiving the second data signals from the second control device, the first control device splits the total torque into final partial torques based on a sport mode or an efficiency mode selection.
11. A motor vehicle comprising:
at least two drives units;
a first control device to allocate a total torque to individual drives units and to transmit appropriate demand signals to the drive units, wherein
the first control device is coupled to a second control device,
the second control device is coupled to and receives measured values from at least one measurement device which is separated from the first control device,
the first control device predetermines a family of combinations of respective partial torques for the individual drive units,
the first control device sends first data signals to the second control device, the first data signals relating to the family of combinations,
the second control device selects a chosen combination from the family of combinations, based on the measured values,
the second control device sends second data signals to the first control device, the second data signals relating to the chosen combination, and
in response to the second data signals, the first control device splits the total torque into final partial torques for the individual drive units only after receiving the second data signals from the second control device, the total torque being split into final partial torques based on criteria different from that used to predetermine the family of combinations and different from the measured values used by the second control device, the first control device sending control commands to the individual drive units, in order to demand the respective final partial torques from the individual drive units.
12. The motor vehicle according to claim 11 , wherein
the at least one measurement device comprises at least one device selected from the group consisting of a yaw rate sensor, a longitudinal acceleration sensor, a lateral acceleration sensor and a device to measure a steering angle on a steering control.
13. The motor vehicle according to claim 11 , wherein after receiving the second data signals from the second control device, the first control device splits the total torque into final partial torques based on a sport mode or an efficiency mode selection.