System and method for limiting maximum acceleration of a motor driven vehicle
Disclosed are a system and a method for limiting the maximum acceleration of a motor driven vehicle. The system and method can estimate an acceleration from a speed of a motor driven vehicle, and limit the maximum acceleration of the motor driven vehicle to a level to exert constant traveling performance regardless of the total weight of the vehicle and road gradient conditions using the estimated acceleration as a control variable for limiting the maximum acceleration, thereby improving the ride comfort and the fuel efficiency.
1. A system for limiting a maximum acceleration of a motor driven vehicle, the system comprising:
a wheel speed sensor configured to detect a vehicle speed of the motor driven vehicle;
an accelerator pedal position sensor configured to detect an amount of accelerator pedal depression; and
a control unit configured to:
estimate an acceleration based on the vehicle speed detected by the wheel speed sensor, and
control a motor torque to be an acceleration limit torque, thereby limiting an acceleration of the motor driven vehicle to a target acceleration when the estimated acceleration is equal to or higher than a reference acceleration.
2. The system of claim 1 , wherein the control unit comprises:
an acceleration estimator configured to estimate the acceleration based on the vehicle speed;
an acceleration limit torque calculation unit configured to determine the acceleration limit torque for limiting the maximum acceleration to the target acceleration based on the estimated acceleration;
a driver demand torque determination unit configured to determine a driver demand torque based on the vehicle speed detected by the wheel speed sensor and the amount of accelerator pedal depression detected by the accelerator pedal position sensor; and
an acceleration limit control determination unit configured to determine that the motor driven vehicle enters into a maximum acceleration limit control mode when the acceleration estimated by the acceleration estimator is equal to or higher than the reference acceleration.
3. The system of claim 2 , wherein the acceleration limit torque calculation unit is configured to determine the acceleration limit torque in a control method based on a disturbance observer using the acceleration estimated by the acceleration estimator as a control variable.
4. The system of claim 3 , wherein the acceleration limit torque calculation unit comprises:
the disturbance observer configured to determine a torque based on the disturbance observation using the acceleration estimated by the acceleration estimator, a torque instruction value, and a Q-filter used to estimate the disturbance;
a feedforward torque determination unit configured to determine a feedforward torque using the reference acceleration; and
a feedback torque determination unit configured to determine a feedback torque using the acceleration estimated by the acceleration estimator.
5. The system of claim 4 , wherein the acceleration limit torque calculation unit is configured to calculate the acceleration limit torque by summing the disturbance observation based torque determined by the disturbance observer, the feedforward torque determined by the feedforward torque determination unit, and the feedback torque determined by the feedback torque determination unit.
6. The system of claim 2 , wherein the driver demand torque determination unit is configured to determine the driver demand torque from a preset map table based on the vehicle speed detected by the wheel speed sensor and the amount of the accelerator pedal depression detected by the accelerator pedal position sensor.
7. The system of claim 2 , wherein the acceleration limit control determination unit is configured to determine the entry of the maximum acceleration limit control mode when the acceleration estimated by the acceleration estimator is equal to or higher than the reference acceleration, and to determine the release of the maximum acceleration limit control mode when the estimated acceleration is lower than the reference acceleration.
8. The system of claim 2 , wherein the control unit is configured to determine, as a motor instruction torque, a torque having a smaller torque among the acceleration limit torque determined by the acceleration limit torque calculation unit and the driver demand torque determined by the driver demand torque determination unit.
9. A method for limiting a maximum acceleration of a motor driven vehicle, the method comprising:
detecting a vehicle speed of the motor driven vehicle;
estimating an acceleration upon acceleration based on the detected vehicle speed; and
controlling a motor torque to be an acceleration limit torque, thereby limiting an acceleration of the motor driven vehicle to a target acceleration when the estimated acceleration is equal to or higher than a reference acceleration.
10. The method of claim 9 ,
wherein the estimating of the acceleration includes estimating the acceleration through a predetermined calculation equation based on the vehicle speed detected by a wheel speed sensor in a Kalman filter constituting an acceleration estimator.
11. The method of claim 9 ,
wherein the acceleration limit torque is determined by summing a torque based on a disturbance observation determined by a disturbance observer, a feedforward torque determined by a feedforward torque determination unit, and a feedback torque determined by a feedback torque determination unit.
12. The method of claim 9 , further comprising:
calculating a driver demand torque;
determining an entry of a maximum acceleration limit control mode when the estimated acceleration is equal to or higher than the reference acceleration; and
comparing the acceleration limit torque with the driver demand torque.
13. The method of claim 12 , further comprising:
when the acceleration limit torque is smaller than the driver demand torque, setting the acceleration limit torque as a motor torque for limiting the maximum acceleration.
14. The method of claim 12 , further comprising:
when the estimated acceleration is lower than the reference acceleration, the maximum acceleration limit control mode is released, or the driver demand torque is smaller than the acceleration limit torque, setting the driver demand torque as a motor torque for limiting the maximum acceleration.
15. A system for limiting a maximum acceleration of a motor driven vehicle, the system comprising:
a wheel speed sensor configured to detect a vehicle speed of the motor driven vehicle;
an accelerator pedal position sensor configured to detect an amount of accelerator pedal depression; and
a control unit configured to:
estimate an acceleration based on the vehicle speed detected by the wheel speed sensor, and
control a motor torque to be an acceleration limit torque, thereby limiting an acceleration of the motor driven vehicle to a target acceleration when the estimated acceleration is equal to or higher than a reference acceleration,
wherein the control unit is further configured to limit the acceleration of the motor driven vehicle to the target acceleration using the estimated acceleration as a control variable for limiting the acceleration.