Method and control arrangement for controlling a vehicle during a downhill start
A method performed by a control arrangement for controlling a vehicle during a downhill start, the vehicle comprising an electric machine configured to propel and/or brake the vehicle and a brake system configured to apply a brake force to the vehicle. The method comprises, following a detection of a downhill start indication, when the vehicle is maintained stationary on an inclined road section by means of a brake force applied by a brake system, controlling the electric machine to apply a brake torque while controlling the brake system to release the applied brake force, and controlling the electric machine to gradually decrease the applied brake torque to control the acceleration of the vehicle when set in motion in a downhill direction on the inclined road section. Hereby, the downhill start is performed in a controlled, safe, and predictable way resulting in an increased comfort and drivability of the vehicle.
1 . A method for a control arrangement configured to control a vehicle during a downhill start, the vehicle comprising an electric machine configured to propel and/or brake the vehicle and a brake system configured to apply a brake force to the vehicle, the method comprising, following a detection of a downhill start indication, when the vehicle is maintained stationary on an inclined road section by means of a brake force applied by a brake system:
controlling the electric machine to apply a brake torque while controlling the brake system to release the applied brake force; and
controlling the electric machine to gradually decrease the applied brake torque so as to control the acceleration of the vehicle when set in motion in a downhill direction on the inclined road section.
2 . The method according to claim 1 , wherein the brake torque is applied by the electric machine such that the vehicle remains stationary on the inclined road section prior to setting the vehicle in motion.
3 . The method according to claim 1 ,
wherein the vehicle is to be set in motion upon the detection of the downhill start indication, the downhill start indication being one of: a brake release request, a depression of an acceleration pedal, or an automatic acceleration request, and
wherein the electric machine is controlled to apply the brake torque while controlling the brake system to release the applied brake force upon detecting the downhill start indication.
4 . The method according to claim 1 , wherein the downhill start indication is a brake release request, and wherein a hill hold function is configured to maintain the vehicle stationary upon detecting the brake release request, the method further comprising:
commencing the control of the electric machine to apply a brake torque upon detecting the brake release request prior to or while controlling the brake system to release the applied brake force.
5 . The method according to claim 4 , further comprising:
controlling the brake system to maintain the applied brake force when detecting the brake release request and to release the applied brake force upon detecting a depression of an acceleration pedal upon which the vehicle is to be set in motion.
6 . The method according to claim 4 , further comprising:
controlling the brake system to maintain the applied brake force when detecting the brake release request and to release the applied brake force upon detecting a hill hold timer expiry upon which the vehicle is to be set in motion.
7 . The method according to claim 4 , further comprising:
controlling the brake system to release the applied brake force upon detecting the brake release request.
8 . The method according to claim 1 , wherein the electric machine is controlled to gradually decrease the brake torque at a predetermined rate based on at least one vehicle operating parameter.
9 . The method according to claim 8 , wherein the at least one vehicle operating parameter is one or more of:
a weight of the vehicle,
an inclination of an approaching road section,
traffic condition on the approaching road section,
a rate of change of the acceleration request,
a current drive mode, and
an available force that may be transferred between the vehicle and the road.
10 . The method according to claim 8 , wherein the predetermined rate of gradual decrease of the brake torque applied by the electric machine is further based on a drive torque applied by a power source for propelling the vehicle, other than the electric machine.
11 . The method according to claim 1 , wherein the releasing of the brake force applied by the brake system is performed gradually, and wherein the predetermined rate of gradual decrease of the brake torque applied by the electric machine is further based on a rate at which the gradual releasing of the brake force is performed.
12 . A control arrangement for controlling a vehicle during a downhill start, the vehicle comprising an electric machine configured to propel and/or brake the vehicle and a brake system configured to apply a brake force to the vehicle, the control arrangement being configured to, following a detection of a downhill start indication, when the vehicle is maintained stationary on an inclined road section by means of a brake force applied by a brake system:
control the electric machine to apply a brake torque while controlling the brake system to release the applied force; and
control the electric machine to gradually decrease the applied brake torque so as to control the acceleration of the vehicle when set in motion in a downhill direction on the inclined road section.
13 . A vehicle comprising a control arrangement for controlling the vehicle during a downhill start, the vehicle comprising an electric machine configured to propel and/or brake the vehicle and a brake system configured to apply a brake force to the vehicle, the control arrangement being configured to, following a detection of a downhill start indication, when the vehicle is maintained stationary on an inclined road section by means of a brake force applied by a brake system:
control the electric machine to apply a brake torque while controlling the brake system to release the applied force; and
control the electric machine to gradually decrease the applied brake torque so as to control the acceleration of the vehicle when set in motion in a downhill direction on the inclined road section.
14 . A computer program product comprising computer program code stored on a non-transitory computer-readable medium, said computer program product used for a control arrangement for controlling a vehicle during a downhill start, the vehicle comprising an electric machine configured to propel and/or brake the vehicle and a brake system configured to apply a brake force to the vehicle, said computer program code comprising computer instructions to cause one or more control units to perform the following operations, following a detection of a downhill start indication, when the vehicle is maintained stationary on an inclined road section by means of a brake force applied by a brake system:
control the electric machine to apply a brake torque while controlling the brake system to release the applied force; and
control the electric machine to gradually decrease the applied brake torque so as to control the acceleration of the vehicle when set in motion in a downhill direction on the inclined road section.