METHOD FOR ORDERING A SERIES HYBRID VEHICLE AND ASSOCIATED VEHICLE

Abstract

The present invention relates to a method of controlling a series hybrid vehicle (1) by means of a pedal assembly (14), which comprises the following steps: - placing a fixed rear terminal (RB), corresponding to an angular position (θ) of the pedals (141) beyond which the vehicle (1) switches to reverse gear engaged operating mode (BW) located at a first distance (Δ) from the reference position (θ(0)) in the indirect direction of rotation of the pedals (141);- place a dynamic front limit (FB), corresponding to an angular position (θ) of the pedals (141) beyond which the vehicle (1) switches to forward engaged operating mode (FW), located at a second distance (ε) from the reference position (θ(0)) in the direct direction of rotation of the pedals (141), and - as long as the pedal assembly (14) is operated in the indirect direction, the instantaneous position (θ(t)) measured from the pedals (141) becomes the reference position (θ(0)) for the dynamic front limit (FB), the front limit thus following said instantaneous position (θ(t)) at said second distance (ε), and vice versa when the value of the last engaged state (LES) is in reverse. Figure for the abbreviation: fig. 4.;

Description

Title of the invention: METHOD FOR CONTROLLING A SERIES HYBRID VEHICLE AND ASSOCIATED VEHICLE technical field

[0001] The present invention relates to the field of so-called "series hybrid" vehicles, that is, vehicles in which the user drives a motor that propels the vehicle by means of a pedal system that is not mechanically coupled to the vehicle's wheels. These vehicles are notably distinct from so-called electrically assisted vehicles, in which the pedal system is mechanically coupled to a wheel of the vehicle, and where a motor, generally electric, assists the user's effort.

[0002] The invention relates in particular to the method of controlling such a series hybrid vehicle, that is to say to the correspondence between the actuation of the pedals and the actuation of the wheels by means of the engine and the brakes, as well as the variable resistive torque felt by the user of the pedal assembly.

[0003] Technical problem

[0004] For simplified management of series hybrid vehicles, designers seek to minimize the number of control interfaces such as buttons, levers, knobs, etc. As a result, the pedal assembly becomes a central element of the interaction between the driver and the vehicle.

[0005] In addition to the conventional control of the forward speed of the vehicle, the pedal assembly can also control the braking of the vehicle in the manner of so-called "Dutch" cycles, control the tilting of the vehicle in reverse, and control the speed of movement of the vehicle in reverse.

[0006] With the multiplication of controls integrated into the pedal assembly, it becomes difficult to manage operating modes, switching from one to another and possible conflicts between different modes without adding dedicated selectors.

[0007] Switching into reverse gear must, in particular, result from a deliberate and continuous action. However, when starting the vehicle, the user will often reposition the pedals. Whereas, in a conventional cycle, the absence of reverse gear and the presence of a freewheel allow the pedals to be repositioned simply by turning them in the uncoupled direction, the presence of reverse gear complicates the control of the motor by the pedal assembly.

[0008] A known operating mode, called "fixie" (from "fixed gear" or "fixed ratio" in French), is known in which the wheels and pedals are mutually linked with a predetermined rotation ratio, which is advantageous at low speed and allows operation in reverse. However, in this operating mode, repositioning the pedals is always accompanied by a movement of the vehicle.

[0009] This systematic movement can cause accidents and is perceived as a nuisance by the user. Furthermore, when starting on an incline, the pedal assembly may be in an awkward position where the user lacks sufficient strength to start.

[0010] There is therefore a need for a control method which makes it possible to reconcile the presence of a reverse gear, in particular with operation in fixed ratio, and the possibility of repositioning the pedals when necessary. Summary of the invention

[0011] To this end, the invention proposes a method for selecting the operating mode according to several conditions measured on the pedal assembly and the vehicle.

[0012] The vehicle comprises, in a known manner: - a forward-engaged operating mode, in which direct movement of the pedals causes the vehicle to move forward and in which haptic feedback torque is applied to the pedal assembly, and - a reverse-engaged operating mode in which rotation of the pedals in an indirect direction, opposite to the direct direction, causes the vehicle to move in reverse, and in which haptic feedback is applied to the pedals; and - a disengaged operating mode in which the pedals can be rotated without causing the drive wheel to rotate and in which a low or even zero haptic feedback torque is applied to the pedal assembly.

[0013] To reconcile the presence of a reverse gear and a freewheel, the invention provides a method which implements the following steps:

[0014] * in an initialization phase:

[0015] - apply the disengaged operating mode;

[0016] - measure the initial angular position of the pedals and define it as the position of reference ;

[0017] - define a default value for the last engaged state, which can be forward gear. or in reverse, as if in forward motion. This initialization phase is implemented in particular after a prolonged stop of the vehicle, either by being parked and put on standby, or at, for example, a red traffic light. Next, when the value of the last engaged state is forward, the process executes the following steps:

[0018] - place a fixed rear terminal, corresponding to an angular position of the pedals at the- beyond which the vehicle switches to reverse gear engaged operating mode located at a first distance from the reference position in the indirect direction of pedal rotation;

[0019] - place a dynamic front terminal, corresponding to an angular position of the pedals beyond which the vehicle switches to forward-engaged operating mode, located at a distance of one second from the reference position in the direct direction of pedal rotation, and - as long as the pedal assembly is operated in the indirect direction, the instantaneous measured position of the pedals becomes the reference position for the dynamic front terminal, the front terminal thus following said reference position at said second distance.

[0020] The method thus simulates a freewheel over a limited angular range of pedal movement, an indirect movement not immediately causing the vehicle to move backwards, while a direct movement quickly induces the vehicle to move forwards by choosing the right values ​​for the angular distances.

[0021] To also manage the reverse transition from reverse to forward gear, the method further provides for a mirrored behavior of the terminals when the value of the last engaged state is in reverse gear.

[0022] The process then executes the following steps:

[0023] - place a fixed front terminal, corresponding to an angular position of the pedals at the- beyond which the vehicle switches to forward gear engaged operating mode located at a first distance from the reference position in the direct direction of rotation of the pedals;

[0024] - place a dynamic rear terminal, corresponding to an angular position of the pedals beyond which the vehicle switches to reverse gear engaged operating mode, located at a distance of one second from the reference position in the direct direction of pedal rotation, and - as long as the pedals are operated in the direct direction, the measured instantaneous position of the pedals becomes the reference position for the dynamic rear terminal, the rear terminal thus following said reference position at said second distance,

[0025] The method then provides for regularly measuring the angular position of the pedals and, if necessary, switching to engaged operating mode in forward or reverse when the angular position of the pedals reaches one of the forward or rear terminals, while updating the value of the last engaged state.

[0026] In the engaged forward or reverse operating mode, the method may in particular provide for mutually controlling the position of the pedals and that of the vehicle's drive wheel.

[0027] To allow operation at high speeds of the vehicle, the method provides, when the engaged mode in forward or reverse is applied, for the following steps to be applied:

[0028] - measure the speed of the vehicle;

[0029] - if the vehicle speed is greater than a threshold value for moving motion before or below a threshold value for reverse movement, the process interrupts the regular measurement of the pedal position to enter a cruising state in which the process applies the following steps:

[0030] - measure at least one quantity related to the actuation of the pedals by the user; And

[0031] - control the vehicle speed and haptic feedback as a function of said quantity measured.

[0032] The cruising state allows, by a different operation from the engaged mode in forward or reverse, to manage potentially high traffic speeds, for example to travel on a lane reserved for motor vehicles such as cars.

[0033] In said cruising state, the method advantageously performs the following steps:

[0034] - measure the angular position of the crankset and deduce a displacement of the pedals; And

[0035] - when the movement of the pedals is contrary to the direction of travel of the vehicle, a braking device is activated, and controlled by backpedaling.

[0036] By implementing backpedal braking in the cruising state, we avoid having a separate braking control in the passenger compartment, the pedal assembly then managing this function.

[0037] When the vehicle is braked by backpedaling, the control method applies the following steps:

[0038] - measure the speed of the vehicle;

[0039] - if the vehicle speed is greater than a forward speed threshold value or below a threshold reverse speed value, the process maintains operation in cruise mode;

[0040] - if the vehicle speed is less than the forward speed threshold value and greater than the reverse speed threshold value and a movement of the pedals in the direction of travel of the vehicle greater than a threshold angular value is detected, the process restarts without executing the initialization phase, the position of the pedals when the threshold angular value is reached becoming the reference position.

[0041] Thus, a transparent return for the user to the operating modes engaged in forward or reverse is ensured, while the detection of the release of the brake by exceeding the threshold angular value makes it possible to ensure a voluntary nature of the resumption of movement of the vehicle after braking.

[0042] The threshold angular value is advantageously between two and fifteen degrees of angle.

[0043] According to a particular embodiment, when the cruising state is applied, the process comprises the following steps:

[0044] - measure the speed of the vehicle;

[0045] - if the vehicle speed is below a forward speed threshold value and greater than the reverse speed threshold value, the process exits the movement phase, the angular position of the pedals when crossing one of the speed limit values ​​becoming the reference position.

[0046] These steps make it possible to ensure a return to the engaged operating mode in forward or reverse in the absence of braking, for example when friction in the air or a slope of the ground slows the vehicle without actuation of a brake control.

[0047] The initialization phase is initiated after a stop phase in which the vehicle is stationary for a predetermined duration, corresponding to a stop for parking or a red light.

[0048] The first angular distance can in particular be between half a turn and one and a half turns, i.e. between one hundred and eighty and five hundred and forty degrees of angle.

[0049] This relatively large value ensures that the reversal of the direction of travel of the vehicle is voluntary.

[0050] The first angular distance can, as a complement or alternative, be parameterized by the user.

[0051] The second angular distance can in particular be between two and fifteen degrees of angle.

[0052] This relatively low value simulates a freewheel in the direction of engagement.

[0053] When the angular position of the pedals is located at an angular distance less than a safety angular distance from the front or rear terminals, in particular from the fixed terminal, a variable haptic signaling torque is applied to the pedal assembly.

[0054] This variable haptic signaling couple is for example sinusoidal to simulate a vibration, indicating proximity to the corresponding terminal and therefore to a start of the vehicle.

[0055] Finally, the invention also relates to the series hybrid vehicle comprising:

[0056] - a motor, setting in motion a drive wheel;

[0057] - a pedal assembly allowing control of the motor by rotating pedals;

[0058] - a haptic feedback device exerting a variable resistive torque on the pedal assembly; And

[0059] - means for estimating the position of the pedals;

[0060] comprising a control unit configured to implement the control method as previously described.

[0061] In said series hybrid vehicle, the mechanical energy applied to the pedal assembly can also be used to recharge a battery used to power the motor driving the drive wheel.

[0062] Pedaling then regenerates the battery. Brief description of the figures

[0063] The invention will be better understood upon reading the following description, the details of which are given solely by way of example, and developed in relation to the accompanying figures, in which identical references refer to identical elements:

[0064] [Fig-1] is a side view of a vehicle according to a particular embodiment of the invention;

[0065] [Fig.2] is a longitudinal cross-sectional view of the vehicle in [Fig.1];

[0066] [Fig.3] is a schematic representation of the pedal assembly of the vehicle in [Fig.1] and of the elements interacting with said pedal assembly during driving;

[0067] [Fig.4] is a diagram illustrating the placement and movement of the front and rear terminals of the process when a last engagement state value is in forward motion;

[0068] [Fig.5] is a diagram illustrating the placement and movement of the front and rear terminals of the process when a last engagement state value is in reverse;

[0069] [Fig.6] is a graph of the different states adopted according to the speed of the vehicle and the angular position of the pedals. Detailed description of the invention

[0070] Fig. 1 is a side view of a velomobile-type vehicle 1 according to the invention.

[0071] The vehicle 1 includes a passenger compartment 10, comprising a bodywork enclosing the passenger compartment 10. The passenger compartment 10 has a general shape similar to that of a single-seater car, with side doors 11 and windows 12.

[0072] The vehicle 1 has three wheels 31, 33, with one rear drive wheel 31 and two front steering wheels 33 (only one of the two front wheels 33 is visible). Other embodiments may use two or four wheels. Furthermore, One or two front wheels can be driven in addition to or as an alternative to the drive of one or more rear wheels.

[0073] Fig. 2 is a cross-sectional view of the vehicle in Fig. 1. Fig. 2 notably shows the interior of the passenger compartment 10.

[0074] The rear wheel 31 is connected to a drive device 5 such as a belt, a chain or a gear. The drive device 5 is in turn connected to an electric motor 7 which sets the rear wheel 31 in motion, using electrical energy stored in batteries 9, located in a floor of the passenger compartment 10 in the example of [Fig.2].

[0075] The drive device 5 may include, in particular, a gearbox.

[0076] Recharging at least part of the electrical energy stored in the batteries 9 is achieved by means of a pedal 14.

[0077] The pedal assembly 14 is shown separately in [Fig.3], with the electric motor 7, the drive device 5 and the rear drive wheel 31.

[0078] The pedal assembly 14 includes pedals 141, which the user presses with their feet and legs to move. A haptic feedback generator 15 is connected to, or even integrated into, the pedal assembly 14. This haptic feedback generator 15 generates a generally resistive torque on the pedal assembly 14. In certain specific embodiments, this haptic feedback generator 15 can be a motor.

[0079] The pedal 14 is advantageously presented in the form of a reversible electrical machine, in particular a direct current machine, comprising a generator operating mode, in which a controlled electrical charge forms the haptic feedback generator 15.

[0080] The pedal assembly 14 can, in its operation in generator mode, convert at least part of the mechanical energy supplied by the user into electrical energy stored in the battery 9 to be returned later in the form of acceleration of the wheels 31, 33 by means of the electric motor 7.

[0081] Other means of generating the resistive torque can for example be obtained by making a dedicated braking device, for example mechanical friction, or a dedicated electric motor can be used, the action of said dedicated electric motor being opposed to that of the user at the level of the pedal 14.

[0082] The crankset 14 also includes one or more angular position sensors 143 of the pedals 141, optionally with a simple time derivative to obtain the pedaling cadence. These angular position sensors 143 thus make it possible to estimate or measure the angular position 0(t) of the pedals 141 at time t.

[0083] Fig. 3 is a schematic representation of the vehicle elements involved in the regulation process according to the invention.

[0084] Said elements include: the crankset 14, the haptic feedback generator 15, the electric motor 7, the drive device 5, means for estimating the rotational cadence of the crankset 14, i.e. the means for estimating the rotational cadence 143, for example the pedal position sensors 141 in the example of [Fig.3], the battery 9 and a control unit 19, connected to a current regulator device 17 disposed between the battery 9 and the electric motor 7.

[0085] The electric motor 7 delivers its mechanical power to the wheel 31 via the drive device 5. The wheel 31 has position sensors 35 of the wheel 31. The position sensors 35 are electronically connected to the control unit 19, and can in particular be used to determine a blockage or slippage of the wheel 31.

[0086] The control unit 19 is for example made in the form of a processor connected to a programmable memory, and includes means for actuating various electrical and electronic elements by means of transistors and controlled switches.

[0087] In particular, the operating modes of vehicle 1 include: - a forward-engaged operating mode FW, in which the direct movement of the pedals 141 causes the vehicle 1 to move forward and in which a haptic feedback torque is applied to the pedal assembly 14, and - a reverse-engaged operating mode BW, in which the rotation of the pedals 141 in an indirect direction, opposite to the direct direction, causes the vehicle 1 to move in reverse, and in which a haptic feedback torque is applied to the pedal assembly 14; and - a disengaged operating mode W0 in which the pedals can be rotated without causing rotation of the drive wheel 31 and in which no haptic feedback torque is applied to the pedal assembly 14, the pedals 141 then rotating in the air.

[0088] In particular, in the FW, BW engaged operating modes, the rotation of the pedals 141 and the wheel 31 are mutually servo-controlled, with a fixed rotation ratio, corresponding to an operating mode called "Fixie" from the English "fixed gear", i.e. with a fixed ratio as in so-called "Dutch" bicycles.

[0089] Control unit 19 has a boolean value LES ("Last Engaged State") in its memory, referred to here as the "last engaged state," which is either "forward" FW or "reverse" BW. When one of the engaged states FW or BW is activated, the value of the boolean changes accordingly. As long as vehicle 1 is in disengaged operating mode W0, the value of the last engaged state LES remains unchanged.

[0090] When starting vehicle 1, the control unit 19 is configured to first enter an initialization phase, during which it is configured to apply a control process: - apply the disengaged operating mode W0; - measure the initial angular position 0(0) of the pedals 141 and define it as the reference position; - Define the default value of the last engaged state as being in forward gear.

[0091] Following this initialization state, the process enters a continuous operating state, in which the control unit 19 regularly evaluates the angular position of the pedals 141 and adopts a behavior dependent on the value of the last engaged state LES, with a substantially symmetrical behavior according to said value FW, BW.

[0092] The initialization phase is applied in particular after a prolonged stop or standby phase of vehicle 1, when the user restarts vehicle 1 by operating a start / stop control in particular.

[0093] When the value of the last engaged state LES is in forward FW, the process executes the following steps.

[0094] The method will initially place a fixed rear terminal RB, corresponding to an angular position 0 of the pedals 141 beyond which the vehicle 1 switches to reverse gear engaged operating mode BW. This rear terminal RB is located at a first distance A from the reference position 0 in the reverse direction of rotation of the pedals 141.

[0095] The method then places a dynamic front terminal FB, corresponding to an angular position 0 of the pedals 141 beyond which the vehicle 1 switches to engaged forward operating mode FW. This front terminal is located at a second distance e from the reference position in the direct direction of rotation of the pedals, and remains at a fixed distance from the position 0 of the pedals 141 as long as the pedal assembly 14 is actuated in the indirect direction.

[0096] To do this, as long as the pedal assembly 14 is operated in the indirect direction, the instantaneous measured position 0(t) of the pedals 141 becomes the reference position for said dynamic front terminal FB.

[0097] The first distance A corresponds to the essential part of the angular domain over which the disengaged operating mode W is applied. It is typically between a quarter turn (90°) and one and a half turns (540°), and particularly about one turn (360°).

[0098] According to one variant, its exact value can be determined by the user U by means of a specific command.

[0099] The user U can then freely replace the pedals 141 by rotating them in the indirect direction, without triggering a reverse movement of the vehicle 1 immediately as long as it remains between the front terminals FB and rear terminals RB, while by crossing the disengaged operating domain W0, the reverse gear BW is engaged.

[0100] The second distance e is much smaller than the first distance A. It is typically between two and fifteen degrees (2-15°). It serves to model the release of a conventional bicycle freewheel, while allowing a slight movement of the pedals in the forward direction without triggering forward movement of the vehicle 1.

[0101] Fig. 4 illustrates the behavior resulting from the process, showing the placement of terminals RB, FB according to the movement of pedals 141.

[0102] In [Fig.4], a horizontal line is shown several times, on which is indexed the angular position 0 of the pedals 141 over time according to different actuations by the user U.

[0103] At the top in [Fig. 4], on the first line is shown the initial position 0(0) of the pedals 141, measured for example during the initialization phase. On either side of said initial position 0(0) are shown the front terminals FB and rear terminals RB as initially placed in application of the method.

[0104] Second from the top, on the second right is represented the position 0(t) adopted after an actuation in the indirect direction (to the left in [Fig.4]) of the pedal 14.

[0105] The position 0(t) of the pedals 141 has moved closer to the rear terminal RB, whose location has remained unchanged, while the front terminal FB remains at the second distance e.

[0106] If the user U continues to operate the pedals 141 in the reverse direction, the angular position 0(t) will eventually reach the rear terminal RB, and the control unit 19 will then switch the operating mode of the vehicle 1 to reverse BW. The value of the last engaged state boolean LES is then changed to "reverse" BW.

[0107] Third from the top, on the third line is represented the behavior in case of reversal of the direction of rotation of the pedals 141. The third line corresponds to an actuation in the indirect direction up to a time t, similar to the situation represented on the second line, followed by an actuation in the direct direction for a duration dt.

[0108] The angular position 0(t + dt) of the pedals 141 after this reversal of the direction of actuation of the pedals 141 is located to the right of the angular position 0(t) after the actuation in the opposite direction, at a distance less than the second distance angular e of this. During the duration dt of the direct actuation, the front terminals FB and rear terminals RB do not move.

[0109] By continuing the actuation in the direct direction, in particular with an angular displacement of the pedals 141 equal to or greater than the second distance e, the angular position 0 of the pedals 141 will eventually reach and then exceed the front terminal FB thus displaced by the previous actuation in the indirect direction.

[0110] The control unit 19 then activates the vehicle's operating mode 1 in forward FW. The value of the boolean of the last engaged state LES is then unchanged, still equal to "forward" FW.

[0111] In fourth from the top, on the fourth line is represented the behavior in case of actuation of the pedal in the forward direction up to a time t, starting from the initial position 0(0).

[0112] The angular position 0(t) at time t is located to the right of the initial position 0(0), at a distance from it less than the second distance e. The front bounds FB and rear bounds RB have remained unchanged with respect to the initial situation of the first line.

[0113] The user U thus feels a "limited freewheeling" which applies over an angular range in the indirect direction until reaching the rear terminal RB, while a direct actuation of the pedal 14 will very quickly trigger a forward movement of the vehicle 1 as long as the disengaged operating mode W0 is applied.

[0114] When the value of the last engaged state is "reverse", the behavior of the front terminals FB and rear terminal RB is reversed: the front terminal becomes fixed, while the rear terminal RB is dynamic and follows the angular position 0(t) in the event of direct actuation of the pedal 14.

[0115] This is the case, for example, when user U stops vehicle 1 after parking in reverse, in particular without stopping vehicle 1 by putting it into a standby state.

[0116] The method will initially place a fixed front terminal FB, corresponding to an angular position 0 of the pedals 141 beyond which the vehicle 1 switches to engaged forward operating mode FW. This front terminal is located at the first distance A from the reference position 0 in the direct direction of rotation of the pedals 141.

[0117] The method then places a dynamic rear terminal RB, corresponding to an angular position 0 of the pedals 141 beyond which the vehicle 1 switches to reverse gear engaged operating mode BW. This rear terminal RB is located at the second distance e from the reference position in the reverse direction of rotation pedals 141, and remains at a fixed distance from position 0 of pedals 141 as long as the crankset 14 is operated in the direct direction.

[0118] To do this, as long as the pedal assembly 14 is operated in the direct direction, the instantaneous measured position 0(t) of the pedals 141 becomes the reference position for said dynamic front terminal FB.

[0119] Figure [Fig. 5] schematically illustrates this behavior.

[0120] In a manner analogous to [Fig.4], [Fig.5] comprises two straight lines on which the angular position 0 of the pedals 141 is indexed.

[0121] At the top in [Fig.5] is represented the initial position 0(0) of the pedals 141. The rear terminal RB is placed at the second distance e from said initial position 0(0), and the front terminal FB is placed at the first distance A.

[0122] At the bottom in [Fig. 5], user U has operated the pedal assembly 14 in the forward direction, and the pedals are now at angular position 0(t). The rear terminal RB has moved and is still at the second distance e from angular position 0(t), while the front terminal FB has remained in the same location.

[0123] It is thus understood that the behavior is symmetrical according to the value of the last state engaged LES, the rear terminal RB becoming the mirror image of the front terminal FB and vice versa.

[0124] We thus have a "limited freewheel" in both directions, ensuring that the reversal of the direction of advance of vehicle 1 (transition from forward to reverse and vice versa) results from a voluntary action, since the user U must make the pedals 141 travel the first angular distance A before vehicle 1 moves.

[0125] To reinforce the voluntary nature of this reversal of direction of movement, it is possible to implement a variable haptic feedback signaling torque, for example sinusoidal or in zigzags, when the angular position reaches a safety angular distance, less than at least the first A, with respect to at least one of the front terminals FB or rear terminals RB, and in particular the terminal located at the first distance A from the initial reference position 0(0), while keeping the disengaged operating mode W0 of the vehicle.

[0126] The angular safety distance is then typically between fifteen and forty-five degrees of angle.

[0127] In addition or as an alternative, an increasing resistive torque can be applied when approaching terminal FB, RB to ensure a continuous transition with the resistive torque applied in the engaged state FW, BW.

[0128] Thus, the user U feels through the haptic feedback signal that he is approaching the front terminal FB or rear terminal RB which will engage an operating mode FW, BW opposite to the last engaged state LES.

[0129] The process described above is advantageously implemented at low speeds V of vehicle 1 only.

[0130] To achieve this, the process involves the following steps: - measure the speed of the vehicle;

[0131] - compare the vehicle speed to a forward speed threshold value Vss+ and a reverse speed threshold value Vss- considered negative,

[0132] - if the vehicle speed is greater than the forward speed threshold value Vss+ or less than the reverse speed threshold value Vss-, the process exits the engaged forward FW or reverse BW state to enter a cruising CR state.

[0133] In the CR cruising state the method measures, in particular, regularly measures at least one quantity related to the actuation of the pedals by the user and controls the speed V of the vehicle 1 and the haptic feedback torque as a function of said measured quantity.

[0134] In particular, the CR cruising state can be optimized to allow vehicle 1 to move at high speeds, of several tens of kilometers per hour, higher than the speeds usually reached by cycles.

[0135] For example, the control unit 19 can measure a power exerted by the user U on the crankset 14, given as the product of the pedaling cadence and the haptic feedback torque.

[0136] The control unit 19 regulates the set rate by estimating the power applied to the crankset 14 by rotating it and by decreasing or increasing the set rate so that said set rate increases with the power applied to the crankset 14.

[0137] The setpoint rate may in particular depend linearly on the power, with a slope between 0.05 and 0.25 rpm per watt, more particularly from 0.08 to 0.15 rpm per watt.

[0138] Outside the set rate, the control unit 19 exerts a significant haptic feedback torque, increasing rapidly with the deviation from the set rate.

[0139] By entering CR cruising mode, the method allows for the implementation of a backpedal brake or "Dutch brake".

[0140] To achieve this, in the CR cruising state, the process provides for:

[0141] - measure the angular position 0 of the pedals 141, and deduce a direction of pedal movement 141, in particular by means of a simple diverter; and

[0142] - when the movement of the pedals 141 is contrary to the direction of travel of the vehicle 1, a braking device is activated, and controlled by backpedaling.

[0143] For example, starting from the angular position 0 of the pedals 141 at which the direction of rotation of the pedals 141 has reversed, increasing braking power and a Increasing resistive haptic torques are exerted, increasing with the deviation from the inversion position.

[0144] When braking sufficiently reduces the speed V of vehicle 1 in absolute value, in particular by bringing it back between the threshold values ​​Vss+, Vss-, a "limited freewheeling" is implemented again.

[0145] To achieve this, the process applies the following steps:

[0146] - measure the speed V of vehicle 1;

[0147] - if the vehicle speed is greater than the forward speed threshold value Vss+ or less than the reverse speed threshold value Vss-, the process maintains operation in cruise condition CR; and

[0148] - if the vehicle speed is less than the forward speed threshold value Vss+ and greater than the reverse speed threshold value Vss-, the process waits for a movement of the pedals in the direction of travel of the vehicle greater than a threshold angular value, corresponding to a release of the brake, to be carried out and detected.

[0149] The process then restarts without executing the initialization phase, the position of the pedals when the threshold angular value for brake release is reached becoming the reference position for the placement of the terminals, and the boolean of last engaged state LES takes the value of the direction of movement of vehicle 1 before braking.

[0150] The threshold angular value for releasing the brake is in particular between two and fifteen degrees of angle, corresponding to a small movement of releasing the brake.

[0151] Figure 6 illustrates the different domains of exercise of the modes and states of operation of vehicle 1 as provided by the process.

[0152] Figure 6 is a two-dimensional graph, the horizontal axis corresponding to the vehicle speed V, and the vertical axis at angular position 0 of the pedals 141.

[0153] Two vertical lines are placed at the threshold speed values ​​in forward motion Vss + and in reverse motion Vss-.

[0154] Two horizontal lines are placed at angular values ​​0 corresponding to the front terminal FB and rear terminal RB. The reference angular position is assumed to be zero for clarity. The front terminal FB is at the first angular distance A, and the rear terminal RB is at the second angular distance e, corresponding to the case where the boolean of last engaged state LES is "reverse".

[0155] These four lines define a rectangle, within which the disengaged operating mode W0 is applied. Indeed, within this rectangle, the pedals 141 have not yet reached one of the terminals FB, RB, and the vehicle speed V does not justify switching to the cruise operating mode CR.

[0156] When the speed V is between the limit values ​​Vss+, Vss- but one of the front limit FB or rear limit RB has been reached or exceeded, corresponding to the space in the column above and below the rectangle where the disengaged mode W0 is applied, the process provides for a engaged operation in forward gear FW above, and in reverse gear BW below said rectangle.

[0157] In the half-spaces to the left and right of said rectangle, corresponding respectively to the speed values ​​V lower than the negative limit value Vss- and greater than the positive limit value Vss+, the cruise state CR is applied independently of the angular position 0 of the pedals 141.

[0158] By means of the method according to the invention, it is possible to reconcile the presence of a reverse gear BW and a freewheel W0 allowing the pedals 141 to be placed in a comfortable position when starting the vehicle 1.

Claims

1. Demands Method of controlling a series hybrid vehicle (1) by means of a pedal assembly (14), the pedal assembly comprising means (143) for measuring the angular position (0) of pedals (141) of said pedal assembly (14) and means for applying haptic feedback torque to the pedal assembly (14), the vehicle (1) comprising: - a forward (FW) engaged operating mode, in which direct movement of the pedals (141) causes the vehicle (1) to move forward and in which haptic feedback is applied to the pedal assembly (14), and - a reverse (BW) engaged operating mode, in which indirect movement of the pedals (141) causes the vehicle to move backward, opposite to the direct direction, and in which haptic feedback is applied to the pedal assembly (14); and - a disengaged operating mode (W) in which the pedals (141) can be rotated without causing movement of the vehicle (1) and in which a low or zero haptic feedback torque is applied to the pedal assembly (14); characterized in that the process comprises the following steps: * in an initialization state: - apply the disengaged operating mode (WO); - measure the initial angular position (0(0)) of the pedals (141) and define it as the reference position; - define by default a value for the last engaged state (LES), which can be forward (FW) or reverse (BW), as forward (FW); and * When the value of the last engaged state (LES) is forward (FW), the process executes the following steps: - place a fixed rear terminal (RB), corresponding to an angular position (0) of the pedals (141) beyond which the vehicle (1) switches to reverse gear engaged operating mode (BW) located at a first distance (A) from the reference position (0(0)) in the indirect direction of rotation of the pedals (141); - place a dynamic front terminal (FB), corresponding to an angular position (0) of the pedals (141) beyond which the

2. vehicle (1) switches to engaged forward operating mode (FW), located at a second distance (e) from the reference position (0(0)) in the direct direction of rotation of the pedals (141), and - as long as the pedal assembly (14) is operated in the indirect direction, the instantaneous position (0(t)) measured from the pedals (141) becomes the reference position (0(0)) for the dynamic front terminal (FB), the front terminal thus following said instantaneous position (0(t)) at said second distance (e), * When the value of the last engaged state (LES) is in reverse (BW), the process executes the following steps: - place a fixed front terminal (FB), corresponding to an angular position (0) of the pedals (141) beyond which the vehicle (1) switches to engaged forward operating mode (FW) located at a first distance (A) from the reference position (0(0)) in the direct direction of rotation of the pedals (141); - place a dynamic rear limit (RB), corresponding to an angular position (0) of the pedals (141) beyond which the vehicle (1) switches to reverse gear engaged operating mode (BW), located at a second distance (e) from the reference position (0(0)) in the direct direction of rotation of the pedals (141), and - as long as the pedal assembly (14) is operated in the direct direction, the instantaneous position (0(t)) measured of the pedals (141) becomes the reference position for the dynamic rear limit (RB), the rear limit (RB) thus following said instantaneous position (0(t)) at said second distance (epsilon), * Regularly measure the angular position (0) of the pedals and, if necessary, switch to engaged operating mode in forward (FW) or reverse (BW) when the angular position (0) of the pedals (141) reaches one of the forward (FB) or reverse (RB) terminals, and update the value of the last engaged state (LES). A control method according to claim 1, wherein, when the engaged forward (FW) or reverse (BW) mode is applied, the method comprises the following steps: - measure the speed (V) of the vehicle (1); - if the speed (V) of the vehicle (1) is greater than a forward speed threshold value (Vss+) or less than a reverse speed threshold value (Vss-), the method interrupts the measurement regular position of the pedals (141) to enter a cruising state (CR) in which the method applies the steps: - measure at least one quantity related to the actuation of the pedals (14) by the user (U); and - control the speed (V) of the vehicle (1) and the haptic feedback as a function of said measured quantity.

3. A control method according to claim 2, wherein, in the cruising state, the method also performs the following steps: - measuring the angular position (0) of the pedals (141) and deducing a direction of movement of the pedals (141); and - when the direction of movement of the pedals (141) is contrary to the direction of travel of the vehicle (1), a braking device is activated and controlled by backpedaling.

4. A control method according to claim 3, wherein when the vehicle (1) is braked by backpedaling, the control method applies the following steps: - measure the speed (V) of the vehicle (1); - if the speed (V) of the vehicle (1) is greater than the forward speed threshold value (Vss+) or less than the reverse speed threshold value (Vss-), the method maintains operation in cruise mode; and - if the speed (V) of the vehicle (1) is less than the forward speed threshold value (Vss+) and greater than the reverse speed threshold value (Vss-) and a movement of the pedals (141) in the direction of travel of the vehicle (1) greater than a threshold angular value is detected, the method restarts without performing the initialization phase, the position of the pedals (141) when the speed threshold value is reached becoming the reference position (9(0)).

5. Method according to the preceding claim, wherein the threshold angular value is between two and fifteen degrees of angle.

6. A control method according to any one of claims 2 to 5, wherein, when the cruise state (CR) is applied, the method comprises the following steps: - measuring the speed (V) of the vehicle (1); - if the speed (V) of the vehicle (1) is less than the forward speed threshold value (Vss+) and greater than the reverse speed threshold value (Vss-), the method exits the cruise state (CR), the angular position of the pedals when crossing one of the speed limit values ​​(Vss+, Vss-) becomes the reference position.

7. A control method according to any one of the preceding claims, wherein the initialization phase is initiated after a stop phase in which the vehicle (1) is stationary for a predetermined duration.

8. A control method according to any one of the preceding claims, wherein the first angular distance (A) is between one quarter turn and one and a half turns, i.e. between ninety and five hundred and forty degrees of angle.

9. Method according to the preceding claim, wherein the first angular distance (A) is user-parameterizable.

10. A control method according to any one of the preceding claims, wherein the second angular distance (e) is between two and fifteen degrees of angle.

11. A control method according to any one of the preceding claims, wherein when the angular position (0) of the pedals is located at an angular distance less than a safety angular distance from the front (FB) or rear (RB) terminals, a variable haptic signaling torque is applied to the pedal assembly (14).

12. A series hybrid vehicle comprising: - a motor (7), driving a drive wheel (31); - a pedal assembly (14) enabling control of the motor (7) by rotating pedals (141); - a haptic feedback device exerting a variable resistive torque on the pedal assembly (14); and - means for estimating (143) the angular position (0) of the pedals (141); - a control unit (19), controlling the motor (7) as a function of the rotation of the pedals (141); characterized in that the control unit (19) is configured to implement the control method of one of the preceding claims.

13. Series hybrid vehicle according to claim 12, wherein the mechanical energy applied to the pedal assembly (14) is also used to recharge a battery (9) used to power the motor (7) setting the drive wheel (31) in motion.

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