CN107253452B - Method and device for controlling constant-speed cruise of electric vehicle during limited charging of battery - Google Patents

Method and device for controlling constant-speed cruise of electric vehicle during limited charging of battery Download PDF

Info

Publication number
CN107253452B
CN107253452B CN201710506185.7A CN201710506185A CN107253452B CN 107253452 B CN107253452 B CN 107253452B CN 201710506185 A CN201710506185 A CN 201710506185A CN 107253452 B CN107253452 B CN 107253452B
Authority
CN
China
Prior art keywords
charging
torque
absolute value
battery
pid output
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710506185.7A
Other languages
Chinese (zh)
Other versions
CN107253452A (en
Inventor
张蓝文
代康伟
梁海强
柳少康
李明亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Electric Vehicle Co Ltd
Original Assignee
Beijing Electric Vehicle Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Electric Vehicle Co Ltd filed Critical Beijing Electric Vehicle Co Ltd
Priority to CN201710506185.7A priority Critical patent/CN107253452B/en
Publication of CN107253452A publication Critical patent/CN107253452A/en
Application granted granted Critical
Publication of CN107253452B publication Critical patent/CN107253452B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
    • B60L15/2027—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope whilst maintaining constant speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a method and a device for controlling constant-speed cruising of an electric automobile during limited charging of a battery, wherein the method comprises the following steps: when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is greater than or equal to the absolute value of the charging limit torque, determining that the constant-speed cruise system is in a battery limit charging control mode; when the brake-by-wire system is an electronic hydraulic brake system EHB, sending a brake torque command carrying a charging limit torque to the motor controller MCU, and sending a brake torque command carrying a first difference value to the electronic hydraulic brake system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque; therefore, when the power battery has charging power limitation or even prohibits charging, the running speed of the vehicle can fall back according to the required deceleration after the driver accelerates, or the vehicle can keep stable when cruising at a constant speed under the working condition of a downhill, and the stability and the safety of the whole vehicle are improved.

Description

Method and device for controlling constant-speed cruise of electric vehicle during limited charging of battery
Technical Field
The invention relates to the technical field of safety control of electric automobiles, in particular to a constant-speed cruise control method and device for an electric automobile during limited charging of a battery.
Background
The conventional control method of the conventional power automobile is mainly used as a reference for the constant-speed cruise control method of the electric automobile, wherein the motor controller comprises a storage unit for storing the speed of the electric automobile and sending the speed of the electric automobile to the motor controller as a set speed when a command acquisition unit acquires a cruise recovery command.
However, when the running speed of the vehicle falls back to the constant-speed-cruise target vehicle speed after the driver performs the acceleration operation, or when the vehicle is subjected to a gradient force greater than the sum of the running resistances at the time of constant-speed cruising, the motor outputs a negative torque, that is, a braking torque. If the state of charge (SOC) of the power battery is higher or the temperature is lower, the charging power is limited or even charging is prohibited, and the motor cannot provide enough braking torque, so that the driving speed of the vehicle cannot fall back according to the required deceleration after the driver accelerates, or the vehicle cannot keep stable when cruising at a fixed speed under a downhill working condition, and the stability and the safety of the whole vehicle are influenced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a method for controlling constant-speed cruising of an electric vehicle during battery-limited charging, which is used for solving the problems that the vehicle speed cannot fall back according to the required deceleration after the driver accelerates or the vehicle speed cannot be kept stable during constant-speed cruising under the downhill working condition when the power battery has the limitation of charging power or even prohibits charging in the prior art.
The second purpose of the invention is to provide a constant-speed cruise control device of an electric automobile when the battery is limited to be charged.
The third purpose of the invention is to provide another constant-speed cruise control device of the electric automobile when the battery is limited to be charged.
A fourth object of the invention is to propose a non-transitory computer-readable storage medium.
A fifth object of the invention is to propose a computer program product.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling cruise control of an electric vehicle during limited charging of a battery, including:
acquiring a constant-speed cruising state of the electric automobile and PID output torque received by a motor controller MCU;
when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is greater than or equal to the absolute value of the charging limiting torque, the charging power is limited or the charging is forbidden by a power battery of the electric automobile, the constant-speed cruise system is determined to be in a battery limiting charging control mode, and the state of the brake-by-wire system is judged;
if the brake-by-wire system is an electronic hydraulic brake system EHB, sending a brake torque command carrying a charging limit torque to a motor controller MCU, and sending a brake torque command carrying a first difference value to the electronic hydraulic brake system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque;
and when the absolute value of the PID output torque is smaller than the absolute value of the charging limit torque, controlling the constant-speed cruise system to exit the battery limit charging control mode.
According to the method for controlling the constant-speed cruise of the electric automobile during the limited charging of the battery, when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is larger than or equal to the absolute value of the limited charging torque, the constant-speed cruise system is determined to be in a limited charging control mode of the battery, and the state of the brake-by-wire system is judged; if the brake-by-wire system is an electronic hydraulic brake system EHB, sending a brake torque command carrying a charging limit torque to the motor controller MCU, and sending a brake torque command carrying a first difference value to the electronic hydraulic brake system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque; therefore, when the power battery has charging power limitation or even prohibits charging, the running speed of the vehicle can fall back according to the required deceleration after the driver accelerates, or the vehicle can keep stable when cruising at a constant speed under the working condition of a downhill, and the stability and the safety of the whole vehicle are improved.
In order to achieve the above object, a second aspect of the present invention provides a constant-speed cruise control device for an electric vehicle with a battery limited charging, comprising:
the acquisition module is used for acquiring the constant-speed cruising state of the electric automobile and the PID output torque received by the motor controller MCU;
the determining module is used for indicating that a power battery of the electric automobile limits charging power or prohibits charging when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is greater than or equal to the absolute value of the charging limiting torque, and then determining that the constant-speed cruise system is in a battery limiting charging control mode and judging the state of the brake-by-wire system;
the first sending module is used for sending a braking torque command carrying a charging limiting torque to the motor controller MCU and sending a braking torque command carrying a first difference value to the electronic hydraulic braking system EHB when the brake-by-wire system is the electronic hydraulic braking system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque;
and the first control module is used for controlling the constant-speed cruise system to exit the battery limit charging control mode when the absolute value of the PID output torque is smaller than the absolute value of the charging limit torque.
According to the constant-speed cruise control device for the electric automobile during battery limited charging, when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is greater than or equal to the absolute value of the charging limited torque, the constant-speed cruise system is determined to be in a battery limited charging control mode, and the state of a brake-by-wire system is judged; if the brake-by-wire system is an electronic hydraulic brake system EHB, sending a brake torque command carrying a charging limit torque to the motor controller MCU, and sending a brake torque command carrying a first difference value to the electronic hydraulic brake system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque; therefore, when the power battery has charging power limitation or even prohibits charging, the running speed of the vehicle can fall back according to the required deceleration after the driver accelerates, or the vehicle can keep stable when cruising at a constant speed under the working condition of a downhill, and the stability and the safety of the whole vehicle are improved.
In order to achieve the above object, according to a third aspect of the present invention, there is provided a constant-speed cruise control apparatus for an electric vehicle with a battery restricted during charging, comprising: the device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and is characterized in that the processor executes the program to realize the constant-speed cruise control method of the electric automobile during the limited charging of the battery.
In order to achieve the above object, a fourth aspect of the present invention provides a non-transitory computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, enables the processor to execute the battery limited charging cruise control method as described above.
In order to achieve the above object, a fifth embodiment of the present invention provides a computer program product, wherein when being executed by an instruction processor of the computer program product, a cruise control method for an electric vehicle with a battery limited charging is performed, the method comprising:
acquiring a constant-speed cruising state of the electric automobile and PID output torque received by a motor controller MCU;
when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is greater than or equal to the absolute value of the charging limiting torque, the charging power is limited or the charging is forbidden by a power battery of the electric automobile, the constant-speed cruise system is determined to be in a battery limiting charging control mode, and the state of the brake-by-wire system is judged;
if the brake-by-wire system is an electronic hydraulic brake system EHB, sending a brake torque command carrying a charging limit torque to a motor controller MCU, and sending a brake torque command carrying a first difference value to the electronic hydraulic brake system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque;
and when the absolute value of the PID output torque is smaller than the absolute value of the charging limit torque, controlling the constant-speed cruise system to exit the battery limit charging control mode.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart illustrating a method for controlling cruise control of an electric vehicle during limited battery charging according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another method for controlling cruise control of an electric vehicle during limited battery charging according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a constant-speed cruise control device for an electric vehicle during limited battery charging according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a constant-speed cruise control system for an electric vehicle during limited battery charging according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another constant-speed cruise control device for an electric vehicle during limited battery charging according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another constant-speed cruise control device for an electric vehicle during limited battery charging according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of another constant-speed cruise control device for an electric vehicle during limited battery charging according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The method and the device for controlling constant-speed cruising of the electric automobile during the limited charging of the battery are described below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for controlling constant-speed cruising of an electric vehicle during limited battery charging according to an embodiment of the present invention. As shown in fig. 1, the method for controlling constant-speed cruising of the electric automobile during the charging limiting process of the battery comprises the following steps:
s101, acquiring a constant-speed cruising state of the electric automobile and PID output torque received by the motor controller MCU.
The execution main body of the electric Vehicle constant-speed cruise Control method during battery charging limitation provided by the invention is an electric Vehicle constant-speed cruise Control device during battery charging limitation, and the electric Vehicle constant-speed cruise Control device during battery charging limitation can be a Vehicle Control Unit (VCU) or hardware or software installed in the Vehicle Control Unit. The vehicle Control Unit VCU is responsible for upper layer coordination Control, and is configured to send a command to a Motor Controller (MCU) and a brake-by-wire system, and receive signals uploaded by the MCU and a BATTERY management system (BATTERY MANAGEMENTSYSTEM, BMS). The signals acquired by the VCU of the vehicle control unit in real time comprise vehicle state parameter signals such as longitudinal vehicle speed and the like. The motor is controlled by the internal control logic of the MCU; the battery is controlled by the control logic inside its management system BMS.
S102, when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is larger than or equal to the absolute value of the charging limiting torque, the charging power is limited or the charging is forbidden by a power battery of the electric automobile, the constant-speed cruise system is determined to be in a battery limiting charging control mode, and the state of the brake-by-wire system is judged.
When the constant-speed cruise state is in an activated state, the VCU of the vehicle control unit sends a PID torque command T to the MCUPIDControlling the initial target vehicle speed to be V0. If the VCU of the vehicle controller sends a PID torque command T to the MCU of the motor controllerPID< 0, i.e. the motor outputs a braking torque, and | TPID|≥|TLimIf the brake-by-wire state is judged, the motor is in the power generation state, but the power battery limits the charging power and even prohibits charging, the motor cannot provide enough braking torque, the constant-speed cruise system enters a battery limit charging control mode, and the brake-by-wire state is judged. Wherein | TLimAnd | is an absolute value of the charge restriction torque allowed by the battery.
S103, if the brake-by-wire system is an electronic hydraulic brake system EHB, sending a brake torque command carrying a charging limiting torque to the motor controller MCU, and sending a brake torque command carrying a first difference value to the electronic hydraulic brake system EHB; the first difference is a difference between the absolute value of the PID output torque and the absolute value of the charge restriction torque.
Wherein different brake-by-wire states represent different brake-by-wire systems. Because the control accuracy of the EHB is high and the dynamic response speed is high, when the on-line control system is the EHB, the braking torque command sent to the motor controller MCU can be determined according to the PID output torque, and then the braking torque command sent to the EHB can be determined.
And S104, when the absolute value of the PID output torque is smaller than the absolute value of the charging limit torque, controlling the constant-speed cruise system to exit the battery limit charging control mode.
According to the method for controlling the constant-speed cruise of the electric automobile during the limited charging of the battery, when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is larger than or equal to the absolute value of the limited charging torque, the constant-speed cruise system is determined to be in a limited charging control mode of the battery, and the state of the brake-by-wire system is judged; if the brake-by-wire system is an electronic hydraulic brake system EHB, sending a brake torque command carrying a charging limit torque to the motor controller MCU, and sending a brake torque command carrying a first difference value to the electronic hydraulic brake system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque; therefore, when the power battery has charging power limitation or even prohibits charging, the running speed of the vehicle can fall back according to the required deceleration after the driver accelerates, or the vehicle can keep stable when cruising at a constant speed under the working condition of a downhill, and the stability and the safety of the whole vehicle are improved.
Fig. 2 is a schematic flow chart of another method for controlling constant-speed cruising of an electric vehicle during limited battery charging according to an embodiment of the present invention. As shown in fig. 2, on the basis of the embodiment shown in fig. 1, the method for controlling constant-speed cruising of an electric vehicle when the battery is limited to be charged may further include the following steps:
and S105, if the brake-by-wire system comprises the electronic vacuum booster EVB, judging whether the product of the absolute value of the PID output torque and the coefficient a is smaller than or equal to the absolute value of the charging limit torque.
Wherein, the value range of a is 0.55-0.65.
S106, if the product of the absolute value of the PID output torque and the coefficient a is smaller than or equal to the absolute value of the charging limiting torque, sending a braking torque command carrying the charging limiting torque to the electronic vacuum booster EVB, and sending a braking torque command carrying a second difference value to the motor controller MCU; the second difference is the difference between the absolute value of the PID output torque and the absolute value of the braking torque of the electronic vacuum booster.
Because the control precision of the electronic vacuum booster EVB is low and the dynamic response speed is low, under the condition that the online control system is the electronic vacuum booster, the braking torque command sent to the electronic vacuum booster EVB can be determined firstly according to the PID output torque, and then the braking torque command sent to the motor controller MCU is determined. That is, when the charge limit torque allowed by the battery is large, the brake-by-wire system is responsible for providing the braking torque of the steady-state portion, and the motor is responsible for providing the braking torque of the dynamic response portion.
And S107, if the product of the absolute value of the PID output torque and the coefficient a is larger than the absolute value of the charging limit torque, sending a braking torque command carrying the PID output torque to the electronic vacuum booster.
In addition, a command is sent to the motor controller MCU that the braking torque is zero. That is, when the charge-limited torque allowed by the battery is small, the brake-by-wire system is responsible for providing all the braking torque.
And S108, when the absolute value of the PID output torque is smaller than the absolute value of the charging limit torque, controlling the constant-speed cruise system to exit the battery limit charging control mode.
According to the method for controlling the constant-speed cruise of the electric automobile during the limited charging of the battery, when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is larger than or equal to the absolute value of the limited charging torque, the constant-speed cruise system is determined to be in a limited charging control mode of the battery, and the state of the brake-by-wire system is judged; if the brake-by-wire system is the electronic vacuum booster EVB, judging whether the product of the absolute value of the PID output torque and the coefficient a is smaller than or equal to the absolute value of the charging limit torque; if the product of the absolute value of the PID output torque and the coefficient a is smaller than or equal to the absolute value of the charging limiting torque, sending a braking torque command carrying the charging limiting torque to the electronic vacuum booster EVB, and sending a braking torque command carrying a second difference value to the motor controller MCU; the second difference value is the difference value between the absolute value of the PID output torque and the absolute value of the braking torque of the electronic vacuum booster; therefore, when the power battery has charging power limitation or even prohibits charging, the running speed of the vehicle can fall back according to the required deceleration after the driver accelerates, or the vehicle can keep stable when cruising at a constant speed under the working condition of a downhill, and the stability and the safety of the whole vehicle are improved.
Fig. 3 is a schematic structural diagram of a constant-speed cruise control device for an electric vehicle during limited battery charging according to an embodiment of the present invention. As shown in fig. 3, the constant-speed cruise control device for the electric vehicle during the limited charging of the battery includes: an acquisition module 31, a determination module 32, a first transmission module 33 and a first control module 34.
The acquiring module 31 is used for acquiring a constant-speed cruising state of the electric automobile and a PID output torque received by the motor controller MCU;
a determining module 32, configured to, when the cruise control system is in an active state, the PID output torque is a negative torque, and an absolute value of the PID output torque is greater than or equal to an absolute value of a charging limit torque, indicate that a power battery of the electric vehicle limits charging power or prohibits charging, determine that the cruise control system is in a battery limit charging control mode, and determine a state of the brake-by-wire system;
the first sending module 33 is configured to send a braking torque command carrying a charging limiting torque to the motor controller MCU when the brake-by-wire system is the electrohydraulic brake system EHB, and send a braking torque command carrying a first difference value to the electrohydraulic brake system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque;
a first control module 34 for controlling the cruise control system to exit the battery limited charge control mode when the absolute value of the PID output torque is less than the absolute value of the charge limited torque.
The constant-speed cruise Control device for the electric Vehicle during the limited charging of the battery can be a Vehicle Control Unit (VCU), or hardware or software installed in the VCU. The vehicle Control Unit VCU is responsible for upper layer coordination Control, and is configured to send a command to a Motor Controller (MCU) and a brake-by-wire system, and receive signals uploaded by the MCU and a BATTERY management system (BATTERY MANAGEMENT SYSTEM, BMS). The signals acquired by the VCU of the vehicle control unit in real time comprise vehicle state parameter signals such as longitudinal vehicle speed and the like. The motor is controlled by the internal control logic of the MCU; the battery is controlled by the control logic inside its management system BMS.
When the constant-speed cruise state is in an activated state, the VCU of the vehicle control unit sends a PID torque command T to the MCUPIDControlling the initial target vehicle speed to be V0. If the VCU of the vehicle controller sends a PID torque command T to the MCU of the motor controllerPID< 0, i.e. the motor outputs a braking torque, and | TPID|≥|TLimIf the brake-by-wire state is judged, the motor is in the power generation state, but the power battery limits the charging power and even prohibits charging, the motor cannot provide enough braking torque, the constant-speed cruise system enters a battery limit charging control mode, and the brake-by-wire state is judged. Wherein | TLimAnd | is an absolute value of the charge restriction torque allowed by the battery.
The control accuracy of the EHB is high, and the dynamic response speed is high, so that under the condition that the on-line control system is the EHB, the braking torque command sent to the motor controller MCU can be determined according to the PID output torque, and then the braking torque command sent to the EHB can be determined.
According to the constant-speed cruise control device for the electric automobile during battery limited charging, when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is greater than or equal to the absolute value of the charging limited torque, the constant-speed cruise system is determined to be in a battery limited charging control mode, and the state of a brake-by-wire system is judged; if the brake-by-wire system is an electronic hydraulic brake system EHB, sending a brake torque command carrying a charging limit torque to the motor controller MCU, and sending a brake torque command carrying a first difference value to the electronic hydraulic brake system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque; therefore, when the power battery has charging power limitation or even prohibits charging, the running speed of the vehicle can fall back according to the required deceleration after the driver accelerates, or the vehicle can keep stable when cruising at a constant speed under the working condition of a downhill, and the stability and the safety of the whole vehicle are improved.
Further, with reference to fig. 4 in combination, on the basis of the embodiment shown in fig. 3, the constant-speed cruise control device for an electric vehicle during battery charging limitation may further include: a judging module 35 and a second sending module 36.
The judgment module 35 is configured to judge whether a product of an absolute value of the PID output torque and a coefficient a is less than or equal to an absolute value of a charging limit torque when the brake-by-wire system includes the electronic vacuum booster EVB;
a second sending module 36, configured to send a braking torque command carrying a charging limiting torque to the electronic vacuum booster EVB and send a braking torque command carrying a second difference to the motor controller MCU when a product of an absolute value of the PID output torque and the coefficient a is less than or equal to an absolute value of the charging limiting torque; and the second difference value is the difference value between the absolute value of the PID output torque and the absolute value of the braking torque of the electronic vacuum booster.
Wherein, the value range of a is 0.55-0.65. Because the control accuracy of the electronic vacuum booster EVB is low, and the dynamic response speed is low, under the condition that the online control system is the electronic vacuum booster, the braking torque command sent to the electronic vacuum booster EVB can be determined firstly according to the PID output torque, and then the braking torque command sent to the motor controller MCU is determined. That is, when the charge limit torque allowed by the battery is large, the brake-by-wire system is responsible for providing the braking torque of the steady-state portion, and the motor is responsible for providing the braking torque of the dynamic response portion.
Further, referring to fig. 5 in combination, on the basis of the embodiment shown in fig. 4, the constant-speed cruise control device for an electric vehicle during battery charging limitation may further include: and a third sending module 37, configured to send a braking torque command carrying the PID output torque to the electronic vacuum booster when a product of the absolute value of the PID output torque and the coefficient a is greater than the absolute value of the charging limit torque.
Further, referring to fig. 6 in combination, on the basis of the embodiment shown in fig. 4, the constant-speed cruise control device for an electric vehicle during battery charging limitation may further include: and a second control module 38 for controlling the cruise control system to exit the battery limit charge control mode when the absolute value of the PID output torque is less than the absolute value of the charge limit torque.
According to the constant-speed cruise control device for the electric automobile during battery limited charging, when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is greater than or equal to the absolute value of the charging limited torque, the constant-speed cruise system is determined to be in a battery limited charging control mode, and the state of a brake-by-wire system is judged; if the brake-by-wire system is the electronic vacuum booster EVB, judging whether the product of the absolute value of the PID output torque and the coefficient a is smaller than or equal to the absolute value of the charging limit torque; if the product of the absolute value of the PID output torque and the coefficient a is smaller than or equal to the absolute value of the charging limiting torque, sending a braking torque command carrying the charging limiting torque to the electronic vacuum booster EVB, and sending a braking torque command carrying a second difference value to the motor controller MCU; the second difference value is the difference value between the absolute value of the PID output torque and the absolute value of the braking torque of the electronic vacuum booster; therefore, when the power battery has charging power limitation or even prohibits charging, the running speed of the vehicle can fall back according to the required deceleration after the driver accelerates, or the vehicle can keep stable when cruising at a constant speed under the working condition of a downhill, and the stability and the safety of the whole vehicle are improved.
In this embodiment, the detailed description of the functions of each module may refer to the embodiments shown in fig. 1 to fig. 2, and will not be described in detail here.
Fig. 7 is a schematic structural diagram of another constant-speed cruise control device for an electric vehicle during limited battery charging according to an embodiment of the present invention. This electric automobile cruise control device when battery restriction charges includes:
memory 1001, processor 1002, and computer programs stored on memory 1001 and executable on processor 1002.
The processor 1002 executes the program to implement the battery charging-limited cruise control method for the electric vehicle provided in the above-described embodiment.
Further, the electric vehicle cruise control device during battery limited charging further comprises:
a communication interface 1003 for communicating between the memory 1001 and the processor 1002.
A memory 1001 for storing computer programs that may be run on the processor 1002.
Memory 1001 may include high-speed RAM memory and may also include non-volatile memory (e.g., at least one disk memory).
And the processor 1002 is configured to implement the method for controlling the cruise control of the electric vehicle during limited battery charging according to the foregoing embodiment when executing the program.
If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.
The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.
Further, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for cruise control of an electric vehicle while limiting charging of a battery as described above.
Further, an embodiment of the present invention further provides a computer program product, wherein when being executed by an instruction processor in the computer program product, a cruise control method for an electric vehicle during battery charging limitation is performed, and the method includes:
acquiring a constant-speed cruising state of the electric automobile and PID output torque received by a motor controller MCU;
when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is greater than or equal to the absolute value of the charging limiting torque, the charging power is limited or the charging is forbidden by a power battery of the electric automobile, the constant-speed cruise system is determined to be in a battery limiting charging control mode, and the state of the brake-by-wire system is judged;
if the brake-by-wire system is an electronic hydraulic brake system EHB, sending a brake torque command carrying a charging limit torque to a motor controller MCU, and sending a brake torque command carrying a first difference value to the electronic hydraulic brake system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque;
and when the absolute value of the PID output torque is smaller than the absolute value of the charging limit torque, controlling the constant-speed cruise system to exit the battery limit charging control mode.
In addition, it should be noted that the above embodiments of the present invention are applicable to all pure electric vehicles, including pure electric vehicles, extended range electric vehicles, series hybrid electric vehicles, and fuel cell vehicles. It should be understood by those skilled in the art that the above embodiments are not the only limitations of the present invention, and any equivalent changes or modifications made within the spirit of the present invention should be considered as falling within the protection scope of the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A constant-speed cruise control method for an electric vehicle during battery charging limitation is characterized by comprising the following steps:
acquiring a constant-speed cruising state of the electric automobile and PID output torque received by a motor controller MCU;
when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is greater than or equal to the absolute value of the charging limiting torque, the charging power is limited or the charging is forbidden by a power battery of the electric automobile, the constant-speed cruise system is determined to be in a battery limiting charging control mode, and the state of the brake-by-wire system is judged; the charging limiting torque is the braking torque provided by the power battery when the charge state of the power battery is high or the temperature is low and the charging power is limited;
if the brake-by-wire system is an electronic hydraulic brake system EHB, sending a brake torque command carrying a charging limit torque to a motor controller MCU, and sending a brake torque command carrying a first difference value to the electronic hydraulic brake system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque;
when the absolute value of the PID output torque is smaller than the absolute value of the charging limit torque, controlling the constant-speed cruise system to exit a battery limit charging control mode;
if the brake-by-wire system comprises an electronic vacuum booster EVB, judging whether the product of the absolute value of the PID output torque and the coefficient a is smaller than or equal to the absolute value of the charging limit torque;
if the product of the absolute value of the PID output torque and the coefficient a is smaller than or equal to the absolute value of the charging limiting torque, sending a braking torque command carrying the charging limiting torque to an electronic vacuum booster EVB, and sending a braking torque command carrying a second difference value to a motor controller MCU; and the second difference value is the difference value between the absolute value of the PID output torque and the absolute value of the braking torque of the electronic vacuum booster.
2. The method of claim 1, further comprising:
and if the product of the absolute value of the PID output torque and the coefficient a is larger than the absolute value of the charging limit torque, sending a braking torque command carrying the PID output torque to the electronic vacuum booster.
3. The method of claim 1 or 2, further comprising:
and when the absolute value of the PID output torque is smaller than the absolute value of the charging limit torque, controlling the constant-speed cruise system to exit the battery limit charging control mode.
4. The method of claim 1, wherein the coefficient a has a value in the range of 0.55 to 0.65.
5. The utility model provides an electric automobile cruise control device when battery restriction charges which characterized in that includes:
the acquisition module is used for acquiring the constant-speed cruising state of the electric automobile and the PID output torque received by the motor controller MCU;
the determining module is used for indicating that a power battery of the electric automobile limits charging power or prohibits charging when the constant-speed cruise state is in an activated state, the PID output torque is negative torque, and the absolute value of the PID output torque is greater than or equal to the absolute value of the charging limiting torque, and then determining that the constant-speed cruise system is in a battery limiting charging control mode and judging the state of the brake-by-wire system; the charging limiting torque is the braking torque provided by the power battery when the charge state of the power battery is high or the temperature is low and the charging power is limited;
the first sending module is used for sending a braking torque command carrying a charging limiting torque to the motor controller MCU and sending a braking torque command carrying a first difference value to the electronic hydraulic braking system EHB when the brake-by-wire system is the electronic hydraulic braking system EHB; the first difference is the difference between the absolute value of the PID output torque and the absolute value of the charging limiting torque;
the first control module is used for controlling the constant-speed cruise system to exit a battery limit charging control mode when the absolute value of the PID output torque is smaller than the absolute value of the charging limit torque;
the judgment module is used for judging whether the product of the absolute value of the PID output torque and the coefficient a is less than or equal to the absolute value of the charging limit torque when the brake-by-wire system comprises the electronic vacuum booster EVB;
the second sending module is used for sending a braking torque command carrying the charging limiting torque to the electronic vacuum booster EVB and sending a braking torque command carrying a second difference value to the motor controller MCU when the product of the absolute value of the PID output torque and the coefficient a is smaller than or equal to the absolute value of the charging limiting torque; and the second difference value is the difference value between the absolute value of the PID output torque and the absolute value of the braking torque of the electronic vacuum booster.
6. The apparatus of claim 5, further comprising:
and the third sending module is used for sending a braking torque command carrying the PID output torque to the electronic vacuum booster when the product of the absolute value of the PID output torque and the coefficient a is larger than the absolute value of the charging limit torque.
7. The apparatus of claim 5 or 6, further comprising:
and the second control module is used for controlling the constant-speed cruise system to exit the battery limit charging control mode when the absolute value of the PID output torque is smaller than the absolute value of the charging limit torque.
8. The device of claim 5, wherein the coefficient a has a value in the range of 0.55-0.65.
9. The utility model provides an electric automobile cruise control device when battery restriction charges which characterized in that includes:
memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements the battery charge limited cruise control method according to any of claims 1-4.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the method for cruise control of an electric vehicle while limiting charging of a battery according to any one of claims 1-4.
CN201710506185.7A 2017-06-28 2017-06-28 Method and device for controlling constant-speed cruise of electric vehicle during limited charging of battery Active CN107253452B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710506185.7A CN107253452B (en) 2017-06-28 2017-06-28 Method and device for controlling constant-speed cruise of electric vehicle during limited charging of battery

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710506185.7A CN107253452B (en) 2017-06-28 2017-06-28 Method and device for controlling constant-speed cruise of electric vehicle during limited charging of battery

Publications (2)

Publication Number Publication Date
CN107253452A CN107253452A (en) 2017-10-17
CN107253452B true CN107253452B (en) 2020-03-10

Family

ID=60023324

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710506185.7A Active CN107253452B (en) 2017-06-28 2017-06-28 Method and device for controlling constant-speed cruise of electric vehicle during limited charging of battery

Country Status (1)

Country Link
CN (1) CN107253452B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111775917B (en) * 2020-07-08 2021-04-20 厦门金龙汽车新能源科技有限公司 Vehicle braking torque compensation method and device
CN112659909A (en) * 2020-12-24 2021-04-16 浙江合众新能源汽车有限公司 Speed reduction control method and device for constant-speed cruising of pure electric vehicle
CN117048425B (en) * 2023-10-11 2024-02-02 凡己科技(苏州）有限公司 Vehicle control method and device and vehicle power system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09312904A (en) * 1996-05-23 1997-12-02 Toyota Autom Loom Works Ltd Drive control equipment of dc motor
CN202279101U (en) * 2011-09-06 2012-06-20 上海中科深江电动车辆有限公司 Servo braking system for four-wheel drive electric automobile
CN102975702A (en) * 2012-12-12 2013-03-20 奇瑞汽车股份有限公司 Tandem regenerative brake control method
CN103072493A (en) * 2011-10-26 2013-05-01 华创车电技术中心股份有限公司 Downhill constant-speed electric power back-charging system
CN103660965A (en) * 2013-12-05 2014-03-26 南车株洲电力机车有限公司 Constant-speed control method and device for electric locomotive
CN106427600A (en) * 2015-08-07 2017-02-22 舍弗勒技术股份两合公司 Downhill auxiliary driving device for electrically-driven automobile, and control method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09312904A (en) * 1996-05-23 1997-12-02 Toyota Autom Loom Works Ltd Drive control equipment of dc motor
CN202279101U (en) * 2011-09-06 2012-06-20 上海中科深江电动车辆有限公司 Servo braking system for four-wheel drive electric automobile
CN103072493A (en) * 2011-10-26 2013-05-01 华创车电技术中心股份有限公司 Downhill constant-speed electric power back-charging system
CN102975702A (en) * 2012-12-12 2013-03-20 奇瑞汽车股份有限公司 Tandem regenerative brake control method
CN103660965A (en) * 2013-12-05 2014-03-26 南车株洲电力机车有限公司 Constant-speed control method and device for electric locomotive
CN106427600A (en) * 2015-08-07 2017-02-22 舍弗勒技术股份两合公司 Downhill auxiliary driving device for electrically-driven automobile, and control method

Also Published As

Publication number Publication date
CN107253452A (en) 2017-10-17

Similar Documents

Publication Publication Date Title
US10759411B2 (en) System and method of controlling the regenerative braking of an eco-friendly vehicle
CN111959286B (en) Method, device and medium for controlling sliding energy recovery intensity of electric automobile
US20170008408A1 (en) Method for controlling output of low voltage dc-dc converter in vehicle and low voltage dc-dc converter of vehicle
US9365121B2 (en) Method and system for controlling charge and discharge of battery
US9481251B2 (en) Method and apparatus for controlling regenerative braking of hybrid electric vehicle
CN107323272B (en) Electric automobile energy recovery method and device
US9707848B2 (en) Braking control method for eco-friendly vehicle
CN107253452B (en) Method and device for controlling constant-speed cruise of electric vehicle during limited charging of battery
US10076962B2 (en) Braking control method and system for a vehicle
CN107264536B (en) Method, device and system for controlling exit of constant-speed cruising fault of electric automobile in downhill
US9533675B2 (en) Method for controlling battery of mild hybrid vehicle
US20150100214A1 (en) System and method for estimating allowable regenerative braking of vehicle
US20150005999A1 (en) System and method for controlling driving mode of hybrid vehicle
EP3708451B1 (en) Apparatus for controlling towing mode of electric vehicle and method thereof
CN109291807A (en) Electric vehicle and its energy feedback management method, system, device and storage medium
CN108545071B (en) Regenerative braking control method for cooperative control of hydraulic braking and electric braking
CN114475263B (en) Control method, whole vehicle controller, control system, electric vehicle and storage medium
CN108327632B (en) Regenerative and frictional power indicator for vehicle braking system
US20160325749A1 (en) Method and apparatus for controlling entry into ssc according to change of road gradient
CN106004513B (en) Motor speed control method and system for improving running resistance evaluation performance
CN105905113B (en) For controlling the System and method for of the braking of electric vehicle
CN112918443B (en) Brake control method, device, equipment and storage medium
CN108944865A (en) The braking system and its braking method of new energy vehicle
CN108725257A (en) Electric automobile whole-control system and its control method
CN112277922A (en) Power supply during vehicle start

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant