CN108545071B - Regenerative braking control method for cooperative control of hydraulic braking and electric braking - Google Patents
Regenerative braking control method for cooperative control of hydraulic braking and electric braking Download PDFInfo
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- CN108545071B CN108545071B CN201810303755.7A CN201810303755A CN108545071B CN 108545071 B CN108545071 B CN 108545071B CN 201810303755 A CN201810303755 A CN 201810303755A CN 108545071 B CN108545071 B CN 108545071B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a regenerative braking control method for cooperative control of hydraulic braking and electric braking, which comprises the steps of obtaining current vehicle information through a vehicle-mounted CAN network and a vehicle-mounted sensor; determining the current scene of the vehicle according to the current vehicle information; the current scene is determined according to the current triggered controller related to the vehicle speed control; judging the participation condition of the braking source under the current scene, and making a braking strategy according to the current scene and the participation condition of the braking source. The scheme provided by the application comprehensively considers the cooperative control method of the hydraulic braking and the electric braking of the new energy automobile under the normal working condition, further optimizes the control method, and comprehensively considers the control strategy under the ABS triggering working condition of wheel locking, the battery charging process and the maximum braking torque of the motor allowed by the battery; and the braking strategy when the vehicle speed is lower than the lower limit of the vehicle speed, so that the braking torque distribution is more reasonable.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a regenerative braking control method for cooperative control of hydraulic braking and electric braking.
Background
As is well known, braking is to apply a reverse force to a vehicle, in the fuel vehicle era, the braking force can only be provided by a braking system, sometimes the operation of braking with gears can be carried out, the engine resistance is utilized to participate in braking, and the braking is generally operated by an experienced master, and the difficulty is high. In the case of an electric vehicle or a hybrid vehicle, the motor can output a positive torque and a negative torque, so that the motor participates in braking by giving a reverse torque during braking. However, the performance of the electric vehicle is limited by the battery in addition to the motor, the braking of the electric vehicle is actually a charging condition for the battery, and according to the difference between the current battery performance and the motor performance, the braking power of most electric vehicles is finally determined by the maximum charging power allowed by the battery (without considering the limit of other parts). Generally, the electric braking capacity of the hybrid electric vehicle ranges from dozens of kilowatts to four and fifty kilowatts, and the pure electric vehicle can reach seventy-ten kilowatts. Therefore, the electric vehicle is equivalent to two sets of brake systems, one set is a motor, and the other set is mechanical brake. The control strategies prolonged by the two systems can be divided into parallel control and series control, the parallel connection means that when a brake pedal is stepped down, a motor and a mechanical brake work simultaneously, and the braking force required by the two parts is distributed according to the required total braking torque.
The braking scheme in the prior art has the defects that pure hydraulic braking, electric braking and energy recovery are not adopted. The other is a control method that the hydraulic brake and the electric brake are simultaneously acted, but the working condition that the automobile is locked by wheels is not comprehensively considered, namely the working state of an anti-lock system is not considered; the operating state of the battery, which also leads to an unreasonable distribution of the braking torque, is not taken into account in charging the electric brake battery. Therefore, the braking performance of the automobile is greatly influenced, and certain hidden danger is brought to the safety of the automobile.
Disclosure of Invention
The invention provides a regenerative braking control method for cooperative control of hydraulic braking and electric braking.
The invention provides the following scheme:
a regenerative braking control method for cooperative control of hydraulic braking and electric braking comprises the following steps:
acquiring current vehicle information through a vehicle-mounted CAN network and a vehicle-mounted sensor;
determining the current scene of the vehicle according to the current vehicle information; the current scene is determined according to the current triggered controller related to the vehicle speed control;
judging the participation condition of a brake source under the current scene, and making a brake strategy according to the current scene and the participation condition of the brake source;
and determining a braking torque distribution mode according to the braking strategy, the target braking torque and the maximum allowable braking torque of the battery.
Preferably: the vehicle information includes wheel speeds of four wheels, a brake pedal position, a motor state, a motor rotation speed, a battery state, and a wheel cylinder pressure.
Preferably: the target braking torque is obtained through calculation of the vehicle information.
Preferably: determining whether the current scene is that the current vehicle is in a hand brake state;
if the motor is in the hand brake state, judging whether the motor is currently involved in braking;
if so, the braking strategy is that the electric braking quits and the hydraulic braking compensates;
if not, the braking strategy is hydraulic braking.
Preferably: if the current situation is not the hand brake state, determining whether the current situation is that the current vehicle is in an accelerator pedal acceleration state;
if the accelerator pedal is in an acceleration state, judging whether the current motor or hydraulic brake participates in braking;
if yes, the braking strategy is that braking returns to zero;
if not, the braking strategy is no braking.
Preferably: if the current situation is not the accelerator pedal acceleration state, determining whether the current situation is that the current vehicle is in a brake pedal braking state;
if the braking state of the brake pedal is judged, whether the current vehicle speed is less than a preset vehicle speed lower limit is judged;
if the speed is less than the preset lower speed limit, judging whether the motor or the hydraulic brake participates in the braking; if yes, the braking strategy is that braking returns to zero; if not, the braking strategy is no braking;
if the speed is greater than or equal to the preset lower speed limit, judging whether the motor participates in braking; if so, the braking strategy is electric braking; if not, the braking strategy is that the hydraulic braking is quitted and the electric braking is compensated.
Preferably: if the brake pedal is in a braking state, determining whether the current scene is that the current vehicle is in an ABS triggering state;
if the current motor is in the ABS triggering state, judging whether the current motor participates in braking;
if so, the braking strategy is that the electric braking quits and the hydraulic braking compensates;
if not, the braking strategy is hydraulic braking.
Preferably: if the current vehicle speed is not in the ABS triggering state, judging whether the current vehicle speed is less than a preset vehicle speed lower limit;
if the speed is less than the preset lower speed limit, judging whether the motor participates in braking; if so, the braking strategy is electric braking quit and hydraulic braking compensation; if not, the braking strategy is hydraulic braking;
if the speed is greater than or equal to the preset lower speed limit, judging whether the motor participates in braking; if so, the braking strategy is electric braking; if not, the braking strategy is that the hydraulic braking is quitted and the electric braking is compensated.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the invention, a regenerative braking control method for cooperative control of hydraulic braking and electric braking CAN be realized, and in an implementation mode, the method CAN comprise the steps of obtaining current vehicle information through a vehicle-mounted CAN network and a vehicle-mounted sensor; determining the current scene of the vehicle according to the current vehicle information; the current scene is determined according to the current triggered controller related to the vehicle speed control; judging the participation condition of a brake source under the current scene, and making a brake strategy according to the current scene and the participation condition of the brake source; and determining a braking torque distribution mode according to the braking strategy, the target braking torque and the maximum allowable braking torque of the battery. The scheme provided by the application comprehensively considers the cooperative control method of the hydraulic braking and the electric braking of the new energy automobile under the normal working condition, further optimizes the control method, and comprehensively considers the control strategy under the ABS triggering working condition of wheel locking, the battery charging process and the maximum braking torque of the motor allowed by the battery; and the braking strategy when the vehicle speed is lower than the lower limit of the vehicle speed, so that the braking torque distribution is more reasonable.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flowchart of a regenerative braking control method for cooperative control of hydraulic braking and electric braking according to an embodiment of the present invention;
FIG. 2 is a block diagram of a logical framework for data collection and processing provided by an embodiment of the present invention;
FIG. 3 is a diagram illustrating a state machine jump according to an embodiment of the present invention;
FIG. 4 is a flow chart of brake torque distribution provided by an embodiment of the present invention;
FIG. 5 is a schematic illustration of the brake torque adjustment provided by the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
Explanation of the abbreviations:
handbrake braking — whether the handbrake is in a pulled-up state.
The motor participates in braking-whether the motor is braking or not.
Electric or hydraulic braking-whether electric or hydraulic is braking.
Accelerator pedal acceleration — whether the accelerator pedal is depressed.
Brake pedal braking-whether the brake pedal is depressed or not.
Trigger ABS-ABS is triggered or not.
The lower limit of the vehicle speed, namely the motor recovery power is low and the efficiency is low at low speed, the threshold of the vehicle speed is set, and the electric brake does not participate in the braking or quits if the electric brake participates in the braking.
No braking — there is originally no braking, and no braking action is taken thereafter.
Braking returns to zero-braking is otherwise in progress, and braking is then cancelled.
Examples
Referring to fig. 1, 2, 3, 4, and 5, a regenerative braking control method for cooperative control of hydraulic braking and electric braking is provided according to an embodiment of the present invention, and as shown in fig. 1 and 2, the method includes acquiring current vehicle information through an on-vehicle CAN network and an on-vehicle sensor; the vehicle information includes wheel speeds of four wheels, a brake pedal position, a motor state, a motor rotation speed, a battery state, and a wheel cylinder pressure. The information of the vehicle is collected through a can network and a sensor, and comprises four wheel speeds, a brake pedal position, a motor state, a motor rotating speed, a battery state, wheel cylinder pressure and the like. And then performing signal processing including estimation of vehicle speed, calculation of slip ratio, calculation of braking target torque, braking torque range of the motor, allowable braking torque of the battery and the like.
Determining the current scene of the vehicle according to the current vehicle information; the current scene is determined according to the current triggered controller related to the vehicle speed control;
judging the participation condition of a brake source under the current scene, and making a brake strategy according to the current scene and the participation condition of the brake source; the braking source refers to outputting a braking force through a hydraulic braking system or outputting a braking force through a motor.
And determining a braking torque distribution mode according to the braking strategy, the target braking torque and the maximum allowable braking torque of the battery. The target braking torque is obtained through calculation of the vehicle information.
In practical application, whether the vehicle is in a hand brake state or not is judged, then the state of a brake pedal is judged, and whether electric braking or hydraulic braking is needed is judged according to the vehicle speed. After the ABS is triggered, if the motor is participating in braking, the electric brake is withdrawn, and meanwhile, the hydraulic brake is compensated. And during normal braking, if the motor participates in braking, the motor continues to participate, otherwise, the hydraulic braking is converted into electric braking.
Specifically, whether the current scene is the current vehicle in the hand brake state is determined;
if the motor is in the hand brake state, judging whether the motor is currently involved in braking;
if so, the braking strategy is that the electric braking quits and the hydraulic braking compensates;
if not, the braking strategy is hydraulic braking.
If the current situation is not the hand brake state, determining whether the current situation is that the current vehicle is in an accelerator pedal acceleration state;
if the accelerator pedal is in an acceleration state, judging whether the current motor or hydraulic brake participates in braking;
if yes, the braking strategy is that braking returns to zero;
if not, the braking strategy is no braking.
If the current situation is not the accelerator pedal acceleration state, determining whether the current situation is that the current vehicle is in a brake pedal braking state;
if the brake pedal is in a braking state, judging whether the current vehicle speed is less than a preset vehicle speed lower limit;
if the speed is less than the preset lower speed limit, judging whether the motor or the hydraulic brake participates in the braking; if yes, the braking strategy is that braking returns to zero; if not, the braking strategy is no braking;
if the speed is greater than or equal to the preset lower speed limit, judging whether the motor participates in braking; if so, the braking strategy is electric braking; if not, the braking strategy is that the hydraulic braking is quitted and the electric braking is compensated.
If the current situation is the current vehicle in the ABS triggering state, determining whether the current situation is the current vehicle in the ABS triggering state;
if the current motor is in the ABS triggering state, judging whether the current motor participates in braking;
if so, the braking strategy is that the electric braking quits and the hydraulic braking compensates;
if not, the braking strategy is hydraulic braking.
If the current vehicle speed is not in the ABS triggering state, judging whether the current vehicle speed is less than a preset vehicle speed lower limit;
if the speed is less than the preset lower speed limit, judging whether the motor participates in braking; if so, the braking strategy is electric braking quit and hydraulic braking compensation; if not, the braking strategy is hydraulic braking;
if the speed is greater than or equal to the preset lower speed limit, judging whether the motor participates in braking; if so, the braking strategy is electric braking; if not, the braking strategy is that the hydraulic braking is quitted and the electric braking is compensated.
In practical application, after the braking strategy is customized, the switching of the braking mode can be controlled by the state machine, and the specific EABS has six states: hydraulic braking, electric braking quitting and hydraulic braking compensation, hydraulic braking quitting and electric braking compensation, braking return to zero and no braking. Fig. 3 is a schematic diagram of state machine jumping.
As shown in fig. 4 and 5, the braking torque distribution needs to determine hydraulic braking, electric-to-hydraulic or hydraulic-to-electric braking, or electric braking according to the state.
The torque distribution of the hydraulic brake and the electric brake is required according to the target brake torque, the maximum brake torque of the motor and the maximum brake torque allowed by the battery. Thereby obtaining the target torque of electric braking and hydraulic braking.
The scheme provided by the application comprehensively considers the cooperative control method of the hydraulic braking and the electric braking of the new energy automobile under the normal working condition, further optimizes the control method, and comprehensively considers the control strategy under the ABS triggering working condition of wheel locking, the battery charging process and the maximum braking torque of the motor allowed by the battery; and the braking strategy when the vehicle speed is lower than the lower limit of the vehicle speed, so that the braking torque distribution is more reasonable.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (6)
1. A regenerative braking control method for cooperative control of hydraulic braking and electric braking, the method comprising:
acquiring current vehicle information through a vehicle-mounted CAN network and a vehicle-mounted sensor;
determining the current scene of the vehicle according to the current vehicle information; the current scene is determined according to the current triggered controller related to the vehicle speed control;
judging the participation condition of a brake source under the current scene, and making a brake strategy according to the current scene and the participation condition of the brake source; the brake strategy making method comprises the steps of determining whether the current situation is that the current vehicle is in a hand brake state;
if the motor is in the hand brake state, judging whether the motor is currently involved in braking;
if so, the braking strategy is that the electric braking quits and the hydraulic braking compensates;
if not, the braking strategy is hydraulic braking;
if the current situation is not the hand brake state, determining whether the current situation is that the current vehicle is in an accelerator pedal acceleration state;
if the accelerator pedal is in an acceleration state, judging whether the current motor or hydraulic brake participates in braking;
if yes, the braking strategy is that braking returns to zero;
if not, the braking strategy is no braking;
and determining a braking torque distribution mode according to the braking strategy, the target braking torque and the maximum allowable braking torque of the battery.
2. The regenerative braking control method with cooperative control of hydraulic braking and electric braking according to claim 1, characterized in that the vehicle information includes four wheel speeds, a brake pedal position, a motor state, a motor rotation speed, a battery state, and a wheel cylinder pressure.
3. The regenerative braking control method with cooperative control of hydraulic braking and electric braking according to claim 2, characterized in that the target braking torque is calculated from the vehicle information.
4. The regenerative braking control method with cooperative control of hydraulic braking and electric braking according to claim 1, characterized in that, if it is not an accelerator pedal acceleration state, it is determined whether the current situation is that the current vehicle is in a brake pedal braking state;
if the braking state of the brake pedal is judged, whether the current vehicle speed is less than a preset vehicle speed lower limit is judged;
if the speed is less than the preset lower speed limit, judging whether the motor or the hydraulic brake participates in the braking; if yes, the braking strategy is that braking returns to zero; if not, the braking strategy is no braking;
if the speed is greater than or equal to the preset lower speed limit, judging whether the motor participates in braking; if so, the braking strategy is electric braking; if not, the braking strategy is that the hydraulic braking is quitted and the electric braking is compensated.
5. The regenerative braking control method with cooperative control of hydraulic braking and electric braking according to claim 4, characterized in that, if a brake pedal is in a braking state, it is determined whether the current situation is that the current vehicle is in an ABS trigger state;
if the current motor is in the ABS triggering state, judging whether the current motor participates in braking;
if so, the braking strategy is that the electric braking quits and the hydraulic braking compensates;
if not, the braking strategy is hydraulic braking.
6. The regenerative braking control method with cooperative control of hydraulic braking and electric braking according to claim 5, characterized in that, if not in the ABS trigger state, it is determined whether the current vehicle speed is less than a preset lower vehicle speed limit;
if the speed is less than the preset lower speed limit, judging whether the motor participates in braking; if so, the braking strategy is electric braking quit and hydraulic braking compensation; if not, the braking strategy is hydraulic braking;
if the speed is greater than or equal to the preset lower speed limit, judging whether the motor participates in braking; if so, the braking strategy is electric braking; if not, the braking strategy is that the hydraulic braking is quitted and the electric braking is compensated.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810303755.7A CN108545071B (en) | 2018-04-03 | 2018-04-03 | Regenerative braking control method for cooperative control of hydraulic braking and electric braking |
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| CN201810303755.7A CN108545071B (en) | 2018-04-03 | 2018-04-03 | Regenerative braking control method for cooperative control of hydraulic braking and electric braking |
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| CN108545071A CN108545071A (en) | 2018-09-18 |
| CN108545071B true CN108545071B (en) | 2020-07-03 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109606125B (en) * | 2018-12-21 | 2023-10-27 | 中国重汽集团济南动力有限公司 | New energy commercial vehicle braking energy recovery system and control method |
| CN112441000B (en) * | 2019-08-16 | 2022-07-19 | 华为技术有限公司 | Vehicle braking control method and device |
| CN112848907B (en) * | 2019-11-12 | 2022-09-30 | 广州汽车集团股份有限公司 | Vehicle brake control method and device |
| CN115366688A (en) * | 2022-09-29 | 2022-11-22 | 重庆长安新能源汽车科技有限公司 | Vehicle brake control method, device, equipment and storage medium |
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