CN100515822C - Vehicle brake device and method for braking vehicles - Google Patents
Vehicle brake device and method for braking vehicles Download PDFInfo
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- CN100515822C CN100515822C CNB2007100873417A CN200710087341A CN100515822C CN 100515822 C CN100515822 C CN 100515822C CN B2007100873417 A CNB2007100873417 A CN B2007100873417A CN 200710087341 A CN200710087341 A CN 200710087341A CN 100515822 C CN100515822 C CN 100515822C
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Abstract
The invention provides a vehicle braking gear (100) of a braking vehicle (2), the vehicle is provided with a motor (14) supplying a driving force and a regeneration braking force on wheels by a speed changer (10). In the vehicle braking gear, a time calculator (114) calculates a time for changing a speed changing ratio of the speed changer. If cooperation control is performed during changing the speed changing ratio, a regeneration braking force reduction device (116) reduces a first regeneration braking force generated during changing due to release operation of a drive operation component. A braking force compensator (118) compensates reduction of the first regeneration braking force during changing the speed changing ratio by increasing a hydraulic pressure.
Description
Technical field
Relate generally to Vehicular brake device of the present invention and the method that is used for abrupt deceleration vehicle, more specifically, the method that the present invention relates to Vehicular brake device and be used for abrupt deceleration vehicle, they are applicable to the vehicle with electrical motor.
Background technology
Traditionally, be provided with motor generator in vehicle, this motor generator provides propulsive effort and regenerative brake power to wheel.For example, in the hybrid power system of combination as the vehicular drive source with motor generator (such as motor) and combustion engine, when the driver requires the braking force of a certain quantity, the regenerative brake that can produce this moment advocates will be used to improve fuel efficiency or suppress waste gas, improves energy recovery efficiency thus.
Japanese Patent Application Publication No.2003-259504 (1987) discloses so a kind of system, it is provided with motor generator and regenerative cooperative brak control unit, wherein motor generator applies regenerative brake power by change-speed box to wheel, and described regenerative cooperative brak control unit is to the control of cooperating of regenerative brake power that motor generator produced and hydraulic braking force.In described system, the maxim that motor generator is input to the regenerative brake power in the change-speed box is subjected to the converter speed ratio restriction of change-speed box.
In moderating process, when the regeneration control effort of electrical motor is delivered to wheel via change-speed box, if change the converter speed ratio of change-speed box, then whole vehicle generation gear shift vibration.
Regenerative brake power comprises by unclamping the braking force that accelerator pedal causes and pressing down the braking force that brake pedal causes.If these braking forces occur in different time, then the control of the hydraulic braking force of controlling cooperating with regenerative brake power becomes very complicated.
Summary of the invention
At above problem, the present invention provides a kind of apparatus and method in having the vehicle of electrical motor, and the deceleration that can reduce when change-speed box changes converter speed ratio changes.
In one aspect of the invention, provide a kind of Vehicular brake device that vehicle with electrical motor is braked.Electrical motor applies propulsive effort and regenerative brake power via change-speed box to wheel.This Vehicular brake device comprises hydraulic power source, provides the operation of transmitting the instruction of braking force to described wheel in response to drag control member, and described hydraulic power source produces hydraulic braking force by sap pressure supply.This Vehicular brake device also comprises: collaborative controller, and in response to the operation of described drag control member, the regenerative brake power that described collaborative controller produces described hydraulic braking force and the described electrical motor control of cooperating; Calculator during this time, described during calculator calculate and change during converter speed ratio experienced of described change-speed box; And regenerative brake power reduces device, change described change-speed box converter speed ratio experienced described during in, if described collaborative controller carries out described cooperation control, then described regenerative brake power reduces device and removes the first regenerative brake power that reduces in the generation of described wheel place by the operation that will drive control member.Described driving control member is configured to provide the instruction that described propulsive effort is passed to described wheel.Described Vehicular brake device also comprises the braking force compensator, change described change-speed box during converter speed ratio experienced in, described braking force compensator compensates by described regenerative brake power and reduces reducing of the described first regenerative brake power that device causes by increasing described hydraulic braking force.
According to this aspect, in order to reduce to change the regenerative brake power that is applied to described wheel during described converter speed ratio experienced by described electrical motor of described change-speed box, from being applied to total regenerative brake power of wheel, described electrical motor reduced the first regenerative brake power.By doing like this, reduced the gear shift vibration.In addition, change reducing of regenerative brake power during the converter speed ratio by compensation, the deceleration when having reduced to change the converter speed ratio of change-speed box changes.
Regenerative brake power reduces device can reduce the second regenerative brake power that operation produced in response to described drag control member.Thereby the gear shift vibration further reduces.The first regenerative brake power and the second regenerative brake power can be reduced to almost nil (0).
Regenerative brake power reduces device can reduce described first regenerative brake power and the described second regenerative brake power basically simultaneously.Therefore, compare when reducing the first regenerative brake power and the second regenerative brake power at different time, simplified control hydraulic braking force (it is subjected to cooperation control and reduces with the compensational regeneration braking force).Therefore, reduced the number of times that the brake equipment actuator changes the hydraulic braking force that is applied to wheel.In addition, suppressed the operation sound when changing hydraulic braking force, locating to produce, improved quiet effect thus at moveable part (forming the parts of brake equipment actuator) such as valve, pump etc.In addition, improved the life-span time length of brake equipment, because the wearing and tearing on the moveable part have reduced.
In another aspect of this invention, provide a kind of vehicle braking method that is used to brake the vehicle with electrical motor, wherein said electrical motor applies propulsive effort and regenerative brake power via change-speed box to wheel.In this vehicle braking method, provide the operation of transmitting the instruction of braking force to described wheel in response to drag control member, by being provided, hydraulic pressure produces hydraulic braking force.In response to the operation of described drag control member, the described regenerative brake power that described hydraulic braking force and described electrical motor the are produced control of cooperating.Calculate to change during converter speed ratio experienced of described change-speed box.During the described converter speed ratio that changes described change-speed box, the control if collaborative controller is cooperated is then removed the first regenerative brake power that reduces in the generation of described wheel place by the operation that will drive control member.Drive control member and be configured to provide the instruction that transfers a driving force to described wheel.During described, compensate the minimizing of the described first regenerative brake power by increasing described hydraulic braking force.
Description of drawings
By the description of the preferred embodiment that carries out below with reference to accompanying drawing, above-mentioned and other purpose of the present invention, feature and advantage can more become clear, and wherein similar label is used for representing similar element, wherein:
Fig. 1 illustrates the system construction according to the vehicle with Vehicular brake device of the embodiment of the invention.
Fig. 2 is the block diagram of diagram according to the Vehicular brake device of the embodiment of the invention.
System operation when Fig. 3 is illustrated schematically in according to the vehicle launch of present embodiment.
System operation when Fig. 4 is illustrated schematically in according to the normal vehicle operation of present embodiment.
Fig. 5 is illustrated schematically in the system operation according to the car retardation or the glancing impact of present embodiment.
Fig. 6 is the sequential chart that is shown in according to the serviceability of accelerator pedal, brake pedal and gear during the car retardation/braking of present embodiment.
Fig. 7 is that diagram is according to the sequential chart that changes braking force in the Vehicular brake device of present embodiment.
Fig. 8 is that diagram is according to the Vehicular brake device of the present embodiment diagram of circuit when the control process of the braking force of glancing impact.
The specific embodiment
Below with reference to accompanying drawing, describe embodiments of the invention in detail.
Fig. 1 shows the system construction according to the vehicle with Vehicular brake device of the embodiment of the invention.Fig. 2 is the block diagram of diagram according to the Vehicular brake device 100 of the embodiment of the invention.
Each all is connected to battery 26 via conv 24 electrical generator 8 and motor 14, and wherein conv 24 is energy converters.Conv 24 is connected to hybrid power ECU 16.Based on the control signal control electrical generator 8 and the motor 14 that send by conv 24 from hybrid power ECU 16.
Motor 14 is the electrical motors that apply propulsive effort and regenerative brake power via change-speed box 10 to wheel.
As shown in Figure 2, above-mentioned hybrid power ECU 16 has calculating unit 102, and it is the microprocessor that comprises CPU.Except CPU, calculating unit 102 comprises the ROM 104 that stores various programs, temporarily stores the RAM 106, I/O port, communication port etc. of data.
Hybrid power ECU 16 communicates by letter with brake equipment ECU 60, and based on from the control signal of brake equipment ECU 60 and from the signal control vehicle 2 of various sensors 70 and switch.For example, gearbox controller 120 control change-speed boxs 10, motor controller 122 control motors 14.
The various sensors 70 that are connected to hybrid power ECU 16 comprise the gear position sensor 72 of the gear that detects change-speed box 10, will speed up the device angle changes into electric signal and exports accelerator position sensor 74, engine speed sensor 76 of this electric signal etc.
In vehicle 2, motor 14 is by driving from the Electronmotive Force of battery 26 by conv 24 supplies under the control of hybrid power ECU 16.The propulsive effort of motor 14 is delivered to transmission shaft 12 via change-speed box 10, the auxiliary thus propulsive effort that arrives the driving engine of off hind wheel 20RR and left rear wheel 20RL.Driving engine 4 is with higher engine efficiency powered vehicle 2 in opereating specification.Simultaneously, the part of driving engine 4 output is delivered to electrical generator 8 via power separating device 6, and thus, the Electronmotive Force that produces by electrical generator 8 can CD-ROM drive motor 14 or via 26 chargings of 24 pairs of batteries of conv.
In addition, when vehicle 2 glancing impacts, under the control of hybrid power ECU 16, motor 14 is driven via change-speed box 10 by the motion of off hind wheel 20RR and left rear wheel 20RL, and as generator operation.In other words, motor 14, conv 24, hybrid power ECU 16 etc. are as by from the kinetic energy regenerative electric energy of vehicle 2 and the regenerative brake unit of abrupt deceleration vehicle 2.
Except the regenerative brake unit, comprise hydraulic brake unit 30 according to the Vehicular brake device of present embodiment.Vehicular brake device controls abrupt deceleration vehicle 2 by the braking regenerative cooperative that makes these two brake unit cooperating operations.
Brake equipment ECU 60 communicates by letter with hybrid power ECU 16, and according to from the signal of hybrid power ECU 16 with from the pump of the signal control hydraulic generator 40 of various sensors 80 and switch and the solenoid electric valve of brake equipment actuator 50.
Calculating unit 108 comprises regenerative brake power calculator 124, and this regenerative brake power calculator 124 is based on from the information of various sensors 80 and stop lamp switch 86 with from the information calculations regenerative brake power of hybrid power ECU 16.Calculating unit 108 also comprises hydraulic braking force calculator 128 and collaborative controller 126, this hydraulic braking force calculator 128 calculates will be by the hydraulic braking force of brake equipment actuator 50 generations, and collaborative controller 126 is carried out regenerative cooperative control, to obtain stable braking and to recover braking energy effectively.
The various sensors 80 that are connected to brake equipment ECU 60 comprise wheel speed sensors 82 and brake-pedal-travel sensor 84.Wheel speed sensors 82 detects each speed of taking turns.Brake-pedal-travel sensor 84 detects the path increment of brake pedal 44.Stop lamp switch 86 detects the open/close state of brake pedal 44.
The value that each sensor or switch detected is fed to brake equipment ECU 60 with predetermined distance, stores and remains in the predetermined zone among the brake equipment ECU 60 (buffer zone) with scheduled volume at every turn.
In the present embodiment, hybrid power ECU 16 controls the startup of electrical generators 4 via Engine ECU 22 and stops; But hybrid power ECU can have the function of Engine ECU 22 and startup that can direct control electrical generator 4 and stop.Alternatively, can use the single ECU that not only serves as hybrid power ECU 16 but also serve as brake equipment ECU 60.Brake equipment ECU 60 is in response to braking request, the hydraulic braking force that regenerative brake power that motor 14 is produced and brake equipment actuator 50 the produce control of cooperating.
Main operation mode according to the vehicle of present embodiment will be described below.
The scheme drawing of the system operation when Fig. 3 is the vehicle launch that is shown in according to present embodiment.As shown in Figure 3, when vehicle stops, vehicle 2 shutting engine downs 4, when vehicle launch, vehicle 4 travels via the Electronmotive Force CD-ROM drive motor 14 of conv 24 supplies by using from battery 26.When the vehicle underloading moved, for example with than low velocity or along the easy grade descent run time, vehicle 2 is shutting engine down 4 also, travelled and driven by motor 14.When vehicle launch, moment of torsion that can recently will be bigger by the speed change that increases change-speed box 10 is delivered to wheel from motor 14.
Fig. 4 is the scheme drawing that is shown in according to the system operation during the normal vehicle operation of present embodiment.When normal vehicle operation, vehicle mainly travels under the situation in driving engine is in the good opereating specification of efficient.The prime kinetic energy of driving engine 4 (motive energy) is divided into two-way by power disengagement gear 6.In one the tunnel, energy is used as propulsive effort and is delivered to off hind wheel 20RR and left rear wheel 20RL therein.And in another road, energy is used to drive electrical generator 8, to produce electric power (energy).The energy that electrical generator 8 produces comes the prime kinetic energy of auxiliary engine by CD-ROM drive motor 14, and therefore improves fuel efficiency.
By change the converter speed ratio of change-speed box 10 automatically according to vehicle running state, vehicle 2 can steadily and travel energy-conservationly.When the electric weight in the battery 26 reduced, battery 26 can charge with a part of Electronmotive Force that electrical generator 8 produces.
Fig. 5 is the scheme drawing that is shown in according to the system operation during the car retardation/braking of present embodiment.Between accelerator pedal position sensor 74 detects deceleration period when unclamping accelerator, the vehicle 2 of present embodiment by from off hind wheel 20RR and left rear wheel 20RL via the prime kinetic energy CD-ROM drive motor 14 that change-speed box 10 transmits, motor 14 is operated as electrical generator.Therefore, the braking energy of vehicle 2 changes into electric energy, and battery 26 is by charging power storage in battery 26.
In addition, work as glancing impact, for the operation in response to brake pedal 44 obtains and the corresponding braking force of braking request, the control of cooperating of 100 pairs of regenerative brake unit of Vehicular brake device and hydraulic brake unit 30, and judge the amount of energy of recovering based on the information that brake-pedal-travel sensor 84, stop lamp switch 86 etc. detect.Then, the braking energy of vehicle 2 changes into electric energy, by with power storage in battery 26 and to battery 26 charging.
Then, explain serviceability according to each control member of the car retardation of this enforcement or glancing impact.Fig. 6 is the sequential chart of diagram according to the serviceability of accelerator pedal, brake pedal and the gear of the car retardation of this enforcement or glancing impact.
When vehicle travel with vehicle velocity V and the driver when time T 1 is unclamped driving control member (it provides the instruction that transfers a driving force to wheel) such as accelerator pedal, the speed of a motor vehicle reduces gradually.Then, when the driver when time T 2 presses down brake pedal 44, brake equipment becomes the ON state, the speed of a motor vehicle further reduces.At this point, selecting " D " position is the gear of change-speed box 10.
When beginning glancing impact by brake equipment is become ON, the speed of a motor vehicle further reduces.Then, when a certain speed of a motor vehicle, gear changes to " L " position from " D " position in time T 3 speed of a motor vehicle, and wherein the speed changer ratio of " L " position is higher than the speed changer ratio of " D " position.Change speed changer compare experienced during in (from time T 3 to T4), because 14 change-speed box path is by temporarily disconnected from the wheel to the motor, so, will when gear shift (speed change), vibrate if produce bigger regeneration power during this period.
Therefore, during braking, when changing the converter speed ratio of change-speed box, regenerative brake power reduces.Fig. 7 is the sequential chart that diagram changes according to braking force in the Vehicular brake device of this enforcement.
As shown in Figure 7, when vehicle 2 travel with vehicle velocity V and the driver when time T 1 is unclamped accelerator pedal, produce by unclamping the regenerative brake power (the first regenerative brake power) that accelerator pedal causes.Then, when the driver when time T 2 presses down brake pedal 44, brake equipment becomes the ON state, produces because brake equipment is become the caused regenerative brake power of ON state (the second regenerative brake power) and because brake equipment become the caused hydraulic braking force of ON state.Collaborative controller 126 calculates the ratio of regenerative brake power and hydraulic braking force, based on by regenerative brake power calculator 124 and hydraulic braking force calculator 128 the braking force of calculating and control brake device driver 50 and motor 14 respectively.
Then, during calculator 114 based on calculating such as speed information (judgement) change the speed changer ratio during (be time T3 between the T4 during).Then, in this period, regenerative brake power reduces device 116 and reduces to remove the first regenerative brake power that produces at the wheel place because of the operation that will speed up the device pedal.As mentioned above, for reduce change change-speed box during converter speed ratio experienced in be applied to the regenerative brake power of wheel by motor 14, from the total regenerative brake power that is applied to wheel by motor 14, reduced because the operation of accelerator pedal is removed in the first regenerative brake power of wheel generation.By doing like this, reduced the gear shift vibration.
In the present embodiment, the first regenerative brake power reduces in time T 5, and wherein time T 5 is before time T 3, and at time T 3 places, the converter speed ratio of change-speed box begins to change.In addition, recover the first regenerative brake power in time T 6, time T 6 is after time T 4, and at time T 4 places, the change of speed changer ratio finishes.As a result, because under the stable state that reduces regenerative brake power, carry out gear shift, therefore, guarantee to have reduced the gear shift vibration.
Time T 5 can suitably change in the time range before the time T 3.In addition, time T 6 can suitably change in the time range after the time T 4.Preferably, by make change change-speed box during converter speed ratio experienced and reduce regenerative brake power during synchronous basically, can increase the quantity of the energy that is recovered by regenerative brake power.
In addition, in the present embodiment, in order to be applied to the regenerative brake power of wheel in reducing during the converter speed ratio that changes change-speed box by motor 14, from the total regenerative brake power that is applied to wheel by motor 14, reduce the second regenerative brake power that produces at wheel by in response to the braking request that presses down brake pedal 44.As a result, further reduced the gear shift vibration.In addition, in the present embodiment, the first regenerative brake power and the second regenerative brake power almost are reduced to zero (0).Therefore, stoped the generation of gear shift vibration effectively.
If reduce regenerative brake power in only during the converter speed ratio that changes change-speed box, then total braking force is reducing during this period, and the deceleration that can not obtain expecting.In addition, the marked change during owing to deceleration, the driver who then carries out brake operating may be applied in a kind of factitious sensation.More specifically, though produce the hydraulic braking force and the second regenerative brake power by pressing down brake equipment in time T 2, the first regenerative brake power and the second regenerative brake power are reduced to zero (0) simultaneously in time T 5.Therefore, total braking force can be littler than the braking force of request.
Therefore, the Vehicular brake device 100 according to the embodiment of the invention also compensates because regenerative brake power reduces the regenerative brake power that device 116 is reduced with the compensation hydraulic braking force that braking force compensator 118 calculates.Particularly, by hydraulic braking force being increased the amount that regenerative brake power reduces in time T 5, total braking force is remained unchanged.As a result, when the converter speed ratio of change-speed box changes, the variation of deceleration will reduce.
In addition, because regenerative brake power reduces device 116 and reduces the first regenerative brake power and the second regenerative brake power substantially simultaneously, compare when reducing the first regenerative brake power and the second regenerative brake power at different time, having simplified the control that is reduced the hydraulic braking force of part by cooperation control with the compensational regeneration braking force.Therefore, reduced the number of times that brake equipment actuator 50 changes the hydraulic braking force that is applied to wheel.Thus, when changing hydraulic braking force, suppressed the operation sound that moveable part (forming the parts of brake equipment actuator, for example valve, pump etc.) is located to produce, and then improved quiet effect.In addition, because reduced the friction on the moveable part, improved the life-span time length of brake equipment.
In the present embodiment, after the converter speed ratio of change-speed box changed end, the regenerative brake power that reduces increased and recovery in time T 6, and simultaneously, hydraulic braking force is reduced to the pressure in the cooperation control.As a result, increased the amount of the energy that recovers by regenerative brake power.
Then, when the speed of a motor vehicle during in time T 7 vanishing (0), also vanishing of regenerative brake power (0).Then, increase hydraulic braking force with after guaranteeing to stop vehicle at operation brake pedal 44, total braking force is because with the operation releasing of brake pedal 44 and vanishing (0).
Be described in the above-mentioned variation of the speed changer ratio during the braking below with reference to diagram of circuit.Fig. 8 is the diagram of circuit of the brake-power control process of diagram vehicle according to the invention brake equipment during braking.
At first, when beginning this process, judge accelerator whether released (S10) based on detected signals such as accelerator pedal position sensor 74 at given time.If accelerator does not have released (the S10 place is a "No"), this process stops.
On the other hand, if judge accelerator released (the S10 place is a "Yes"), then hybrid power ECU 16 calculates the first regenerative brake power that produces when unclamping accelerator, and the driving of control motor 14 is to produce first braking force (S12).
Then, judge based on the signal of detections such as brake-pedal-travel sensor 84, stop lamp switch 86 whether brake equipment is pressed down.If brake equipment is not pressed down (the S14 place is "No"), then this process is returned S10, and whether declare accelerator once more released.
On the other hand, be pressed down (the S14 place is "Yes"), then allow to carry out control of brake equipment regenerative cooperative and beginning regenerative cooperative control (S16) if judge brake equipment.
When the control of beginning regenerative cooperative, brake equipment ECU 60 is based on the request total braking force F* (S18) that calculated signals driver asked from brake-pedal-travel sensor 84.In addition, brake equipment ECU 60 judges request regenerative brake power supply hybrid power ECU 16 (S22) that request regenerative brake power also will be judged from the information that hybrid power ECU 16 obtains about the upper limit of regenerative brake power.
At the S20 place, hybrid power ECU 16 sends to brake equipment ECU 60 with the charging upper limit of the generating upper limit of motor 14 (upper limit of the regenerative brake power that is limited by speed etc.) and battery 26 (upper limit that is limited by charging ability etc.).At the S22 place, the minimum value among the generating upper limit, the charging upper limit and the request total braking force F* is set at request regenerative brake power.
Receive from brake equipment ECU 60 at the S22 place under the situation of the signal of representing request regenerative brake power, hybrid power ECU 16 provides the signal of expression request regenerative brake power to motor controller 122.Motor controller 122 sends the braking force and the consistent control signal of request regenerative brake power that makes motor 14 be applied to off hind wheel 20RR and left rear wheel 20RL to conv 24.
Then, motor controller 122 sends the information of the serviceability (such as the actual speed (R.P.M.) of motor 14) of expression regenerative brake unit to hybrid power ECU 16.Based on this information, hybrid power ECU 16 calculates actual reproduction braking force Fe (reality obtains by the operation of motor 14), and actual reproduction braking force Fe is sent to brake equipment ECU 60.
Receiving from hybrid power ECU 16 under the situation of actual reproduction braking force Fe (S24), brake equipment ECU 60 comes computation requests hydraulic braking force (S26) by deduct the actual reproduction braking force from request total braking force F*.The request hydraulic braking force is the braking force of wishing in the generation of brake equipment actuator 50 places.Brake equipment ECU 60 calculates the target hydraulic of each disc type brake unit 32FR-32RL then based on the request hydraulic braking force of calculating, and judges the electric current I that is supplied to supercharging linear control valve or decompression linear control valve.As mentioned above, abrupt deceleration vehicle 2 thus.Repeat the program shown in Fig. 8 with predetermined distance, allow to carry out the control of brake equipment regenerative cooperative simultaneously.
Then, handle the various incoming signals (S28) of expression vehicle-state, judge then whether the converter speed ratio of change-speed box will change (S30).For example, can be based on judging from the speed information of car speed sensor 82 or from the engine speed information of engine speed sensor 76 whether the converter speed ratio of change-speed box will change.
Do not change (the S30 place obtains "No") if judge the converter speed ratio of change-speed box, then finish this process.On the other hand, to change (S30 place obtains "Yes") if judge the converter speed ratio of change-speed box, then during calculator 114 calculate that the converter speed ratio change of change-speed boxs experienced during (S32).Simultaneously, equal specified value if the converter speed ratio of change-speed box changes the time period of required experience, then the time point that change to finish of the converter speed ratio of the change-speed box time point that can be easily begins to change from the converter speed ratio of change-speed box calculates.In other words, the time point that change to finish of the converter speed ratio of the change-speed box time point that do not need the converter speed ratio with change-speed box to begin to change calculates respectively.
Then, regenerative brake power reduces the decrease (S34) that device 116 calculates the first regenerative brake power that takes place at the wheel place owing to will speed up the operation releasing of device pedal.In addition, braking force compensator 118 calculates the compensation hydraulic braking force, with compensation since regenerative brake power reduce regenerative brake power that device 116 reduced reduce part (S36).
Then, during the converter speed ratio that changes change-speed box, reduce regenerative brake power, and vehicle is by the hydraulic braking dynamic braking (S38) that the regenerative brake power that reduces is compensated at least.If the change of the converter speed ratio of change-speed box does not finish (the S40 place obtains "No"), then repeat the process at S38 place.When the converter speed ratio of change-speed box changed end (the S40 place obtains "Yes"), this process turned back to S18, and carried out regenerative cooperative control once more according to the state of vehicle.Therefore, the deceleration that can reduce when the converter speed ratio of change-speed box changes changes.
Though exemplary embodiment of the present invention described above, but be to be understood that, the embodiment details that the present invention is not limited to describe, without departing from the spirit and scope of the present invention, persons skilled in the art can be made various variations, modification and improvement.
For example, the converter speed ratio of change-speed box can be in three gears (speed) or more changes, rather than two gears (speed).
Claims (4)
1. a braking has the Vehicular brake device (100) of the vehicle (2) of electrical motor (14), and wherein said electrical motor (14) applies propulsive effort and regenerative brake power via change-speed box (10) to wheel, and described Vehicular brake device (100) is characterised in that and comprises:
Hydraulic power source (50) provides the operation of transmitting the instruction of braking force to described wheel in response to drag control member, and described hydraulic power source (50) produces hydraulic braking force by sap pressure supply;
Collaborative controller (126), in response to the operation of described drag control member, the regenerative brake power that described collaborative controller (126) produces described hydraulic braking force and described electrical motor (14) control of cooperating;
Calculator (114) during this time, described during calculator (114) calculate and change during converter speed ratio experienced of described change-speed box;
Regenerative brake power reduces device (116), change described change-speed box converter speed ratio experienced described during in, if described collaborative controller (126) carries out described cooperation control, then described regenerative brake power reduces device (116) and removes the first regenerative brake power that reduces in the generation of described wheel place by the operation that will drive control member, and described driving control member is configured to provide the instruction that described propulsive effort is passed to described wheel; And
Braking force compensator (118), change described change-speed box during converter speed ratio experienced in, described braking force compensator (118) compensates by described regenerative brake power and reduces reducing of the described first regenerative brake power that device (116) causes by increasing described hydraulic braking force.
2. Vehicular brake device according to claim 1, wherein said regenerative brake power reduce device (116) and also reduce the second regenerative brake power that operation produced in response to described drag control member.
3. Vehicular brake device according to claim 2, wherein said regenerative brake power reduce device (116) and reduce described first regenerative brake power and the described second regenerative brake power simultaneously.
4. vehicle braking method that is used to brake vehicle with electrical motor, wherein said electrical motor applies propulsive effort and regenerative brake power via change-speed box to wheel, and described vehicle braking method may further comprise the steps:
Provide the operation of transmitting the instruction of braking force to described wheel in response to drag control member, produce hydraulic braking force by hydraulic pressure is provided;
In response to the operation of described drag control member, the described regenerative brake power that described hydraulic braking force and described electrical motor the are produced control of cooperating;
Calculate to change during converter speed ratio experienced of described change-speed box;
During the converter speed ratio that changes described change-speed box, the control if collaborative controller is cooperated, then remove the first regenerative brake power that reduces in the generation of described wheel place by the operation that will drive control member, described driving control member is configured to provide the instruction that transfers a driving force to described wheel; And
Change described change-speed box during converter speed ratio experienced in, compensate reducing of the described first regenerative brake power by increasing described hydraulic braking force.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006074868A JP3982556B1 (en) | 2006-03-17 | 2006-03-17 | Vehicle braking device |
| JP2006074868 | 2006-03-17 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101037090A CN101037090A (en) | 2007-09-19 |
| CN100515822C true CN100515822C (en) | 2009-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100873417A Active CN100515822C (en) | 2006-03-17 | 2007-03-14 | Vehicle brake device and method for braking vehicles |
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| JP (1) | JP3982556B1 (en) |
| CN (1) | CN100515822C (en) |
Families Citing this family (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2222525B1 (en) * | 2007-12-20 | 2011-07-20 | Peugeot Citroën Automobiles Société Anonyme | Braking method for hybrid vehicles compensating for an electric braking torque |
| KR101048138B1 (en) * | 2008-11-28 | 2011-07-08 | 기아자동차주식회사 | Regenerative braking control device for automobile |
| JP5402578B2 (en) * | 2009-11-30 | 2014-01-29 | トヨタ自動車株式会社 | Brake control device |
| CN101791978B (en) * | 2010-03-26 | 2013-05-08 | 重庆长安汽车股份有限公司 | Method for compensating braking force of hybrid power vehicle |
| JP2012040964A (en) * | 2010-08-20 | 2012-03-01 | Toyota Motor Corp | Vehicle brake control device |
| JP2012157200A (en) * | 2011-01-27 | 2012-08-16 | Honda Motor Co Ltd | Control device of electric vehicle |
| JP2013180598A (en) * | 2012-02-29 | 2013-09-12 | Nissan Motor Co Ltd | Shift control device for electric vehicle |
| JP6002541B2 (en) * | 2012-10-26 | 2016-10-05 | 本田技研工業株式会社 | Control device and control method for hybrid vehicle |
| JP6096594B2 (en) * | 2013-05-30 | 2017-03-15 | トヨタ自動車株式会社 | Vehicle control apparatus, vehicle including the same, and vehicle control method |
| KR102030187B1 (en) * | 2013-06-27 | 2019-10-08 | 현대자동차주식회사 | Control apparatus and method for regenerative braking of eco-friendly vehicle |
| US9302674B2 (en) * | 2013-09-05 | 2016-04-05 | GM Global Technology Operations LLC | Method to maximize available regeneration while maintaining linear vehicle deceleration rate |
| JP2016027278A (en) | 2014-06-30 | 2016-02-18 | アイシン精機株式会社 | Control device of vehicle and drive system of vehicle |
| KR101637707B1 (en) | 2014-10-29 | 2016-07-07 | 현대자동차주식회사 | System for controlling a regenerative braking and method thereof |
| JP6004026B2 (en) * | 2015-03-02 | 2016-10-05 | 日産自動車株式会社 | Control device for electric vehicle |
| US9937916B2 (en) * | 2015-07-21 | 2018-04-10 | Ford Global Technologies, Llc | Methods and system for reducing transmission shifting |
| FR3061688B1 (en) * | 2017-01-10 | 2021-02-19 | Renault Sas | HYBRID POWERTRAIN CONTROL PROCESS IN DECELERATION |
| CN106904079A (en) * | 2017-02-27 | 2017-06-30 | 中国第汽车股份有限公司 | A kind of regenerating brake control method of pure electric automobile |
| CN107627857B (en) * | 2017-08-04 | 2019-12-06 | 北京长城华冠汽车科技股份有限公司 | electric automobile regenerative braking force distribution method |
| CN109572639B (en) * | 2017-09-29 | 2021-04-02 | 长城汽车股份有限公司 | Pedal lever ratio adjusting control method and control system |
| JP6990115B2 (en) * | 2018-01-15 | 2022-01-12 | 日立Astemo株式会社 | Motor vehicle control device, motor vehicle control system, and motor vehicle control method |
| WO2020061421A1 (en) * | 2018-09-21 | 2020-03-26 | ePower Engine Systems Inc | Ai-controlled multi-channel power divider / combiner for a power-split series electric hybrid heavy vehicle |
| DE102018222517A1 (en) * | 2018-12-20 | 2020-06-25 | Robert Bosch Gmbh | Brake system for a vehicle, vehicle and method for operating a brake system |
| JP7310304B2 (en) * | 2019-05-24 | 2023-07-19 | 株式会社アドヴィックス | brake controller |
| CN111572357A (en) * | 2020-04-09 | 2020-08-25 | 吉利汽车研究院（宁波）有限公司 | Downshift deceleration compensation method and device, vehicle and storage medium |
-
2006
- 2006-03-17 JP JP2006074868A patent/JP3982556B1/en active Active
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2007
- 2007-03-14 CN CNB2007100873417A patent/CN100515822C/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP3982556B1 (en) | 2007-09-26 |
| CN101037090A (en) | 2007-09-19 |
| JP2007246018A (en) | 2007-09-27 |
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