CN104512410A - Control method for four-wheel drive hybrid electric vehicle - Google Patents
Control method for four-wheel drive hybrid electric vehicle Download PDFInfo
- Publication number
- CN104512410A CN104512410A CN201310456408.5A CN201310456408A CN104512410A CN 104512410 A CN104512410 A CN 104512410A CN 201310456408 A CN201310456408 A CN 201310456408A CN 104512410 A CN104512410 A CN 104512410A
- Authority
- CN
- China
- Prior art keywords
- braking
- motor
- vehicle
- brake
- described vehicle
- 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.)
- Pending
Links
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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a control method for a four-wheel drive hybrid electric vehicle. The control method comprises the following steps: A: in a travelling process of the four-wheel drive hybrid electric vehicle, detecting whether a brake pedal is depressed or not; B: if yes, further judging whether a first motor braking condition is satisfied or not; C: if the first motor braking condition is satisfied, further judging whether the maximum motor braking moment which can be provided by a back shaft driving motor of the vehicle is greater than or equal to moment required by braking; and D: if yes, providing the motor braking moment which is the same as the moment required by braking by the back shaft driving motor so as to bake the vehicle, and recovering energy for the motor brake. The control method disclosed by the invention can realize the purpose that regenerative braking and recovering is completely performed by the motor, and under the premise of ensuring the braking safety of the whole vehicle, recovering the braking energy is performed furthest, so that the recovery efficiency of the braking energy of the whole vehicle is improved.
Description
Technical field
The present invention relates to new-energy automobile manufacturing technology field, particularly a kind of control method of four-drive hybrid electric vehicle.
Background technology
There are some researches show, vehicle is under city driving operating mode, and the energy of nearly 1/3 to 1/2 is consumed in braking procedure.And compared with traditional combustion engine automobile, hybrid vehicle owing to possessing the ability of regenerative brake, car brakeing or slow down time, by whole-control system the kinetic energy of vehicle, change into electric energy by motor, machine operation provides regenerative braking moment in generator mode, makes car retardation.The braking energy that regenerative brake reclaims will be stored in high-pressure power accumulator, thus regenerative braking capability can be utilized to reclaim the energy being originally consumed in friction braking, significantly can reduce energy consumption, improve the fuel-economy performance of automobile, reduce discharge.The regenerative braking torque provided due to motor is limited, therefore, on the road surface that adhesion value is larger, cannot meet the requirement for brake efficiency, thus current the most commonly composite brakig technology, i.e. the conbined usage of motor regenerative brake and hydraulic brake technology.
Current hybrid power car great majority are under the condition not changing original brake system, extra applies certain brake torque by electrical motor to driving vehicle, adopt the simple superposition of motor braking power and conventional hydraulic braking force, original hydraulic braking sysgtem is unified the combined action of motor braking system, complete braking procedure, realize braking energy recovering function.
Be in the patent of 201110022220.0 at Chinese application number, disclose a kind of hybrid electric vehicle energy recovery method.Wherein relate in brake energy recovering system, in brake energy recovering system, traditional hydraulic braking has then cooperatively interacted with motor braking moment whole braking procedure.In order to safeguard constant car retarder, a stable lock torque needs continuous action on wheel.In earlier stage, when hydraulic braking can not meet total lock torque, entire car controller parses concrete motor braking moment values, and this value is sent to electric machine controller.Obtain motor torque like this to increase in time and carry out satisfied total lock torque demand.
But, prior art is when braking, hydraulic braking can exist always, and motor regenerative brake is only when chaufeur braking requirement is larger, just makes motor torque increase in time and carrys out satisfied total lock torque demand, cannot realize being reclaimed by motor regenerative brake completely, therefore the Brake energy recovery ability of motor can not be made to give full play to, and car load Brake energy recovery efficiency is lower, cannot carry out Brake energy recovery substantially, be not very large to the contribution of fuel economy, and braking traveling comfort is poor.
Summary of the invention
The present invention is intended at least one of solve the problems of the technologies described above.
For this reason, the object of the invention is to the control method proposing a kind of four-drive hybrid electric vehicle, the method can realize carrying out regenerative brake recovery by motor completely, Brake energy recovery is carried out substantially under the prerequisite ensureing car load brake safe, improve car load Brake energy recovery efficiency, in addition, the method also can improve automobile brake traveling comfort.
Whether to achieve these goals, embodiments of the invention propose a kind of control method of four-drive hybrid electric vehicle, comprise the following steps: A: in four-drive hybrid electric vehicle driving process, detect brake pedal and be operated; B: if described brake pedal is operated, then judge whether satisfied first motor braking condition further; C: if meet described first motor braking condition, then judge whether the available maximum motor lock torque of the rear axis drive motor of described vehicle is more than or equal to braking requirement moment further; And D: if then provide the motor braking moment identical with described braking requirement moment to brake described vehicle by described rear axis drive motor, and carry out motor braking energy regenerating.
According to the control method of the four-drive hybrid electric vehicle of the embodiment of the present invention, can realize carrying out regenerative brake recovery by motor completely, under the prerequisite ensureing car load brake safe, carry out Brake energy recovery substantially, improve car load Brake energy recovery efficiency.
In addition, the control method of four-drive hybrid electric vehicle according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, described method also comprises: if judge that the rear axis drive motor available maximum motor lock torque of described vehicle is less than described braking requirement moment, then described rear axis drive motor is braked described vehicle with described maximum motor lock torque, and carry out motor braking energy regenerating, meanwhile, carry out braking by hydraulic braking to vehicle to compensate with the braking requirement meeting described vehicle.
In some instances, after described step B, also comprise: if judge not meet described first motor braking condition, then by hydraulic braking, hydraulic braking is carried out to meet the braking requirement of described vehicle to described vehicle.
In some instances, when meeting following condition, judge to meet described first motor braking condition: the state-of-charge of the power accumulator of described vehicle is less than or equal to the first default state-of-charge, the current vehicle speed of described vehicle is more than or equal to the first pre-set velocity, the high-pressure system of described vehicle is normal and the ABS antiblock device un-activation of described vehicle.
In some instances, after described steps A, also comprise: not to be operated and described Das Gaspedal is not operated if detect described brake pedal, then to judge whether satisfied second motor braking condition further; If judge to meet described second motor braking condition, then provide sliding brake function demand torque to brake described vehicle by described rear axis drive motor, and carry out motor braking energy regenerating.
In some instances, described method also comprises: if judge not meet described second motor braking condition, then forbid braking described vehicle.
In some instances, when meeting following condition, judge to meet described second motor braking condition: the state-of-charge of the power accumulator of described vehicle is less than or equal to the second default state-of-charge, the current vehicle speed of described vehicle is more than or equal to the second pre-set velocity and the high-pressure system of described vehicle is normal.
In some instances, described braking requirement moment is calculated by brake pedal depth value.
In some instances, described brake pedal depth value detects according to brake-pedal-travel sensor and obtains.
In some instances, when braking deceleration is less than or equal to default braking deceleration, judge that the available maximum motor lock torque of the rear axis drive motor of described vehicle is more than or equal to braking requirement moment.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the diagram of circuit of the control method of four-drive hybrid electric vehicle according to an embodiment of the invention;
Fig. 2 is the Recovering Waste Energy of Braking in Automobiles system architecture schematic diagram of the control method of four-drive hybrid electric vehicle according to an embodiment of the invention;
Fig. 3 is the diagram of circuit of the control method of four-drive hybrid electric vehicle in accordance with another embodiment of the present invention;
Fig. 4 is the graph of a relation of the electric motor of automobile lock torque of the control method of four-drive hybrid electric vehicle according to an embodiment of the invention and friction braking moment, total braking force square;
Fig. 5 is the lock torque method of calculating schematic diagram of the control method of four-drive hybrid electric vehicle according to an embodiment of the invention;
When Fig. 6 is sliding of the control method of four-drive hybrid electric vehicle according to an embodiment of the invention, motor carries out the torque curve schematic diagram of energy regenerating; With
Fig. 7 is the method schematic diagram calculating motor regenerative braking moment according to current vehicle speed and formulation pedal aperture of the control method of four-drive hybrid electric vehicle according to an embodiment of the invention.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, particular case above-mentioned term concrete meaning in the present invention can be understood.
Below in conjunction with accompanying drawing, the control method according to the four-drive hybrid electric vehicle of the embodiment of the present invention is described.
Fig. 1 is the diagram of circuit of the control method of four-drive hybrid electric vehicle according to an embodiment of the invention.As shown in Figure 1, the control method of four-drive hybrid electric vehicle according to an embodiment of the invention, comprises the following steps:
Whether step S101, in four-drive hybrid electric vehicle driving process, detect brake pedal and be operated.Specifically, in vehicle travel process, if chaufeur steps on brake pedal, then represent that chaufeur is for braking vehicle or deceleration behavior.
Step S102, if brake pedal is operated, then judges whether satisfied first motor braking condition further.Specifically, in a preferred embodiment of the invention, when meeting the following conditions, judge that vehicle meets the first motor braking condition: the state-of-charge of the power accumulator of vehicle is less than or equal to the first default state-of-charge, the current vehicle speed of vehicle is more than or equal to the first pre-set velocity, the high-pressure system of vehicle is normal and the ABS(Anti-lock Braking System of described vehicle, anti-skid brake system) antiblock device un-activation.Wherein, first presets the maximum carrying capacity that state-of-charge is vehicle battery, and when the state-of-charge of storage battery is greater than this maximum carrying capacity, battery charge efficiency can be very low, and now, motor does not carry out Brake energy recovery, otherwise, may accumulator super-charge be caused.First pre-set velocity presets, and that reflects the rotating speed of electric motor of automobile, when motor speed is less than certain threshold value, namely motor speed is smaller, and motor, can not brake power generating due to the effect of its counter potential, therefore, only have and just can carry out energy regenerating when motor speed is greater than certain threshold value.Vehicle high-voltage system mainly comprises key components and parts, as drive motor, high tension battery etc., when above-mentioned key components and parts occurs that insulation fault, excess temperature, overvoltage, overcurrent and motor speed maxim limit, in order to ensure the safety of system works, forbid braking energy recovering function, therefore, need ensure that the high-pressure system of vehicle is normal.When ABS starts to act on, wheel is tending towards locking, now applies extra braking force again and car load can be caused to be in unstable operating mode, therefore, when ABS starts to act on, need to forbid braking energy recovering function.
Further, in step S101, if detect that brake pedal is not operated and Das Gaspedal is not operated yet time, then judge whether satisfied second motor braking condition further.If judge to meet the second motor braking condition, then provide sliding brake function demand torque to brake vehicle by rear axis drive motor, and carry out motor braking energy regenerating; If judge not meet the second motor braking condition, then forbid braking vehicle.Wherein, in a preferred embodiment of the invention, when meeting following condition, judge to meet the second motor braking condition: the state-of-charge of the power accumulator of vehicle is less than or equal to the second default state-of-charge, the current vehicle speed of vehicle is more than or equal to the second pre-set velocity and the high-pressure system of vehicle is normal.Second presets the maximum carrying capacity that state-of-charge is automotive battery.Second pre-set velocity presets, and preferably, such as, is equal to the first pre-set velocity.
Step S103, if meet the first motor braking condition, then judges whether the available maximum motor lock torque of the rear axis drive motor of vehicle is more than or equal to braking requirement moment further.Further, if judge not meet the first motor braking condition, then by hydraulic braking, hydraulic braking is carried out to meet the braking requirement of vehicle to vehicle.Wherein, braking requirement moment is calculated by brake pedal depth value, and brake pedal depth value obtains according to brake-pedal-travel sensor detection.
Further, in above-mentioned steps S103, when braking deceleration is less than or equal to default braking deceleration, judge that the available maximum motor lock torque of rear axis drive motor of vehicle is more than or equal to braking requirement moment.Wherein, preset the acquisition of braking deceleration according to being: under the operating mode of city, because of average ground speed and maximum speed lower, and need the reasons such as frequent braking deceleration, the situation that braking deceleration is less than 1m/s2 approximately account for more than 75%, when braking deceleration≤1m/s2, operator demand's brake torque can be completed by motor completely simultaneously, therefore default braking deceleration is set to 1m/s2.
Step S104, if so, then provides the motor braking moment identical with braking requirement moment to brake vehicle by rear axis drive motor, and carries out motor braking energy regenerating.
In addition, in above-mentioned steps S103, if judge that the available maximum motor lock torque of the rear axis drive motor of vehicle is less than braking requirement moment, then, axis drive motor is braked vehicle with maximum motor lock torque, and carry out motor braking energy regenerating, meanwhile, carry out braking by hydraulic braking to vehicle to compensate with the braking requirement meeting vehicle.
The control method of the four-drive hybrid electric vehicle of the embodiment of the present invention, based on Brake energy recovery maximization principle, feedback energy as much as possible is obtained from motor, reduce deceleration, braking energy loss, maintain the energy equilibrium of electrokinetic cell as far as possible, improve car load Brake energy recovery efficiency, improve fuel economy, reduce discharge.
In order to describe the control method of the four-drive hybrid electric vehicle of the above embodiment of the present invention clearly, particularly, below in conjunction with Fig. 2-7 as concrete example, above-mentioned control method is described in detail.
Fig. 2 is the Recovering Waste Energy of Braking in Automobiles system architecture schematic diagram of the control method of four-drive hybrid electric vehicle according to an embodiment of the invention.
As shown in Figure 2, this brake energy recovering system comprises hardware unit: brake pedal, brake-pedal-travel sensor, entire car controller, electric machine controller, brake hydraulic pressure controller and ABS system.
Specifically, as shown in Figure 2, together with engine crankshaft connects firmly with ISG rotor, by power-transfer clutch by transmission of power to change-speed box, rear axle drives and main relies on electric drive back axle, is made up of drive motor and first stage decelerator.
Based on this power system architecture, make front axle ISG motor and rear axis drive motor all can participate in Brake energy recovery.But because engine crankshaft and ISG rotor connect firmly, when causing ISG motor braking energy regenerating, driving engine towing astern needs to consume a part of kinetic energy, therefore the efficiency that rear axis drive motor carries out Brake energy recovery is higher than front axle ISG motor, in order to improve car load Brake energy recovery efficiency, maximize energy regenerating principle, after preferentially adopting when Brake energy recovery, axis drive motor carries out Brake energy recovery.
In fig. 2, entire car controller receives every data parameters such as ISG motor, rear-guard motor, high tension battery and ABS system by car load CAN network, and receives vehicle speed signal, entire vehicle gear signal, accelerator pedal signal, brake pedal opening amount signal etc. by data acquisition.Lock torque size needed for entire car controller calculates according to chaufeur braking requirement, and hydraulic braking moment instruction and motor braking torque command are sent to brake hydraulic pressure controller and electric machine controller respectively, then perform braking operation by brake hydraulic pressure controller and electric machine controller.
The specific works principle of this brake energy recovering system mainly comprises two stages:
1) when the speed of a motor vehicle is greater than certain value, Das Gaspedal and brake pedal are not all stepped on, and enter the first stage of Brake energy recovery process, namely slide energy regenerating.
Specifically, sliding the energy regenerating stage, motor braking is mainly in order to simulate conventional engines traction braking process.During traditional vehicle braking, when not stepping on brake pedal, due to friction and the inertia resistance effect of driving engine, car load speed can be made to lower within a certain period of time, thus reach the object of deceleration.And when four-drive hybrid electric vehicle slides, because the friction drag of drive motor is very little, when chaufeur unclamps Das Gaspedal, car load deceleration can only rely on ground friction resistance to reduce the speed of a motor vehicle, and this can allow chaufeur not feel well, and therefore needs to carry out sliding energy regenerating.
2) when the speed of a motor vehicle is greater than certain value, and brake pedal is stepped on, then enter the subordinate phase of Brake energy recovery process, i.e. the Brake energy recovery stage.
Brake energy recovery has great importance on hybrid vehicle, but neither slide at every turn or step on brake pedal and braking energy can be reclaimed, and will consider other constraint conditions:
1) meet the safety requirements of braking, meet the brake custom of chaufeur;
2) power generation operation characteristic and the fan-out capability of drive motor is considered;
3) guarantee the safety of battery pack in process of charging, prevent from overcharging;
4) in conjunction with current motor rotating speed;
5) in conjunction with current high-pressure system fault;
6) in conjunction with current ABS service condition;
Specifically, when battery SOC (i.e. battery charge state) is greater than certain threshold values, high-tension battery charge efficiency is very low, and motor does not carry out Brake energy recovery.
When motor speed is less than certain threshold values, motor does not carry out Brake energy recovery.Due to when motor speed is smaller, motor, due to the effect of its counter electromotive force, can not carry out brake power generating.Therefore, just can energy regenerating be carried out when motor speed is greater than certain threshold values, otherwise, forbid Brake energy recovery.
Monitoring high-pressure system fault, mainly comprise key components and parts, as drive motor, high tension battery occur insulation fault, excess temperature, overvoltage, overcurrent and the restriction of motor speed maxim, when key components and parts breaks down, in order to ensure the safety of system works, forbid Brake energy recovery.
When ABS starts to act on, wheel is tending towards locking, now applies extra braking force again and car load can be caused to be in unstable operating mode, therefore, when ABS starts to act on, forbid Brake energy recovery.
Braking energy is reclaimed in order to maximize under the prerequisite ensureing braking safety, need the rational braking deceleration threshold value α of formulation one (namely presetting braking deceleration), the setting of this braking deceleration threshold value α must meet: 1) when braking deceleration is less than α, after preferential utilization, axis drive motor carries out Brake energy recovery, and residue brake torque distributes to front axle hydraulic braking; 2) when braking deceleration is greater than α, first carry out being equipped with guarantee brake torque distribution point in braking stabilized zone dividing of antero posterior axis brake torque, front axle adopts pure hydraulic braking, rear axle preferentially adopts rear axis drive motor to carry out Brake energy recovery, when rear axis drive motor cannot meet rear axle brake torque demand, more jointly completed by electric braking and rear axle hydraulic braking.Wherein, under the operating mode of city, α is preferably 1m/s2.The relation schematic diagram of motor braking moment, friction braking moment and total braking force square as shown in Figure 4.
Fig. 3 is the diagram of circuit of the control method of four-drive hybrid electric vehicle in accordance with another embodiment of the present invention.As shown in Figure 3, the method comprises the following steps:
Step S301, namely automobile is in motoring condition.
Step S302, entire car controller detects the signal such as the speed of a motor vehicle, Das Gaspedal, brake pedal, automotive battery SOC, ABS.
Step S303, judges whether Das Gaspedal is greater than 0.Namely judge whether automobile accelerator pedal is stepped on, if so, then perform step 305, otherwise perform step S304.
Step S304, when judging that automobile accelerator pedal is not stepped on, judges whether automobile brake pedal is stepped on further, if so, then performs step S306, otherwise performs step S314.
Step S305, when detecting that automobile accelerator pedal is stepped on, then exits flow process.
Step S306, when judging that brake pedal is stepped on, judges whether the SOC of automobile is less than or equal to SOC_max(and the maximum carrying capacity of battery further), if so, then perform step S307, otherwise perform step S319.
Step S307, when judging SOC≤SOC_max, judges whether automobile speed is more than or equal to the first preset vehicle speed Vel_min further, if so, then performs step S308, otherwise performs step S319.
Step S308, judges vehicle high voltage system whether trouble free, if so, then performs step S309, otherwise performs step S319.
Step S309, when judging that vehicle high voltage system is normal, judging further ABS whether un-activation, if so, then performing step S310, otherwise execution step S319.
Specifically, step S306 to step S309 is the process judging whether satisfied first motor braking condition.
Step S310, when determining automobile ABS un-activation, namely judging to meet the first motor braking condition, then judging whether automobile brake deceleration/decel is less than or equal to default braking deceleration α further, if so, then performing step S311, otherwise perform step S313.
Step S311, when judging automobile brake deceleration/decel≤α, judges whether motor torque capability meets braking requirement torque demand further, if so, then performs step S312, otherwise performs step S313.
Step S312, if when motor torque capability can meet braking requirement moment of torsion, then only carries out Brake energy recovery by rear drive motor.
Step S313, if when motor torque capability can not meet braking requirement moment of torsion, then motor carries out Brake energy recovery by torque peak ability, and the lock torque of deficiency is supplemented by hydraulic braking.
Step S314, when judgement Das Gaspedal is not stepped on and brake pedal is not stepped on, judges whether SOC is less than or equal to SOC_max further yet, if so, then performs step S315, otherwise perform step S318.
Step S315, when determining SOC≤SOC_max, judges whether the speed of a motor vehicle is more than or equal to Vel_min further, if so, then performs step S316, otherwise performs step S318.
Step S316, when judging the speed of a motor vehicle >=Vel_min, judging further high-pressure system whether trouble free, if so, then performing step S317, otherwise execution step S318.
Specifically, above-mentioned steps S314, to step S316, namely judges whether the process of satisfied second motor braking condition.
Step S317, when judging to meet the second motor braking condition, carrying out sliding energy and regaining.
Step S308, when judging not meet the second motor braking condition, forbid sliding energy regenerating, and motor braking moment is 0, hydraulic braking moment is 0.
Step S319, when judging not meet the first motor braking condition, adopting hydraulic braking, and forbidding that braking energy is regained.
About lock torque method of calculating as shown in Figure 5, specifically comprise:
1, sliding torque demand method of calculating is:
1) determine whether Current vehicle is in sliding state.
2) if be in sliding state, then according to the relation curve between the speed of a motor vehicle and coast braking torque, slided torque demand by current vehicle speed accordingly by question blank 1, wherein, following table 1 reflects the relation between the speed of a motor vehicle and coast braking torque.
| The speed of a motor vehicle (km/h) | Slide moment of torsion (Nm) |
| 0 | 0 |
| 7 | 0 |
| 15 | -10 |
| 30 | -20 |
| 40 | -22 |
| 50 | -25 |
| 60 | -27 |
| 70 | -28.5 |
| 80 | -31 |
| 90 | -31 |
| 100 | -31 |
| 120 | -31 |
| 140 | -31 |
Table 1
When vehicle sliding, motor carries out the torque curve of energy regenerating as shown in Figure 6.
Specifically, sliding the energy regenerating stage, motor braking is mainly in order to simulate conventional engines towing astern braking procedure.Because driving engine towing astern moment of torsion changes along with the change of engine speed, therefore, at coast period, motor slides energy regenerating moment of torsion also should be changed along with the change of the speed of a motor vehicle, instead of simple permanent moment of torsion controls, thus more meet the driving habit of traditional vehicle, add the comfort level of car brakeing or deceleration.
3) in conjunction with present battery SOC, determine currently can carry out sliding brake function energy regenerating.Specifically, when SOC presets state of charge higher than first, energy recovery function is forbidden.
4) in conjunction with current high-pressure system fault, determine currently can carry out sliding brake function energy regenerating.When there is high-pressure system fault, forbid energy recovery function.
5) based on rear axis drive motor at the current maximum generation moment of torsion that can provide, obtain axis drive motor power generation torque demand reasonably.
2, brake torque demand method of calculating is:
1) determine whether Current vehicle is in braking mode.
2) according to the relation curve between brake pedal aperture and chaufeur aggregate demand brake torque, corresponding aggregate demand brake torque is obtained by question blank 2 by current brake pedal aperture, again in conjunction with current vehicle speed situation, final calculating motor regenerative braking torque demand, wherein, following table 2 reflects the relation between brake pedal aperture and chaufeur aggregate demand brake torque.
Table 2
It should be noted that regenerative braking torque demand is not based on simple permanent moment of torsion or invariable power, but according to current vehicle speed and brake pedal aperture real-time change, more meet the driving habit of chaufeur under different driving cycle.Concrete regenerative braking torque method of calculating as shown in Figure 7.
As can be seen from Figure 7: when the speed of a motor vehicle is lower than the first pre-set velocity, motor does not carry out Brake energy recovery.
When brake pedal aperture is 0% < X%≤10%, only can meet car load lock torque demand by motor braking, therefore in this region, can carry out regenerative brake recovery by motor completely, now hydraulic brake system does not work.
When brake pedal aperture 10% < X%≤20%, if motor can meet car load lock torque demand, then carry out regenerative brake recovery separately by motor, now hydraulic brake system does not participate in work; When simple dependence motor braking cannot meet car load brake torque demand, need the mode adopting motor braking to combine with hydraulic braking, motor is with its maximum torque energy dynamic braking, and remaining is supplemented by hydraulic braking.
When brake pedal aperture X% >=30%, increasing along with brake pedal aperture, the lock torque of car load demand is also increasing, simple dependence motor braking is difficult to meet car load lock torque demand, therefore the braking ratio shared by hydraulic braking is increasing, and motor still carries out regenerative brake with its current maximum torque ability that can provide, remaining is supplemented by hydraulic braking.
3) in conjunction with present battery SOC, determine currently can carry out sliding brake function energy regenerating.When battery SOC is greater than the second default state-of-charge, mechanical braking sytem works independently, and motor does not carry out Brake energy recovery.
4) in conjunction with current vehicle speed, when the speed of a motor vehicle is lower than the second pre-set velocity, motor does not carry out Brake energy recovery.
5) in conjunction with current ABS mode of operation, when ABS starts to act on, wheel is tending towards locking, now applies extra braking force again and car load can be caused to be in unstable operating mode, therefore, when ABS starts to act on, forbid braking energy recovering function.
6) in conjunction with current high-pressure system fault, determine currently can carry out Brake energy recovery.When there is high-pressure system fault, forbid energy recovery function.
7) finally according to current brake deceleration/decel and rear axis drive motor at the current maximum generation moment of torsion that can provide, carry out brake torque distribution.
Specifically, braking energy is reclaimed in order to maximize under the prerequisite ensureing braking safety, need the rational braking deceleration threshold value α of formulation one, the setting of this braking deceleration threshold value α must meet: 1) when braking deceleration is less than α, after preferential utilization, axis drive motor carries out Brake energy recovery, and residue brake torque distributes to front axle hydraulic braking; 2) when braking deceleration is greater than α, first carry out being equipped with guarantee brake torque distribution point in braking stabilized zone dividing of antero posterior axis brake torque, front axle adopts pure hydraulic braking, rear axle preferentially adopts rear axis drive motor to carry out Brake energy recovery, when rear axis drive motor cannot meet rear axle brake torque demand, more jointly completed by electric braking and rear axle hydraulic braking.Thus, by above-mentioned Brake energy recovery strategy, finally obtain front axle hydraulic braking torque demand, rear axle hydraulic braking torque demand, rear axle motor braking torque demand.Wherein, it should be noted that and carrying out in brake torque assigning process, also want the Real-Time Monitoring speed of a motor vehicle, storage battery SOC, high-pressure system fault, ABS mode of operation, drive motor at the current maximum generation moment of torsion etc. that can provide, to ensure braking safety.
According to the control method of the four-drive hybrid electric vehicle of the embodiment of the present invention, current driver's lock torque demand is judged by increasing brake-pedal-travel sensor, the reasonable distribution of regenerative braking moment and hydraulic braking moment is carried out in different braking deceleration situations, after preferentially adopting when Brake energy recovery, axis drive motor carries out Brake energy recovery, to improve car load Brake energy recovery efficiency.In addition, carrying out in braking procedure, the Real-Time Monitoring speed of a motor vehicle, storage battery SOC, high-pressure system fault, ABS mode of operation, drive motor at the current maximum generation moment of torsion etc. that can provide, to ensure braking safety.Thus the method can realize carrying out regenerative brake recovery by motor completely, under the prerequisite ensureing car load brake safe, carry out Brake energy recovery substantially, improve car load Brake energy recovery efficiency.Further, motor regenerative braking torque demand, according to current vehicle speed and brake pedal aperture real-time change, meets the driving habit of chaufeur under different driving cycle more, and therefore, the method also can improve automobile brake traveling comfort.
In the description of this specification sheets, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present invention and aim, scope of the present invention is by claim and equivalency thereof.
Claims (10)
1. a control method for four-drive hybrid electric vehicle, is characterized in that, comprises the following steps:
Whether A: in four-drive hybrid electric vehicle driving process, detect brake pedal and be operated;
B: if described brake pedal is operated, then judge whether satisfied first motor braking condition further;
C: if meet described first motor braking condition, then judge whether the available maximum motor lock torque of the rear axis drive motor of described vehicle is more than or equal to braking requirement moment further; And
D: if then provide the motor braking moment identical with described braking requirement moment to brake described vehicle by described rear axis drive motor, and carry out motor braking energy regenerating.
2. method according to claim 1, is characterized in that, after described step C, also comprises:
If judge that the rear axis drive motor available maximum motor lock torque of described vehicle is less than described braking requirement moment, then described rear axis drive motor is braked described vehicle with described maximum motor lock torque, and carry out motor braking energy regenerating, meanwhile, carry out braking by hydraulic braking to vehicle to compensate with the braking requirement meeting described vehicle.
3. method according to claim 1, is characterized in that, after described step B, also comprises:
If judge not meet described first motor braking condition, then by hydraulic braking, hydraulic braking is carried out to meet the braking requirement of described vehicle to described vehicle.
4. the method according to any one of claim 1-3, is characterized in that, wherein, when meeting following condition, judges to meet described first motor braking condition:
The state-of-charge of the power accumulator of described vehicle is less than or equal to the first default state-of-charge, the current vehicle speed of described vehicle is more than or equal to the first pre-set velocity, the high-pressure system of described vehicle is normal and the ABS antiblock device un-activation of described vehicle.
5. method according to claim 1, is characterized in that, after described steps A, also comprises:
If detect described brake pedal not to be operated and described Das Gaspedal is not operated, then judge whether satisfied second motor braking condition further;
If judge to meet described second motor braking condition, then provide sliding brake function demand torque to brake described vehicle by described rear axis drive motor, and carry out motor braking energy regenerating.
6. method according to claim 5, is characterized in that, also comprises:
If judge not meet described second motor braking condition, then forbid braking described vehicle.
7. the method according to claim 5 or 6, is characterized in that, wherein, when meeting following condition, judges to meet described second motor braking condition:
The state-of-charge of the power accumulator of described vehicle is less than or equal to the second default state-of-charge, the current vehicle speed of described vehicle is more than or equal to the second pre-set velocity and the high-pressure system of described vehicle is normal.
8. method according to claim 1, is characterized in that, described braking requirement moment is calculated by brake pedal depth value.
9. method according to claim 8, is characterized in that, described brake pedal depth value detects according to brake-pedal-travel sensor and obtains.
10. method according to claim 1, is characterized in that, wherein, when braking deceleration is less than or equal to default braking deceleration, judges that the available maximum motor lock torque of the rear axis drive motor of described vehicle is more than or equal to braking requirement moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310456408.5A CN104512410A (en) | 2013-09-29 | 2013-09-29 | Control method for four-wheel drive hybrid electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310456408.5A CN104512410A (en) | 2013-09-29 | 2013-09-29 | Control method for four-wheel drive hybrid electric vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104512410A true CN104512410A (en) | 2015-04-15 |
Family
ID=52788420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310456408.5A Pending CN104512410A (en) | 2013-09-29 | 2013-09-29 | Control method for four-wheel drive hybrid electric vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104512410A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427602A (en) * | 2016-10-25 | 2017-02-22 | 北京新能源汽车股份有限公司 | Control method and device of brake system |
| CN107226081A (en) * | 2016-03-24 | 2017-10-03 | 大众汽车有限公司 | For running the method for drive device and drive device for hybrid vehicle |
| CN107364339A (en) * | 2017-06-30 | 2017-11-21 | 奇瑞汽车股份有限公司 | The control method of twin shaft bi-motor four-wheel drive pure electric vehicle regeneration brake system |
| CN107415704A (en) * | 2017-07-31 | 2017-12-01 | 北京新能源汽车股份有限公司 | Composite braking method, apparatus and adaptive learning algorithms device |
| CN108045234A (en) * | 2017-12-19 | 2018-05-18 | 南昌工程学院 | A kind of braking energy of electric automobiles recovery method of high security |
| CN108545071A (en) * | 2018-04-03 | 2018-09-18 | 中机生产力促进中心 | A kind of regenerating brake control method of hydraulic braking and electric braking Collaborative Control |
| CN108609005A (en) * | 2018-06-14 | 2018-10-02 | 清华大学 | The control method of vehicle braking, apparatus and system |
| CN108860111A (en) * | 2018-06-28 | 2018-11-23 | 北京新能源汽车股份有限公司 | A kind of hydraulic braking decline compensating control method, device and automobile |
| CN109591605A (en) * | 2018-12-27 | 2019-04-09 | 浙江合众新能源汽车有限公司 | A kind of parallel Brake energy recovery control method of pure electric automobile and system |
| CN109955721A (en) * | 2017-12-25 | 2019-07-02 | 陕西汽车集团有限责任公司 | A kind of electric vehicle brake control strategy based on ABS |
| CN110077390A (en) * | 2019-03-22 | 2019-08-02 | 中国第一汽车股份有限公司 | A kind of DCT transmission control method and system for supporting 48V energy regenerating |
| CN110497797A (en) * | 2018-05-18 | 2019-11-26 | 罗伯特·博世有限公司 | Energy recovery control method, energy recovery control system, computer storage medium and automobile |
| CN111791714A (en) * | 2020-07-22 | 2020-10-20 | 摩登汽车有限公司 | Electric vehicle braking energy recovery control method |
| CN111923733A (en) * | 2020-07-14 | 2020-11-13 | 宝能(广州)汽车研究院有限公司 | Sliding energy recovery method and system, electric vehicle and computer readable storage medium |
| CN112208344A (en) * | 2020-10-21 | 2021-01-12 | 奇瑞汽车股份有限公司 | Pure electric vehicle braking energy recovery control method and simulation method thereof |
| CN112389393A (en) * | 2019-08-14 | 2021-02-23 | 比亚迪股份有限公司 | Brake system, control method and device thereof, storage medium and controller |
| CN114802166A (en) * | 2022-05-10 | 2022-07-29 | 北京汽车集团越野车有限公司 | Control method for keeping constant pedal feeling of automobile |
| CN114872683A (en) * | 2022-05-20 | 2022-08-09 | 一汽解放汽车有限公司 | Vehicle control method, vehicle control device, computer equipment and storage medium |
| CN115140001A (en) * | 2022-08-17 | 2022-10-04 | 杭叉集团股份有限公司 | Electric-hydraulic composite braking system for reloading electric forklift and control method |
| CN115214577A (en) * | 2021-12-17 | 2022-10-21 | 广州汽车集团股份有限公司 | Control method and system for braking hydraulic compensation and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003250202A (en) * | 2001-12-19 | 2003-09-05 | Toyota Motor Corp | Device for control of regeneration of vehicle, and automobile |
| CN101073992A (en) * | 2007-06-25 | 2007-11-21 | 江苏大学 | Regenerative and conventional brake integrated controller and its control based on ABS for automobile |
| CN102139694A (en) * | 2010-12-30 | 2011-08-03 | 中国第一汽车集团公司 | Regenerative braking control method for hybrid power car |
| CN102343824A (en) * | 2010-07-30 | 2012-02-08 | 北汽福田汽车股份有限公司 | Regenerative braking control method of electric car and device thereof |
| CN102398525A (en) * | 2010-09-13 | 2012-04-04 | 北汽福田汽车股份有限公司 | Brake energy recovery system and method of electric vehicle |
| CN102991496A (en) * | 2011-09-15 | 2013-03-27 | 北汽福田汽车股份有限公司 | Energy recycling control method and system used for hybrid electric vehicle |
-
2013
- 2013-09-29 CN CN201310456408.5A patent/CN104512410A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003250202A (en) * | 2001-12-19 | 2003-09-05 | Toyota Motor Corp | Device for control of regeneration of vehicle, and automobile |
| CN101073992A (en) * | 2007-06-25 | 2007-11-21 | 江苏大学 | Regenerative and conventional brake integrated controller and its control based on ABS for automobile |
| CN102343824A (en) * | 2010-07-30 | 2012-02-08 | 北汽福田汽车股份有限公司 | Regenerative braking control method of electric car and device thereof |
| CN102398525A (en) * | 2010-09-13 | 2012-04-04 | 北汽福田汽车股份有限公司 | Brake energy recovery system and method of electric vehicle |
| CN102139694A (en) * | 2010-12-30 | 2011-08-03 | 中国第一汽车集团公司 | Regenerative braking control method for hybrid power car |
| CN102991496A (en) * | 2011-09-15 | 2013-03-27 | 北汽福田汽车股份有限公司 | Energy recycling control method and system used for hybrid electric vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 喻中朋: "基于制动工况的混合动力客车再生制动控制策略研究", 《中国优秀硕士学位论文全文数据库》 * |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107226081A (en) * | 2016-03-24 | 2017-10-03 | 大众汽车有限公司 | For running the method for drive device and drive device for hybrid vehicle |
| CN107226081B (en) * | 2016-03-24 | 2021-05-14 | 大众汽车有限公司 | Method for operating a drive and drive for a hybrid vehicle |
| CN106427602A (en) * | 2016-10-25 | 2017-02-22 | 北京新能源汽车股份有限公司 | Control method and device of brake system |
| CN106427602B (en) * | 2016-10-25 | 2019-12-13 | 北京新能源汽车股份有限公司 | control method and control device of brake system |
| CN107364339A (en) * | 2017-06-30 | 2017-11-21 | 奇瑞汽车股份有限公司 | The control method of twin shaft bi-motor four-wheel drive pure electric vehicle regeneration brake system |
| CN107415704A (en) * | 2017-07-31 | 2017-12-01 | 北京新能源汽车股份有限公司 | Composite braking method, apparatus and adaptive learning algorithms device |
| CN107415704B (en) * | 2017-07-31 | 2020-05-22 | 北京新能源汽车股份有限公司 | Composite braking method and device and adaptive cruise controller |
| CN108045234B (en) * | 2017-12-19 | 2018-09-28 | 南昌工程学院 | A kind of braking energy of electric automobiles recovery method of high security |
| CN108045234A (en) * | 2017-12-19 | 2018-05-18 | 南昌工程学院 | A kind of braking energy of electric automobiles recovery method of high security |
| CN109955721A (en) * | 2017-12-25 | 2019-07-02 | 陕西汽车集团有限责任公司 | A kind of electric vehicle brake control strategy based on ABS |
| CN108545071A (en) * | 2018-04-03 | 2018-09-18 | 中机生产力促进中心 | A kind of regenerating brake control method of hydraulic braking and electric braking Collaborative Control |
| CN108545071B (en) * | 2018-04-03 | 2020-07-03 | 中机生产力促进中心 | Regenerative braking control method for cooperative control of hydraulic braking and electric braking |
| CN110497797A (en) * | 2018-05-18 | 2019-11-26 | 罗伯特·博世有限公司 | Energy recovery control method, energy recovery control system, computer storage medium and automobile |
| CN108609005A (en) * | 2018-06-14 | 2018-10-02 | 清华大学 | The control method of vehicle braking, apparatus and system |
| CN108860111B (en) * | 2018-06-28 | 2020-04-28 | 北京新能源汽车股份有限公司 | Hydraulic brake fade compensation control method and device and automobile |
| CN108860111A (en) * | 2018-06-28 | 2018-11-23 | 北京新能源汽车股份有限公司 | A kind of hydraulic braking decline compensating control method, device and automobile |
| CN109591605A (en) * | 2018-12-27 | 2019-04-09 | 浙江合众新能源汽车有限公司 | A kind of parallel Brake energy recovery control method of pure electric automobile and system |
| CN110077390A (en) * | 2019-03-22 | 2019-08-02 | 中国第一汽车股份有限公司 | A kind of DCT transmission control method and system for supporting 48V energy regenerating |
| CN112389393A (en) * | 2019-08-14 | 2021-02-23 | 比亚迪股份有限公司 | Brake system, control method and device thereof, storage medium and controller |
| CN112389393B (en) * | 2019-08-14 | 2022-03-18 | 比亚迪股份有限公司 | Brake system, control method and device thereof, storage medium and controller |
| CN111923733A (en) * | 2020-07-14 | 2020-11-13 | 宝能(广州)汽车研究院有限公司 | Sliding energy recovery method and system, electric vehicle and computer readable storage medium |
| CN111791714A (en) * | 2020-07-22 | 2020-10-20 | 摩登汽车有限公司 | Electric vehicle braking energy recovery control method |
| CN112208344A (en) * | 2020-10-21 | 2021-01-12 | 奇瑞汽车股份有限公司 | Pure electric vehicle braking energy recovery control method and simulation method thereof |
| CN115214577A (en) * | 2021-12-17 | 2022-10-21 | 广州汽车集团股份有限公司 | Control method and system for braking hydraulic compensation and storage medium |
| CN115214577B (en) * | 2021-12-17 | 2023-08-15 | 广州汽车集团股份有限公司 | Control method, system and storage medium for brake hydraulic compensation |
| CN114802166A (en) * | 2022-05-10 | 2022-07-29 | 北京汽车集团越野车有限公司 | Control method for keeping constant pedal feeling of automobile |
| CN114802166B (en) * | 2022-05-10 | 2023-06-20 | 北京汽车集团越野车有限公司 | Control method for keeping pedal feel of automobile constant |
| CN114872683A (en) * | 2022-05-20 | 2022-08-09 | 一汽解放汽车有限公司 | Vehicle control method, vehicle control device, computer equipment and storage medium |
| CN115140001A (en) * | 2022-08-17 | 2022-10-04 | 杭叉集团股份有限公司 | Electric-hydraulic composite braking system for reloading electric forklift and control method |
| CN115140001B (en) * | 2022-08-17 | 2024-05-03 | 杭叉集团股份有限公司 | Electro-hydraulic composite braking system of reloading electric forklift and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104512410A (en) | Control method for four-wheel drive hybrid electric vehicle | |
| CN103231658B (en) | Electrobus brake system and control method thereof | |
| CN204236461U (en) | For controlling the system of hybrid electric vehicle (HEV) power system used | |
| US8655532B2 (en) | System and method for operating a hybrid vehicle | |
| KR102371248B1 (en) | Method for controlling e-4wd hybrid vehicle | |
| CN102381178B (en) | Plug-in hybrid electric vehicle power system and regenerative brake control method for same | |
| CN102343824B (en) | Braking energy recovery control method of electric car and device thereof | |
| CN110481329B (en) | Braking energy recovery control method for electric bus | |
| CN101691118B (en) | Motor-assistant driving mode control method of hybrid electric vehicle | |
| KR102574116B1 (en) | Vehicle and method for controlling the vehicle | |
| KR101272515B1 (en) | Auto cruise control method for electric vehicle | |
| CN110576750A (en) | braking energy recovery system of hydrogen fuel cell automobile | |
| CN104619565A (en) | Hybrid vehicle | |
| CN101395030A (en) | Vehicle drive device and method of controlling vehicle drive device | |
| CN104228591A (en) | Recovered braking energy recovery control method and device | |
| CN106800020A (en) | A kind of four-wheel-drive hybrid power system and its control method | |
| CN104309490A (en) | Device and method for recovering brake energy of electric vehicle | |
| CN103419616A (en) | All-wheel-drive hybrid electric vehicle and control method thereof | |
| JP5445676B2 (en) | Vehicle control device | |
| CN104245387A (en) | Vehicle, and vehicle control method | |
| CN102874122B (en) | Start and stop control method for extended range type electric motor car engine | |
| CN102897041B (en) | A kind of four-wheel-drive hybrid power system regenerative braking torque distribution method | |
| CN101898558A (en) | Method for controlling drive modes of four-wheel drive strong hybrid automobile | |
| Yeo et al. | Regenerative braking algorithm for a HEV with CVT ratio control during deceleration | |
| CN201677876U (en) | Hybrid four-wheel type electric drive system for vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180416 Address after: No. 188, Miyun District, Miyun District, Beijing, Beijing Applicant after: Beijing treasure Car Co., Ltd. Address before: 102206 Changping District City, Shahe, Sha Yang Road, Beijing Applicant before: Beiqi Futian Automobile Co., Ltd. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150415 |