CN105473395B - 车辆 - Google Patents

车辆 Download PDF

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Publication number
CN105473395B
CN105473395B CN201480040659.8A CN201480040659A CN105473395B CN 105473395 B CN105473395 B CN 105473395B CN 201480040659 A CN201480040659 A CN 201480040659A CN 105473395 B CN105473395 B CN 105473395B
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CN
China
Prior art keywords
vehicle
brake
barrier
brakes
brake monitor
Prior art date
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Application number
CN201480040659.8A
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English (en)
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CN105473395A (zh
Inventor
迪格兰·欧米查尔
马修·克伦普顿
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Bentley Motors Ltd
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Bentley Motors Ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/10—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0007—Measures or means for preventing or attenuating collisions
    • B60L3/0015—Prevention of collisions
    • 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
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • 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
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/80—Time limits
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60L2250/00—Driver interactions
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
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    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
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    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

一种车辆，例如汽车，包括摩擦1和再生3，4，5制动系统。一传感器15用于探测车辆路径上的障碍物，和一制动控制器5：当被用户操作时，自动调用任一或者两制动系统，以减速车辆，使得当所述车辆与所述障碍物之间为一预定距离时，其速度与对应的障碍物的速度相对应。制动控制器被配置用于调用所述制动系统，优化所述再生制动系统对动能的回收。制动控制器可以在标准模式下工作，此时，其调用制动系统以根据驾驶员的输入向车辆提供减速力。制动控制器可以被制动踏板9控制。该踏板沿其行程具有一停止位置，在该停止位置，其继续行进的阻力临时性增加，并且，该踏板超越该位置的操作触发制动控制器在标准模式下工作。

Description

车辆
技术领域
本发明涉及一种车辆，特别地，但不限于一种汽车，其具有摩擦和再生制动系统。
背景技术
汽车具有电动推进系统，例如，内燃机、电动牵引马达和电动电池混合驱动系统，以及纯电动车辆，通常布置有再生制动装置，以回收和储存车辆的动能，用于推进车辆。这得益于电动牵引马达的反向作用，作为发电机，它将来自于车辆车轮的旋转动能转换为电能储存于车辆的电动电池中。
由于电动牵引马达容量和电动牵引系统的其他特性，这些再生制动系统并不能像传统的摩擦制动系统消耗速率一样迅速地吸收能量，并且，它们对能量的吸收能力会随操作条件，例如车辆速度，而改变。因此，摩擦制动系统通常被提供，作为再生系统的补充和备份，制动控制系统被提供用于在摩擦制动系统和再生系统之间分配制动作用力。该制动控制系统通常被配置用于在两种制动系统之间分配制动作用力，使得能量回收率达到最大，同时，保持传统摩擦制动系统对驾驶员的感觉。
在实际应用中，再生制动系统回收的能量的量受到驾驶员驾驶风格的限制。重型制动通常同时需要再生制动器和摩擦制动器来操作。每当摩擦制动器被调用的能量散失时，其无法以其他的方式被回收。
本发明实施例试图解决这一问题。
发明内容
根据本发明提供的车辆，包括摩擦制动系统和再生制动系统，一传感器，用于检测车辆行驶路径上的障碍物，和，一制动控制器，可被用户自动调用，和/或，制动系统，用于使车辆减速，使得，当车辆与所述障碍物之间为一预定距离时，车辆的速度与所述障碍物的速度相对应，制动控制器被配置用于调用制动系统，用于优化被再生制动系统回收动能。
提供制动系统的自动控制有助于避免驾驶员的驾驶风格对制动系统回收能量的能力的影响。该系统能够使车辆减速，使得，其速度与所述障碍物的速度相对应，该系统不仅用于减慢车速直至制动，还用于减慢车速至与在其前方行驶的速度较慢的车的速度。
为了优化能量回收率，当车辆减速时，制动控制器可以被操作，使得利用再生制动系统与摩擦制动系统的比最大。
制动控制器可以调用所述制动系统，使车辆基本实现线性减速。这种方法能够减少摩擦制动对再生制动的补充需求。
当用户应用该系统为车辆减速时，制动控制器可被配置用以设定一目标减速速率。当减速速率低于阈值时，制动控制器仅应用再生制动。当减速速率高于阈值时，制动控制器同时应用再生制动和摩擦制动。
制动控制器可选择性地在一标准模式下工作，在该标准模式下，其根据用户的输入，调用制动系统以提供制动力。
车辆可以包括一制动控制，例如一制动踏板。所述控制可以弹性偏向一释放位置。所述控制具有一停止位置，在所述停止位置，其继续行进的阻力临时性增加，所述控制的初始操作可以触发控制器自动调用所述制动系统中的任一或者所述两制动系统，使得，当车辆与所述障碍物之间的到达所述预定距离时，其速度与所述障碍物相对应，目的是优化由再生制动系统对动能的回收。当所述控制超越所述继续行进的阻力临时性增加的位置时，可以触发所述制动控制器在标准模式下工作。
制动控制的运行阻力可以通过对一执行器的操作而增加。这使得对运行阻力的增加能够有选择性地提供，结果是，只有制动系统处于自动模式下时，增加阻力的需求才被应用。
在传感器无法检测到任何障碍物的情况下，制动控制器可以在标准模式下工作。
再生制动系统可以包括一电机，所述电机驱动连接于车辆的一个或者多个车轮，当车辆的车轮旋转时，所述电机被操作产生电流，还包括一电池，或者其他能够储存电能的储存装置。
所述车辆可以是汽车。
附图说明
为了使本发明更加清楚地被理解，仅通过示例的方式对实施例进行描述，并附随参考附图，其中：
图1是一安装有再生制动系统、摩擦制动系统和制动控制系统的汽车的示意图；
图2是图1的制动控制系统的进一步细节示意图；
图3是制动控制器的进一步细节示意图；
图4是自动制动操作模式的流程图；
图5是表明驱动程序如何选择自动模式的流程图；
图6是汽车的速度与时间关系图；和
图7是汽车车头时距与时间关系图。
具体实施方式
关于这些附图，和最开始的图1，汽车被提供了一摩擦制动系统。其包括与车辆的四个车轮2一一对应的传统的液压盘式制动器1，汽车还被提供了一再生制动系统。其包括与汽车的后轮驱动连接的电机3。为了使汽车减速，电机3作为发电机，以将汽车移动的动能转换为电能，所述电能被存储于电池4。
电机3还可以利用电池4，和/或，内燃机产生的能量驱动汽车。汽车可以是电动车辆或者混合动力车辆。
摩擦制动系统和再生制动系统受控于制动控制系统5，图2显示得更加详细。
通过操作制动主缸7，液压驱动系统6驱动制动盘1，该制动主缸7具有一关联的储液罐，通过稳定控制单元8，储液罐可以对从制动主缸7中流动至管路中的液压流体施加压力，使其流向对应的制动盘1。摩擦制动器被制动踏板9操作，制动踏板9连接于液压驱动系统6。连续操作制动主缸7导致液压系统的液体压力连续增加，因此，制动作力逐渐增加。稳定控制单元8能够根据感测参数被操作，以改变施加于一个或多个车轮2关联的制动盘1的制动流体压力，以保持车辆的稳定性，例如，以防止车轮锁定。
制动踏板9通过一适合的弹性装置，如弹簧，被弹性偏置于一无制动作用力施加的释放位置。
再生制动系统由制动控制器10驱动，也连接于制动踏板。制动控制器10包括一用于确定制动踏板位置的传感器11，一控制系统12，用于使电机3向电池4提供电流，从而使汽车制动，一执行器13，用于提供额外的反作用力，从而，通过敦促制动踏板9趋向释放位置驱动制动踏板9，和，一处理器14，可操作地连接于制动控制器10的其他组件和液压驱动系统6。执行器13用于有选择性地为制动踏板9的操作提供阻力。处理器14还可操作第连接于车头时距探测器15，例如，面向前方的相机，和/或，雷达。车头时距探测器15是可操作的，以感知在汽车路径上障碍物的存在，并且，确定汽车与该障碍物之间的距离。该障碍物可以是，例如，一物理障碍物，例如其他车辆，移动的，或者静止的，或者交通控制标志，例如，交通信号灯或者使是汽车有停止义务的停止标志。
在驾驶员踩下制动踏板产生制动请求信号时，制动控制器10是可操作的，以控制应用摩擦(通过液压驱动系统6)制动器和再生(通过电气控制系统12)制动器，从而，为汽车提供期望的制动力，同时，优化电池能量的回收。制动控制系统具有两个操作，用户选择操作，模式操作。
第一种模式是一种标准模式。在这种模式下，制动控制系统试图应用基于制动踏板位置的制动力。在这种模式下，制动控制系统试图为驾驶员提供传统摩擦制动系统的感觉，同时，优化能量回收。因此，当电池未被完全充满时，控制系统试图最大限度地应用再生制动系统回收能量，但是，在需要时，将会应用摩擦制动器，以获取需要的制动力。这种操作模式是配有再生制动器和摩擦制动器的车辆中已知的，因此，此处不再赘述更进一步的细节。
第二种模式是一种自动模式。在这种模式下，当处于汽车路径上的障碍物被车头时距探测器15探测到并且驾驶员踩下制动踏板时，制动控制系统根据获得的车头时距自动确定应用的制动力。这种模式的操作通过图4所示的流程图加以说明。首先，车距探测器探测到在汽车路径上的障碍物，并且确定汽车与该障碍物之间的距离。随后，该确定的距离的变化率与车辆(以车轮为基准测量)的速度的比用于确定障碍物的速度。根据障碍物的速度，汽车与障碍物之间的期望间隔从而能够计算得到。在障碍物处于静止状态之处，预定的最小间隔被选定。在障碍物处于远离该车辆状态之处，根据公知的良好的驾驶实践，选取车辆与障碍物之间的安全距离作为选定的间隔。然后将期望间隔从车辆与障碍物之间的距离中扣除，确定车辆的车头时距。
然后期望减速率被计算得到，以减小汽车的速度至车头时距路径上障碍物的速度，使得，当达到期望间隔时，车辆的速度与障碍物的速度一致，同时，优化能量回收。根据车辆与车辆的不同，优化能量回收的适合的方法也不同，但是，一般来说，一般的先行减速是首选。根据驾驶员对制动器的应用，制动控制器根据期望的减速速率，可选择地应用其中一种或者两种制动系统。如果减速速率低于一阈值，可以只调用再生制动系统。如果减速速率高于该阈值，再生和摩擦系统均被调用。控制器还可以根据车辆速度可选择地应用其中一种或者两种制动系统。例如，摩擦制动器只有在车辆速度降低至一再生制动器效果变小的低水平时才被应用。
汽车减速的过程说明在附图4中被重复，并且，减速速率和制动力被修正至适合。例如，在障碍物为一移动的车辆之处，并且，该车辆正在减速时，汽车的减速速率需要被增加，目的是保持该汽车与该车辆之间的安全间隔。
驾驶员可以选择是否有该自动制动模式可供选择的操作模式的车辆使用。例如，车辆可以具有正常的和生态的整体操作模式，并且，当生态的模式被选择时，自动制动模块处于可用状态。当自动模式处于可用状态时，如图5所示。
车头时距探测器持续寻找确定障碍物，从而使得汽车的车头时距被计算。在没有障碍物被探测到时，制动系统处于标准模式。当障碍物被探测到，使得车头时距和期望减速速率被计算，自动制动模式处于可用状态。下压制动踏板时，自动系统被启用，并且，制动控制器会应用制动器，在能量最大限度回收的目标下优化减速。同时，执行器13被操作，以提供阻力，使得制动踏板被压下至其被完全下压位置的20％左右。同时，踏板保持在其第一20％行程，制动系统的自动模式启动，并且，减速速率在不考虑踏板位置的情况下被自动控制。
在下压制动踏板至其行程的20％过程中，驾驶员会感觉到阻力，如同制动位置接近。从而，向驾驶员发出信号，告知制动系统正处于自动模式下。如果驾驶员下压制动踏板未超过阻力点，制动系统会保持在自动模式。如果驾驶员下压制动踏板超过阻力点，执行器将停止抵抗下压制动踏板，并且，制动系统会立即恢复至标准模式，并应用基于踏板位置的制动力。一旦系统已经切换至标准模式，它将不会恢复至自动模式，直至制动踏板被完全释放，并被再次应用，并且障碍物被车辆车头时距探测器探测到。这使得驾驶员能够很容易地取消自动模式，并且意味着，一旦自动模式失败导致潜在的碰撞，驾驶员出于本能更用力地下压制动踏板使车辆停止将会导致自动模式被解除。
自动制动模式的提供帮助驾驶员在驾驶装有再生制动系统的车辆时，优化能量回收。一般而言，与从摩擦制动系统获得的减速程度相比，从再生制动系统获得的减速程度是有限的。因此，在重型制动过程中，摩擦制动系统必须被应用，从而获得期望减速。当摩擦制动系统被应用时，能量以热能的形式被消散，其可能已经被再生系统回收。图6和7表明，虚线表示在汽车接近一静止的障碍物过程中的典型的汽车减速路径，并且，车头时距也相应减少。当障碍物被驾驶员感知到时，驾驶员轻轻地应用制动器，并且，开始逐渐减速车辆。制动器正在工作并且他或她已经控制了车辆，这有助于使驾驶员放心。但是，驾驶员可能使得在车辆车头时距在其向制动器增加压力使车辆快速减速之前显著减小。事实上，车头时距到达了最小值，然后，在车辆减速过程中，略有增加。更快的减速通常需要应用摩擦制动器，并且，在这种减速过程中，汽车的大部分动能被消散。图6和图7中的实线表明了制动控制系统已经在自动模式下进行干预的相应情况。在这里，从驾驶员最初应用该制动器至与障碍物之间具有一适当的距离过程中，车辆基本上已经呈线性减速。因此，车辆的减速速率基本上是恒定的，并且，该速率远低于重型制动阶段被驾驶员控制的例子。该较低的减速速率能够使得制动力中，由再生制动系统提供的比例有所增加(如果不是全部)，因此，提高了能量回收率。
上述实施例仅通过实例进行说明。在不脱离本发明所附的权利要求定义范围内的许多变化都是可能的。

Claims (10)

1.一种车辆，其特征在于，包括
摩擦制动系统，
再生制动系统，
一传感器：用于探测处于车辆路径上的障碍物，和，
一制动控制器：通过用户的操作，自动调用任一制动系统或者两制动系统，用于减速车辆，使得，当所述车辆与所述障碍物之间为一预定距离时，其速度与所述障碍物的速度相对应，所述制动控制器被配置为，用于调用制动控制系统，从而优化所述再生制动系统对动能的回收；
所述制动控制器可选择地在一标准模式下操作，在所述标准模式下，其根据驾驶员的输入，调用制动系统，以为所述车辆提供制动力；
还包括一制动控制，所述控制沿其行程具有一停止位置，在所述停止位置，其继续行进的阻力临时性增加，并且，所述控制的初始操作触发制动控制器自动调用任一或者两制动系统，以减速所述车辆，使得，当所述车辆与所述障碍物之间为一预定距离时，其速度与所述障碍物的速度相对应，从而优化通过再生制动系统回收动能，并且，当所述控制超越所述继续行进的阻力临时性增加的位置时，触发所述制动控制器在标准模式下工作。
2.根据权利要求1所述的车辆，其特征在于，在所述车辆减速过程中，与所述摩擦制动系统相比较，所述制动控制器用于最大限度地利用所述再生制动系统。
3.根据权利要求1或2所述的车辆，其特征在于，所述制动控制器调用所述制动系统，使得所述车辆基本上呈线性减速。
4.根据权利要求1所述的车辆，其特征在于，所述制动控制器被配置为，当用户对其进行操作时，确定一期望减速速率。
5.根据权利要求4所述的车辆，其特征在于，当所述减速速率低于一阈值时，所述制动控制器只应用再生制动。
6.根据权利要求4所述的车辆，其特征在于，当所述减速速率高于一阈值时，所述制动控制器应用再生制动和摩擦制动。
7.根据权利要求1所述的车辆，其特征在于，还包括一执行器，用于增加制动踏板行进的阻力。
8.根据权利要求1或7所述的车辆，其特征在于，在所述传感器无法检测到任何障碍物的情况下，所述制动控制器在所述标准模式下工作。
9.根据权利要求1或7所述的车辆，其特征在于，所述再生制动系统还包括：
一电机，所述电机驱动连接于所述车辆的一个或者多个车轮，用于在所述车辆的车轮旋转时，产生电流；
一储存装置，用于储存电能。
10.根据权利要求1或7所述的车辆，其特征在于，所述车辆是汽车。
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