CN106427597A - Control method and device of braking system - Google Patents

Control method and device of braking system Download PDF

Info

Publication number
CN106427597A
CN106427597A CN201610937095.9A CN201610937095A CN106427597A CN 106427597 A CN106427597 A CN 106427597A CN 201610937095 A CN201610937095 A CN 201610937095A CN 106427597 A CN106427597 A CN 106427597A
Authority
CN
China
Prior art keywords
brake pedal
motor
braking torque
signal
aperture
Prior art date
Application number
CN201610937095.9A
Other languages
Chinese (zh)
Inventor
李玮
代康伟
梁海强
张小帅
Original Assignee
北京新能源汽车股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京新能源汽车股份有限公司 filed Critical 北京新能源汽车股份有限公司
Priority to CN201610937095.9A priority Critical patent/CN106427597A/en
Publication of CN106427597A publication Critical patent/CN106427597A/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L7/00Electrodynamic brake systems for vehicles in general
    • B60L7/10Dynamic electric regenerative braking
    • B60L7/18Controlling the braking effect
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/745Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder

Abstract

The invention provides a control method and device of a braking system. The control method of the braking system includes the steps that current battery state signals output by a battery management system are acquired; required braking torque is distributed to a driving motor and a hydraulic braking unit according to the battery state signals, and a vehicle is controlled through the driving motor and the hydraulic braking unit according to the first required braking torque distributed to the driving motor and the second required braking torque distributed to the hydraulic braking unit. According to the control method and device of the braking system, firstly, a braking demand of a driver is analyzed and the required braking torque is obtained through calculation according to current braking signals firstly, and then the braking torque is reasonably distributed to the driving motor and the hydraulic braking unit according to battery and motor states.

Description

A kind of control method of brakes and control device
Technical field
The present invention relates to technical field of automobile design, more particularly to a kind of control method of brakes and control device.
Background technology
Currently pure electric automobile both domestic and external is most provides vacuum source using electric vacuum pump for force aid system for braking, And braking function is finally realized by brake fluid system, this control program has the characteristics that Maturity is high(Except Motorized vacuum The outer system of pump is consistent with system fuel vehicle substantially, is reduced again development risk, is shortened the construction cycle), but the opposing party Face, electric vacuum pump is installed in the brake line of vehicle as additional mechanism providing additional operation with vacuum tank, increased the structure of brakes Complexity and global reliability, while also limit the raising of systematic function, for this problem, line control brake system becomes The study hotspot in current pure electric automobile field both at home and abroad.
Pure electric automobile is travelled by Motor drive, and its energy is entirely derived from the high voltage power battery of itself, existing In the stage, power battery technology not yet obtains breakthrough, and the energy density of battery remains the master of restriction pure electric automobile continual mileage Reason is wanted, under this background, the energy ecology for improving pure electric automobile becomes currently each automobile vendor and scientific research institution Hot research problem.As pure electric automobile is by Motor drive, which can enter for electrokinetic cell in braking or taxiing procedures Row charges, and therefore currently most of pure electric automobiles are provided with energy recovery function, to increase the continual mileage of vehicle and improve Energy ecology.When driver executes brake operating, energy regenerating can all produce braking moment with line control brake system, but Rationally efficient distribution method based on braking moment during the braking of battery electric vehicle of line control brake system is at present both at home and abroad all There is not ripe solution.
Content of the invention
Embodiment of the present invention technical problem to be solved is to provide a kind of control method of brakes and control device, uses To realize to motor and hydraulic brake unit reasonable distribution braking torque.
For above-mentioned technical problem is solved, a kind of control method of brakes is embodiments provided, including:
Obtain the current battery status signal of battery management system output;
According to the battery status signal, demand braking torque is distributed to motor and hydraulic brake unit, and by The motor is according to the first allocated demand braking torque of the motor and the hydraulic brake unit according to the liquid The second allocated demand braking torque of compacting moving cell is controlled to vehicle.
Further, the demand braking torque is obtained by procedure below:
Obtain the current brake signal of brake pedal system output;
According to the current brake signal, the demand braking torque is obtained.
Further, according to the current brake signal, obtain the demand braking torque the step of include:
The brake pedal signal of vehicle is obtained, and according to the brake pedal signal, obtains the demand braking torque.
Further, the brake pedal signal of vehicle is obtained, and according to the brake pedal signal, obtains the demand system The step of dynamic torque, includes:
Obtain the first brake pedal signal and second brake pedal signal of vehicle;
According to first brake pedal signal and the second brake pedal signal, brake pedal fault message and braking is obtained Pedal aperture;
According to vehicle-state, the brake pedal fault message and the brake pedal aperture, the demand braking is obtained Moment of torsion.
Further, according to first brake pedal signal and the second brake pedal signal, brake pedal fault is obtained The step of information and brake pedal aperture, includes:
First brake pedal signal and the second brake pedal signal are filtered processing, the described first braking is stepped on Partitioned signal is converted into the first brake pedal voltage, and the second brake pedal signal is converted into the second brake pedal voltage;
The first brake pedal voltage and the second brake pedal voltage are normalized, are obtained the first braking and step on Plate aperture and the second brake pedal aperture;
Threshold detection is carried out to the first brake pedal aperture and the second brake pedal aperture, obtains brake pedal fault Information;
Distribute the first brake pedal aperture and the second brake pedal aperture according to the brake pedal fault message Aperture weight, and obtain the effective aperture of brake pedal;
Carry out the stagnant ring in dead band to process to the effective aperture of the brake pedal, obtain brake pedal aperture.
Further, motor and hydraulic pressure are distributed to according to the battery status signal, the demand braking torque The step of brake unit, includes:
According to the battery status signal, the ceiling capacity for obtaining motor reclaims moment of torsion;
Moment of torsion is reclaimed according to the ceiling capacity of the motor, obtains motor braking torque maximum;
According to the motor braking torque maximum, the first allocated demand braking torque of the motor is obtained;
According to the demand braking torque and the first demand braking torque, obtain the hydraulic brake unit allocated the Two demand braking torques.
Further, according to formula
The ceiling capacity for obtaining the motor reclaims torque T, wherein, PMotorRepresent the maximum allowable generated output of motor, PBattRepresent the maximum allowable charge power of battery, η represents electric power generation efficiency, TmaxRepresent the maximum allowable power generation torque of motor.
Further, according to formula Tmotor=T- Δ T, obtains the motor braking torque maximum Tmotor, wherein, Δ T Represent predetermined torque surplus.
Further, according to formulaObtain allocated the first demand braking of the motor Torque TM, wherein, KmotorRepresent and preset motor power recovery coefficient, the motor power recovery coefficient KmotorValue be less than 1.
Further, according to formula
Obtain the second allocated demand braking torque T of the hydraulic brake unitH, wherein, TreqRepresent the demand system Dynamic torque.
Further, by the motor according to the first allocated demand braking torque of the motor and the liquid Compacting moving cell also includes after being controlled to vehicle according to the second allocated demand braking torque of the hydraulic brake unit:
Obtain the speed of the vehicle;
According to the speed, when judging that the on-position of the vehicle is unsatisfactory for presetting braking condition, compensation moment of torsion is obtained;
The compensation moment of torsion is distributed to the motor.
Further, according to formula
Obtain compensation torque Tc, wherein, Δ Tq=Treq-TE, Tc<(1-Kmotor)*Tmotor, Δ TqRepresent deviation moment of torsion, TETable Show default estimation braking torque, KuFor a positive number more than 0, Map(ΔT)According to difference moment of torsion Δ TqWith compensation torque TcObtain.
Further, the battery status signal includes:Battery failures information, battery allow maximum charge-discharge electric power and remain Remaining electricity.
The embodiment of the present invention additionally provides a kind of control device of brakes, including:
First acquisition module, first acquisition module is used for obtaining the current battery status of battery management system output Signal;
Control module, the control module is used for according to the battery status signal, and demand braking torque is distributed to drive Galvanic electricity machine and hydraulic brake unit, and by the motor according to the first allocated demand braking torque of the motor and The hydraulic brake unit is controlled to vehicle according to the second allocated demand braking torque of the hydraulic brake unit.
Compared with prior art, a kind of control method of brakes provided in an embodiment of the present invention and control device, extremely Have the advantages that less:The control method of the brakes of the embodiment of the present invention and control device are first according to current brake Signal, parses the braking requirement of driver and is calculated demand braking torque, afterwards according to battery and motor status, reasonably Distribute braking torque to motor and hydraulic brake unit.And the control method of the brakes of the embodiment of the present invention and control Device consider hydraulic system due to the factors such as temperature, part mechanical property affect its output braking moment stability with accurate Property, compensated for that by adjusting the braking torque of electric system generation, it is ensured that the braking moment being ultimately applied in vehicle It is consistent with operator demand, while the energy for producing in braking can also be reclaimed to greatest extent to extend the driving of vehicle Mileage.Meanwhile, the control method of the brakes of the embodiment of the present invention and control device do not need vacuum booster, Motorized vacuum Pump and the parts such as vacuum tank, also improve the global reliability of vehicle while reduces cost;In addition can also be returned by energy Receive and braking torque is produced, weaken the impact that the caused heat fade of continuous braking is produced to braking effect.
Description of the drawings
The flow chart of the control method of the brakes that Fig. 1 is provided for the first embodiment of the present invention;
The flow chart of the control method of the brakes that Fig. 2 is provided for the second embodiment of the present invention;
The flow chart of the control method of the brakes that Fig. 3 is provided for the third embodiment of the present invention;
The flow chart of the control method of the brakes that Fig. 4 is provided for the fourth embodiment of the present invention;
The flow chart of the control method of the brakes that Fig. 5 is provided for the fifth embodiment of the present invention;
The flow chart of the control method of the brakes that Fig. 6 is provided for the sixth embodiment of the present invention;
The flow chart of the control method of the brakes that Fig. 7 is provided for the seventh embodiment of the present invention;
The structural representation of the control device of the brakes that Fig. 8 is provided for the eighth embodiment of the present invention.
Specific embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool Body embodiment is described in detail.In the following description, the specific detail for providing such as specific configuration and component is only In order to help comprehensive understanding embodiments of the invention.Therefore, it will be apparent to those skilled in the art that can be to reality described herein Apply example to make various changes and modifications without deviating from scope and spirit of the present invention.In addition, for clarity and brevity, it is right to eliminate Known function and the description of construction.
It should be understood that " one embodiment " or " embodiment " that description is mentioned in the whole text mean relevant with embodiment Special characteristic, structure or characteristic are included at least one embodiment of the present invention.Therefore, occur in entire disclosure everywhere " in one embodiment " or " in one embodiment " not necessarily refers to identical embodiment.Additionally, these specific feature, knots Structure or characteristic can be combined in one or more embodiments in any suitable manner.
First embodiment
Referring to Fig. 1, a kind of control method of brakes is embodiments provided, the method includes:
Step 101, obtains the current battery status signal of battery management system output;
Step 102, according to the battery status signal, demand braking torque is distributed to motor and hydraulic braking list Unit, and by the motor according to the first allocated demand braking torque of the motor and the hydraulic brake unit root According to the second allocated demand braking torque of the hydraulic brake unit, vehicle is controlled.
And further, the embodiment of the present invention can also include the process for obtaining the demand braking torque, i.e.,:
Step 103, obtains the current brake signal of brake pedal system output;According to the current brake signal, obtain The demand braking torque.
The control method of the brakes of the embodiment of the present invention parses the braking of driver first according to current brake signal Demand is simultaneously calculated demand braking torque, afterwards according to battery and motor status, reasonably to motor and hydraulic braking Unit distributes braking torque.Reasonable distribution braking torque can reclaim the energy for producing in braking to greatest extent to extend vehicle Continual mileage, in addition braking torque can also be produced by energy regenerating, weaken the caused heat fade of continuous braking to braking The impact that effect is produced.
Second embodiment
Referring to Fig. 2, according to another aspect of the present invention, there is provided a kind of control method of brakes, the method includes:
Step 201, obtains the current brake signal of brake pedal system output and the current electricity of battery management system output Pond status signal;
Step 202, obtains the brake pedal signal of vehicle, and according to the brake pedal signal, obtains the demand system Dynamic torque;
Step 203, according to the battery status signal, the demand braking torque is distributed to motor and hydraulic pressure system Moving cell, and by the motor according to the first allocated demand braking torque of the motor and the hydraulic braking list Unit is controlled to vehicle according to the second allocated demand braking torque of the hydraulic brake unit.
The present embodiment enters to according to the current brake signal, obtaining demand braking torque on the basis of first embodiment Further explanation is gone, according to the brake pedal signal of the current brake signal acquisition vehicle, and has been stepped on according to the braking Partitioned signal, obtains the demand braking torque.
3rd embodiment
Referring to Fig. 3, according to another aspect of the present invention, there is provided a kind of control method of brakes, the method includes:
Step 301, obtains the current brake signal of brake pedal system output and the current electricity of battery management system output Pond status signal;
Step 302, obtains the first brake pedal signal and second brake pedal signal of vehicle;
Step 303, according to first brake pedal signal and the second brake pedal signal, obtains brake pedal fault letter Breath and brake pedal aperture;
Step 304, according to vehicle-state, the brake pedal fault message and the brake pedal aperture, obtains described Demand braking torque;
Step 305, according to the battery status signal, the demand braking torque is distributed to motor and hydraulic pressure system Moving cell, and by the motor according to the first allocated demand braking torque of the motor and the hydraulic braking list Unit is controlled to vehicle according to the second allocated demand braking torque of the hydraulic brake unit.
Brake pedal signal of the present embodiment on the basis of second embodiment to the acquisition vehicle, and according to the system Dynamic pedal signal, obtaining the demand braking torque has carried out further explanation, and the processing method of the present embodiment is applied to tool There is the brake pedal of two-path feedback signal, such brake pedal provides two-way analog quantity feedback letter according to different pedal apertures Number, this two-way analogue signal amplitude is in multiple proportion, can be used for signal checking and the Redundancy Design in later stage, for the system of raising Reliability has positive effect.The present embodiment is acquired to brake pedal signal first and processes, after treatment Aperture to brake pedal, aperture rate of change(The rate of change that differential is obtained brake pedal aperture is carried out to opening value)And The fault message of brake pedal;Afterwards demand braking torque is calculated according to information above and vehicle-state, in practice, meter Calculation demand braking torque can be obtained by table look at, in a device, can directly be inquired about by preset data.
Fourth embodiment
Referring to Fig. 4, according to another aspect of the present invention, there is provided a kind of control method of brakes, the method includes:
Step 401, obtains the current brake signal of brake pedal system output and the current electricity of battery management system output Pond status signal;
Step 402, obtains the first brake pedal signal and second brake pedal signal of vehicle;
Step 403, is filtered processing to first brake pedal signal and the second brake pedal signal, by described the One brake pedal signal is converted into the first brake pedal voltage, and the second brake pedal signal is converted into the second brake pedal electricity Pressure;
Step 404, the first brake pedal voltage and the second brake pedal voltage are normalized, and obtain the One brake pedal aperture and the second brake pedal aperture;
Step 405, carries out Threshold detection to the first brake pedal aperture and the second brake pedal aperture, obtains braking Pedal fault message;
Step 406, distributes the first brake pedal aperture according to the brake pedal fault message and the second braking is stepped on The aperture weight of plate aperture, and obtain the effective aperture of brake pedal;
Step 407, carries out the stagnant ring in dead band and processes, obtain brake pedal aperture to the effective aperture of the brake pedal;
Step 408, according to vehicle-state, the brake pedal fault message and the brake pedal aperture, obtains described Demand braking torque;
Step 409, according to the battery status signal, the demand braking torque is distributed to motor and hydraulic pressure system Moving cell, and by the motor according to the first allocated demand braking torque of the motor and the hydraulic braking list Unit is controlled to vehicle according to the second allocated demand braking torque of the hydraulic brake unit.
In the present embodiment on the basis of 3rd embodiment, made according to first brake pedal signal and second to described Dynamic pedal signal, obtains brake pedal fault message and brake pedal aperture, has carried out further explanation.Implement in the present invention In the control method of example, the first brake pedal signal and the second brake pedal letter are gathered by digital-to-analog signal converter A/D Number, as the signal after collection directly can not be applied, therefore it is filtered processing, voltage signal is converted to, to voltage signal again It is normalized, is converted to brake pedal aperture afterwards, the first brake pedal aperture and the second brake pedal aperture is entered Row Threshold detection, whether Threshold detection method is for judging the first brake pedal aperture and the second brake pedal aperture beyond up and down Limit, exports the Reflector that transfinites if beyond the upper limit or lower limit, afterwards according to fault message distribute the first brake pedal aperture and The weight of the second brake pedal aperture, and obtain the effective aperture of brake pedal.For under weight distribution embodiment of the present invention reference Table is carried out:
As can be seen from the above table, when two-way opening value all no transfinites fault, per the weight coefficient of road mean allocation 0.5; When wherein a road is broken down, then effective aperture is calculated using the opening value on an other road;If two-way all breaks down, most Calculated effective aperture is that 0, the strategy is effectively guaranteed traffic safety eventually.It should be noted that the weight in upper table Distribution is only the preferred implementation of the embodiment of the present invention, and the weight distribution of the present invention is not limited to upper table.Also, brake pedal Inevitably there is dead band as a mechanical system, therefore have to consider the impact in dead band when pedal aperture is calculated, Inevitably there is jitter phenomenon in another aspect driver during brake pedal is stepped on, if not shaking to brake pedal Processed, then the shake can incoming drive system, in turn result in calculated braking requirement moment of torsion shake, this will be serious Impact driving experience, so needing to carry out the brake pedal effective aperture the stagnant ring process in dead band, sequentially passes through signal filtering Process, normalized, signal weight distribution and the stagnant ring in signal dead band process this four processes, are eventually converted into brake pedal Opening information(Rate of change including the effective aperture of brake pedal and aperture)With fault message, for follow-up demand braking torque Calculate and troubleshooting.
Further, the Filtering Processing includes:
According to formula BPSvolt=k BPSnew+(1-k)·BPSoldAnd k=1-e-(Sample/TC), described in collecting First brake pedal signal and the second brake pedal signal carry out rolling filtering, and are converted into the first brake pedal voltage and second Brake pedal voltage, wherein, BPSvoltRepresent that, through the brake pedal voltage after Filtering Processing is rolled, k represents default weighter factor, BPSnewRepresent the magnitude of voltage of the brake pedal signal that this periodic sampling is obtained, BPSoldRepresent the braking that a upper periodic sampling is obtained The magnitude of voltage of pedal signal, Sample represents the default sampling interval, and TC represents Preset Time constant.
Further, the normalized includes:According to formula
The first brake pedal voltage and the second brake pedal voltage are parsed, and is obtained the first brake pedal and opened Degree and the second brake pedal aperture, wherein, BPS1intRepresent that the first brake pedal aperture after normalized is corresponding Opening value, BPS2intRepresent the corresponding opening value of the second brake pedal aperture after normalized, BPS1voltRepresent institute State the magnitude of voltage of the first brake pedal voltage, BPS2voltRepresent the magnitude of voltage of the second brake pedal voltage, ReVolt represents Default normalized voltage reference value, NormScale represents the magnitude of voltage of the first brake pedal voltage and the second brake pedal Multiple between the magnitude of voltage of voltage.
In the control method of the embodiment of the present invention, the opening of the first brake pedal aperture and the second brake pedal aperture Angle value range preferably from 0~100.
Further, the distribution of the aperture weight includes:Distribute the first brake pedal aperture according to testing result With the weight of the second brake pedal aperture, and according to formula
BPSpct1=(kBPS1·BPS1int+kBPS2·BPS2int)·kBPSThe effective aperture of brake pedal is obtained, wherein, BPSpct1Represent the effective aperture of brake pedal, kBPS1Represent the aperture weight of the first brake pedal, kBPS2Represent the second brake pedal Aperture weight, kBPSRepresent predesigned compensation coefficient.
In the control method of the embodiment of the present invention, effective aperture BPS of brake pedalpct1Value preferred scope be 0 ~100.
Further, the stagnant ring in the dead band is processed and is included:The state of brake pedal is obtained, when the brake pedal is first During state, according to formula
Obtain brake pedal aperture;
When the brake pedal is the second state, according to formula
Obtain brake pedal aperture, wherein, BPSpct2Represent the brake pedal aperture for finally giving, BPS(n)Represent this week Phase effective aperture of the brake pedal that obtains after weight distribution;BPS(n-1)Represented that a upper cycle was obtained after weight distribution The effective aperture of brake pedal;KdbRepresent the dead band value of brake pedal;KhyRepresent the default stagnant ring parameter of brake pedal.
In the control method of the embodiment of the present invention, the state that first state is operated for brake pedal, the second state is State of the brake pedal in being released.
As shown from the above formula, during brake pedal is operated, if the effective aperture of brake pedal(Divide through weight Opening value after joining)Increment be less than stagnant ring parameter, then using the effective aperture of brake pedal in a upper cycle(Distribute through weight Opening value afterwards)Deduct the value that pedal dead band is worth to final brake pedal aperture;If the effective aperture of brake pedal(Through power Opening value after reassignment)Increment be more than or equal to stagnant ring parameter, then using the effective aperture of brake pedal in this cycle(Through power Opening value after reassignment)Pedal dead band value is deducted as the value of final brake pedal aperture.
During brake pedal is released, if the effective aperture of brake pedal(Opening value after weight distribution)'s Reduction amount is less than stagnant ring parameter, then using the effective aperture of brake pedal in a upper cycle(Opening value after weight distribution)Subtract Pedal dead band is gone to be worth to the value of final brake pedal aperture;If the effective aperture of brake pedal(Opening after weight distribution Angle value)Reduction amount be more than or equal to stagnant ring parameter, then using the effective aperture of brake pedal in this cycle(After weight distribution Opening value)Pedal dead band value is deducted as the value of final brake pedal aperture.
The computational methods of above-mentioned formula consider the dead-time problem of brake pedal, while when weakening driver's pedal The impact that slight jitter is caused to driving, if the brake pedal aperture change that shake is caused is not higher than stagnant ring parameter, the shake is equal Can be filtered.
Meanwhile, the signal processing of brake pedal is inseparable as the important prerequisite for realizing braking function with fault mechanism, And perfect fault mechanism can farthest protect the safety of vehicle and driver and crew when brake pedal breaks down.This The brake pedal failure strategy that inventive embodiments are given is specific as follows:
(1)Brake pedal signal mistake
Fault triggering condition:In brake pedal two paths of signals, any one road aperture exceeds the upper limit or lower limit and the persistent period is big In the first preset value;Wherein two-way brake pedal aperture transfinites and judges to carry out in accelerator pedal signal weight distribution link;
Fault recovery condition:Vehicle recovers after re-powering;
Troubleshooting mode:Complete vehicle fault lamp is lighted, and ring alarm sound, speed limit is most carried out at high speed to vehicle;
(2)Brake pedal signal check errors
Fault triggering condition:Brake pedal two paths of signals aperture difference is beyond defined threshold and the persistent period is preset more than second Value;Wherein two-way brake pedal aperture difference transfinites and judges to carry out in brake pedal signal weight distribution link;
Fault recovery condition:Vehicle recovers after re-powering;
Troubleshooting mode:Complete vehicle fault lamp is lighted, and ring alarm sound, speed limit is most carried out at high speed to vehicle;
Brake pedal is the important means that driver is interacted with vehicle, and its stable working condition is not only to people on car The driving of member is experienced, is even respectively provided with material impact to traffic safety, is that this need to carry out fault detect to brake pedal.By with Upper two fault mechanisms can realize the detection of the brake pedal fault to affecting traffic safety, after fault is triggered, according to Above fault mechanism, is reported to the police by modes such as trouble light sound, is reminded driver, while will by active speed limit means Speed is limited within the specific limits to ensure traffic safety.By above fault mechanism, can be under brake pedal malfunction Traffic safety provide powerful guarantee.
5th embodiment
Referring to Fig. 5, according to another aspect of the present invention, there is provided a kind of control method of brakes, the method includes:
Step 501, obtains the current brake signal of brake pedal system output and the current electricity of battery management system output Pond status signal;
Step 502, obtains the first brake pedal signal and second brake pedal signal of vehicle;
Step 503, is filtered processing to first brake pedal signal and the second brake pedal signal, by described the One brake pedal signal is converted into the first brake pedal voltage, and the second brake pedal signal is converted into the second brake pedal electricity Pressure;
Step 504, the first brake pedal voltage and the second brake pedal voltage are normalized, and obtain the One brake pedal aperture and the second brake pedal aperture;
Step 505, will be corresponding with the second brake pedal aperture for corresponding for the first brake pedal aperture opening value The absolute value of difference of opening value be compared with threshold value, when more than the threshold value, export fault-signal, obtain brake pedal Fault message;
Step 506, distributes the first brake pedal aperture according to the brake pedal fault message and the second braking is stepped on The aperture weight of plate aperture, and obtain the effective aperture of brake pedal;
Step 507, carries out the stagnant ring in dead band and processes, obtain brake pedal aperture to the effective aperture of the brake pedal;
Step 508, according to vehicle-state, the brake pedal fault message and the brake pedal aperture, obtains described Demand braking torque;
Step 509, according to the battery status signal, the demand braking torque is distributed to motor and hydraulic pressure system Moving cell, and by the motor according to the first allocated demand braking torque of the motor and the hydraulic braking list Unit is controlled to vehicle according to the second allocated demand braking torque of the hydraulic brake unit.
In the present embodiment on the basis of fourth embodiment, the first brake pedal aperture and the second brake pedal are opened Degree carries out Threshold detection, obtains brake pedal fault message, is further explained.To the first brake pedal aperture and second The opening value of brake pedal aperture subtracts each other and takes absolute value, and the absolute value is compared with default threshold value, if being more than institute State threshold value and brake pedal fault-signal is then exported, otherwise for normal.
Sixth embodiment
Referring to Fig. 6, according to another aspect of the present invention, there is provided a kind of control method of brakes, the method includes:
Step 601, obtains the current brake signal of brake pedal system output and the current electricity of battery management system output Pond status signal;
Step 602, according to the current brake signal, obtains demand braking torque;
Step 603, according to the battery status signal, the ceiling capacity for obtaining motor reclaims moment of torsion;
Step 604, reclaims moment of torsion according to the ceiling capacity of the motor, obtains motor braking torque maximum;
Step 605, according to the motor braking torque maximum, obtains the first allocated demand system of the motor Dynamic torque;
Step 606, according to the demand braking torque and the first demand braking torque, obtains the hydraulic brake unit quilt Second demand braking torque of distribution, and by the motor according to the first allocated demand braking torque of the motor Vehicle is controlled according to the second allocated demand braking torque of the hydraulic brake unit with the hydraulic brake unit.
In the control method of the embodiment of the present invention, need to be allocated which after demand braking torque is obtained, need to Moment of torsion is asked to distribute to motor and hydraulic brake unit, wherein motor produces braking torque by energy regenerating mode;Moment of torsion distributes Purpose be finally to realize ensureing vehicle braking function on the basis of braking energy is reclaimed to greatest extent by reasonable distribution Reliable realization.
Moment of torsion is reclaimed firstly the need of motor ceiling capacity is obtained, but need before the computation to determine whether that vehicle enters system Energy reclaims operating mode, and the embodiment of the present invention provides following Rule of judgment:1st, automobile gear level is D shelves(Normal drive shift), E shelves (Economical gear)Or S shelves(Motion shelves);2nd, car load no broken height pressure and irrecoverable zero moment of torsion fault;3rd, brake pedal is operated (Corresponding brake pedal aperture is more than threshold kbps);4th, accelerator pedal is in release conditions(Corresponding accelerator pedal aperture is less than threshold value Kaps).Then think that when conditions above is all met vehicle can enter Brake energy recovery operating mode, that is, allow vehicle to enter Row energy regenerating, wherein threshold kbpsWith KapsConsider brake pedal to dive operating mode judgement with accelerator pedal mechanical dead zone characteristic In impact.
After motor ceiling capacity recovery moment of torsion is obtained, be protection motor and electrokinetic cell, which should do not allowed in ultimate value work Making, moment of torsion surplus being introduced for this, obtain motor braking torque maximum, the introducing of moment of torsion surplus ensure that motor with electrokinetic cell Limit state is not operate at, therefore with battery, protective effect is served to motor.
Further, according to formula
The ceiling capacity for obtaining the motor reclaims torque T, wherein, PMotorRepresent the maximum allowable generated output of motor, PBattRepresent the maximum allowable charge power of battery, η represents electric power generation efficiency, TmaxRepresent the maximum allowable power generation torque of motor.
Further, according to formula Tmotor=T- Δ T, obtains the motor braking torque maximum Tmotor, wherein, Δ T Represent predetermined torque surplus.
Wherein, the introducing of predetermined torque surplus Δ T ensure that motor is not operate at limit state with electrokinetic cell, therefore right Motor serves protective effect with battery.
Further, according to formulaObtain allocated the first demand braking of the motor Torque TM, wherein, KmotorRepresent and preset motor power recovery coefficient, the motor power recovery coefficient KmotorValue be less than 1.
Wherein, KmotorValue less than 1 for follow-up energy regenerating moment of torsion fine setting provide adjust surplus.
Further, according to formula
Obtain the second allocated demand braking torque T of the hydraulic brake unitH, wherein, TreqRepresent the demand system Dynamic torque.
Wherein, there is formula to understand, work as Treq≤TMWhen, the energy regenerating for fully relying on motor produces braking torque, works as Treq > TMWhen hydraulic brake unit just start intervention, and produce braking torque.
7th embodiment
Referring to Fig. 7, according to another aspect of the present invention, there is provided a kind of control method of brakes, the method includes:
Step 701, obtains the current brake signal of brake pedal system output and the current electricity of battery management system output Pond status signal;
Step 702, according to the current brake signal, obtains demand braking torque;
Step 703, according to the battery status signal, the demand braking torque is distributed to motor and hydraulic pressure system Moving cell, and by the motor according to the first allocated demand braking torque of the motor and the hydraulic braking list Unit is controlled to vehicle according to the second allocated demand braking torque of the hydraulic brake unit;
Step 704, obtains the speed of the vehicle;
Step 705, according to the speed, when judging that the on-position of the vehicle is unsatisfactory for presetting braking condition, obtains Compensation moment of torsion;
Step 706, the compensation moment of torsion is distributed to the motor, and by the motor according to the driving electricity The first demand braking torque and compensate moment of torsion that machine is allocated, and the hydraulic brake unit is divided according to the hydraulic brake unit The the second demand braking torque that joins is controlled to vehicle.
The distribution of braking torque is completed in the above-described embodiment, it is contemplated that hydraulic control unit is executing braking torque Under error during order, or some special operation conditions(As descending)Applying the deceleration of braking torque rear vehicle generation less than pre- Phase, for this situation, adjustable strategies are designed, by adjusting the energy regenerating moment of torsion of motor, which is compensated, so that car Reach expected braking effect.The above-mentioned pre-conditioned deceleration for being speed is unsatisfactory for condition, i.e. not up to default deceleration Effect, so, a compensation moment of torsion need to be provided at this moment for braking, it is ensured that drive safety.
Further, according to formula
Obtain compensation torque Tc, wherein, Δ Tq=Treq-TE, Tc<(1-Kmotor)*Tmotor, Δ TqRepresent deviation moment of torsion, TETable Show default estimation braking torque, KuFor a positive number more than 0, Map(ΔT)According to difference moment of torsion Δ TqWith compensation torque TcObtain.
Demand braking torque Treq, the braking torque for being assigned to hydraulic brake unit with motor is respectively THWith TM;Liquid afterwards Compacting moving cell produces braking torque to vehicle with motor respectively according to torque command;In the presence of braking torque, vehicle is produced Subtract acceleration, by default estimation braking torque TEEstimation acts on the braking torque on vehicle, with demand braking torque TreqSubtract Deviation moment of torsion is obtained after going the value, and the deviation moment of torsion is compensated torque T after treatmentC;Using TCTo TMCompensate, most Ensure that vehicle can produce expected deceleration eventually.
Wherein, estimation braking torque T is presetEBy realization of tabling look-up, early stage passes through in paved road calm, that drying is straight Under carry out real steering vectors, demarcated by real vehicle obtain that vehicle under the conditions of different speeds and given braking torque produces subtract acceleration Value, experimental data is made inquiry table, is input into and subtracts acceleration and car speed for vehicle, is output as the braking torque that estimates;? Can obtain estimating braking torque T by inquiring about the table in actual braking procedureE.
TreqDeduct TEDeviation moment of torsion is obtained, and the value is made for Δ Tq, then compensate torque TCComputational methods such as above-mentioned formula, KuFor One positive number more than 0, it is contemplated that estimation torque TEWill necessarily there is certain error with actual value, therefore as Δ Tq< KuWhen think Deviation moment of torsion in the reasonable scope, is not therefore compensated to which;Δ T in other the methodq>0 deceleration for representing vehicle generation Degree less than expection, when meeting Δ Tq≥KuT during conditionCIt is not 0, now for security consideration to TMCompensate, and Δ Tq<0 Represent the deceleration of vehicle generation higher than expection, now think that the deceleration is intended to not conflict with operator brake, therefore not right TMCompensate;When meeting Δ Tq≥KuDuring condition, compensation torque T is calculated by look-up tableC, demarcate specifically by early stage real vehicle Obtain Δ TqWith compensation torque TCCorresponding relation, make an inquiry table on this basis, be input into as Δ Tq, it is output as TC, in reality Torque T can be compensated by inquiring about the table in the braking procedure of borderC, the moment of torsion is less than (1-Kmotor)·Tmotor.
Further, the battery status signal includes:Battery failures information, battery allow maximum charge-discharge electric power and remain Remaining electricity.
8th embodiment
The embodiment of the present invention additionally provides a kind of control device of brakes, including:
First acquisition module 1, the current brake signal and battery management system for obtaining brake pedal system output is defeated The present battery status signal for going out;
Control module 2, for according to the battery status signal, by the demand braking torque distribute to motor and Hydraulic brake unit, and by the motor according to the first allocated demand braking torque of the motor and the hydraulic pressure Brake unit is controlled to vehicle according to the second allocated demand braking torque of the hydraulic brake unit.
And further, the embodiment of the present invention can also include:
Second acquisition module, second acquisition module is used for according to the current brake signal, and the demand braking of acquisition is turned round Square;
Further, the control module, according to the current brake signal, obtains in demand braking torque, the control Molding block includes:
3rd acquisition module, for obtaining the brake pedal signal of vehicle, and according to the brake pedal signal, obtains institute State demand braking torque.
Further, the 3rd acquisition module, for obtaining the brake pedal signal of vehicle, and steps on according to the braking Partitioned signal, obtains in the demand braking torque, and the 3rd acquisition module includes:
4th acquisition module, for obtaining the first brake pedal signal and second brake pedal signal of vehicle;
First processing module, for according to first brake pedal signal and the second brake pedal signal, obtaining braking Pedal fault message and brake pedal aperture;
Second processing module, for according to vehicle-state, the brake pedal fault message and the brake pedal aperture, Obtain the demand braking torque.
Further, first processing module, for according to first brake pedal signal and the second brake pedal signal, Obtain in brake pedal fault message and brake pedal aperture, the first processing module includes:
3rd processing module, for being filtered place to first brake pedal signal and the second brake pedal signal Reason, first brake pedal signal is converted into the first brake pedal voltage, the second brake pedal signal is converted into second Brake pedal voltage;
Fourth processing module, for being normalized place by the first brake pedal voltage and the second brake pedal voltage Reason, obtains the first brake pedal aperture and the second brake pedal aperture;
Detection module, for carrying out Threshold detection to the first brake pedal aperture and the second brake pedal aperture, obtains Obtain brake pedal fault message;
5th processing module, for distributing the first brake pedal aperture and the according to the brake pedal fault message The aperture weight of two brake pedal apertures, and obtain the effective aperture of brake pedal;
6th processing module, processes for carrying out the stagnant ring in dead band to the effective aperture of the brake pedal, obtains brake pedal Aperture.
Further, the 3rd processing module, for entering to first brake pedal signal and the second brake pedal signal In row Filtering Processing, the Filtering Processing includes:
According to formula BPSvolt=k BPSnew+(1-k)·BPSoldAnd k=1-e-(Sample/TC), described in collecting First brake pedal signal and the second brake pedal signal carry out rolling filtering, and are converted into the first brake pedal voltage and second Brake pedal voltage, wherein, BPSvoltRepresent that, through the brake pedal voltage after Filtering Processing is rolled, k represents default weighter factor, BPSnewRepresent the magnitude of voltage of the brake pedal signal that this periodic sampling is obtained, BPSoldRepresent the braking that a upper periodic sampling is obtained The magnitude of voltage of pedal signal, Sample represents the default sampling interval, and TC represents Preset Time constant.
Further, fourth processing module, for entering the first brake pedal voltage and the second brake pedal voltage In row normalized, the normalized includes:According to formula
The first brake pedal voltage and the second brake pedal voltage are parsed, and is obtained the first brake pedal and opened Degree and the second brake pedal aperture, wherein, BPS1intRepresent that the first brake pedal aperture after normalized is corresponding Opening value, BPS2intRepresent the corresponding opening value of the second brake pedal aperture after normalized, BPS1voltRepresent institute State the magnitude of voltage of the first brake pedal voltage, BPS2voltRepresent the magnitude of voltage of the second brake pedal voltage, ReVolt represents Default normalized voltage reference value, NormScale represents the magnitude of voltage of the first brake pedal voltage and the second brake pedal Multiple between the magnitude of voltage of voltage.
Further, the 5th processing module, for stepping on according to brake pedal fault message distribution first braking In the aperture weight of plate aperture and the second brake pedal aperture, the distribution of the aperture weight includes:Distributed according to testing result The first brake pedal aperture and the weight of the second brake pedal aperture, and according to formula BPSpct1=(kBPS1·BPS1int+ kBPS2·BPS2int)·kBPSObtain the effective aperture of brake pedal, wherein, BPSpct1Represent the effective aperture of brake pedal, kBPS1Table Show the aperture weight of the first brake pedal, kBPS2Represent the aperture weight of the second brake pedal, kBPSRepresent predesigned compensation coefficient.
Further, the 6th processing module, for carrying out to the effective aperture of the brake pedal in the stagnant ring process in dead band, institute Stating the stagnant ring in dead band and processing includes:The state of brake pedal is obtained, when the brake pedal is first state, according to formula
Obtain brake pedal aperture;
When the brake pedal is the second state, according to formula
Obtain brake pedal aperture, wherein, BPSpct2Represent the brake pedal aperture for finally giving, BPS(n)Represent this week Phase effective aperture of the brake pedal that obtains after weight distribution;BPS(n-1)Represented that a upper cycle was obtained after weight distribution The effective aperture of brake pedal;KdbRepresent the dead band value of brake pedal;KhyRepresent the default stagnant ring parameter of brake pedal.
Further, the detection module, for entering to the first brake pedal aperture and the second brake pedal aperture Row Threshold detection, obtains in brake pedal fault message, and the detection module includes:
Relatively output module, for by corresponding for the first brake pedal aperture opening value and second brake pedal The absolute value of the difference of the corresponding opening value of aperture is compared with threshold value, when more than the threshold value, exports fault-signal.
Further, the control module, for according to the battery status signal, the demand braking torque being distributed To in motor and hydraulic brake unit, the control module includes:
7th processing module, for according to the battery status signal, the ceiling capacity for obtaining motor reclaims moment of torsion;
8th processing module, for reclaiming moment of torsion according to the ceiling capacity of the motor, obtains motor braking moment of torsion maximum Value;
9th processing module, for according to the motor braking torque maximum, obtaining what the motor was allocated First demand braking torque;
Tenth processing module, for according to the demand braking torque and the first demand braking torque, obtaining the hydraulic pressure The second allocated demand braking torque of brake unit.
Further, the 7th processing module is used for obtaining the ceiling capacity of motor according to the battery status signal Reclaim in moment of torsion, according to formula
The ceiling capacity for obtaining the motor reclaims torque T, wherein, PMotorRepresent the maximum allowable generated output of motor, PBattRepresent the maximum allowable charge power of battery, η represents electric power generation efficiency, TmaxRepresent the maximum allowable power generation torque of motor.
Further, the 8th processing module, for reclaiming moment of torsion according to the ceiling capacity of the motor, obtains motor In braking torque maximum, according to formula Tmotor=T- Δ T, obtains the motor braking torque maximum Tmotor, wherein, Δ T Represent predetermined torque surplus.
Further, the 9th processing module, for according to the motor braking torque maximum, obtaining the driving In the first allocated demand braking torque of motor, according to formulaObtain the motor to be allocated The first demand braking torque TM, wherein, KmotorRepresent and preset motor power recovery coefficient, the motor power recovery coefficient KmotorValue be less than 1.
Further, the tenth processing module, for according to the demand braking torque and the first demand braking torque, Obtain in the second allocated demand braking torque of the hydraulic brake unit, according to formula
Obtain the second allocated demand braking torque T of the hydraulic brake unitH, wherein, TreqRepresent the demand system Dynamic torque.
Further, by the motor according to the first allocated demand braking torque of the motor and the liquid After compacting moving cell is controlled to vehicle according to the second allocated demand braking torque of the hydraulic brake unit, the control Device also includes:
5th acquisition module, for obtaining the speed of the vehicle;
Judge module, during for according to the speed, judging that the on-position of the vehicle is unsatisfactory for presetting braking condition, Obtain compensation moment of torsion;
Distribute module, for distributing to the motor by the compensation moment of torsion.
Further, the judge module, for according to the speed, judging that the on-position of the vehicle is unsatisfactory for pre- If during braking condition, obtain in compensation moment of torsion, according to formula
Obtain compensation torque Tc, wherein, Δ Tq=Treq-TE, Tc<(1-Kmotor)*Tmotor, Δ TqRepresent deviation moment of torsion, TETable Show default estimation braking torque, KuFor a positive number more than 0, Map(ΔT)According to difference moment of torsion Δ TqWith compensation torque TcObtain.
Further, the battery status signal includes:Battery failures information, battery allow maximum charge-discharge electric power and remain Remaining electricity.
To sum up, the control method of the brakes of the embodiment of the present invention and control device be first according to current brake signal, The braking requirement of parsing driver is simultaneously calculated demand braking torque, afterwards according to battery and motor status, reasonably to drive Galvanic electricity machine and hydraulic brake unit distribution braking torque.And the control method of the brakes of the embodiment of the present invention and control device In view of hydraulic system as the factors such as temperature, part mechanical property affect the braking moment stability of its output and accuracy, By adjust electric system generation braking torque compensate for that, it is ensured that the braking moment being ultimately applied in vehicle with drive The person's of sailing demand is consistent, while the energy for producing in braking can also be reclaimed to greatest extent to extend in the driving of vehicle Journey.Meanwhile, the control method of the brakes of the embodiment of the present invention and control device do not need vacuum booster, electric vacuum pump With parts such as vacuum tanks, the global reliability of vehicle is also improved while reduces cost;In addition energy regenerating can also be passed through Braking torque is produced, weakens the impact that the caused heat fade of continuous braking is produced to braking effect.
Also, it should be noted herein, such as first and second or the like relational terms are used merely to one Entity or operation are made a distinction with another entity or operation, and are not necessarily required or implied between these entities or operation There is any this actual relation or order.And, term " including ", "comprising" or its any other variant are intended to contain The including of lid nonexcludability.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications Should be regarded as protection scope of the present invention.

Claims (14)

1. a kind of control method of brakes, it is characterised in that include:
Obtain the current battery status signal of battery management system output;
According to the battery status signal, demand braking torque is distributed to motor and hydraulic brake unit, and by described Motor is according to the first allocated demand braking torque of the motor and the hydraulic brake unit according to the hydraulic pressure system The second allocated demand braking torque of moving cell is controlled to vehicle.
2. the control method of brakes according to claim 1, it is characterised in that the demand braking torque pass through with Lower Procedure Acquisition:
Obtain the current brake signal of brake pedal system output;
According to the current brake signal, the demand braking torque is obtained.
3. the control method of brakes according to claim 2, it is characterised in that according to the current brake signal, The step of obtaining the demand braking torque includes:
The brake pedal signal of vehicle is obtained, and according to the brake pedal signal, obtains the demand braking torque.
4. the control method of brakes according to claim 3, it is characterised in that obtain the brake pedal letter of vehicle Number, and included according to the step of the brake pedal signal, the acquisition demand braking torque:
Obtain the first brake pedal signal and second brake pedal signal of vehicle;
According to first brake pedal signal and the second brake pedal signal, brake pedal fault message and brake pedal is obtained Aperture;
According to vehicle-state, the brake pedal fault message and the brake pedal aperture, the demand braking torque is obtained.
5. the control method of brakes according to claim 4, it is characterised in that believed according to first brake pedal Number and the second brake pedal signal, obtain brake pedal fault message and include the step of brake pedal aperture:
First brake pedal signal and the second brake pedal signal are filtered processing, first brake pedal is believed Number the first brake pedal voltage is converted into, the second brake pedal signal is converted into the second brake pedal voltage;
The first brake pedal voltage and the second brake pedal voltage are normalized, are obtained the first brake pedal and open Degree and the second brake pedal aperture;
Threshold detection is carried out to the first brake pedal aperture and the second brake pedal aperture, obtains brake pedal fault letter Breath;
The aperture of the first brake pedal aperture and the second brake pedal aperture is distributed according to the brake pedal fault message Weight, and obtain the effective aperture of brake pedal;
Carry out the stagnant ring in dead band to process to the effective aperture of the brake pedal, obtain brake pedal aperture.
6. the control method of brakes according to claim 1, it is characterised in that according to the battery status signal, The step of demand braking torque is distributed to motor and hydraulic brake unit includes:
According to the battery status signal, the ceiling capacity for obtaining motor reclaims moment of torsion;
Moment of torsion is reclaimed according to the ceiling capacity of the motor, obtains motor braking torque maximum;
According to the motor braking torque maximum, the first allocated demand braking torque of the motor is obtained;
According to the demand braking torque and the first demand braking torque, the second allocated need of the hydraulic brake unit are obtained Seek braking torque.
7. the control method of brakes according to claim 6, it is characterised in that according to formula
T = 0 T < 0 &eta; &CenterDot; min ( P M o t o r , P B a t t ) &omega; T &Element; &lsqb; 0 , T max &rsqb; T max T > T max
The ceiling capacity for obtaining the motor reclaims torque T, wherein, PMotorRepresent the maximum allowable generated output of motor, PBattTable Show the maximum allowable charge power of battery, η represents electric power generation efficiency, TmaxRepresent the maximum allowable power generation torque of motor.
8. the control method of brakes according to claim 6, it is characterised in that according to formula Tmotor=T- Δ T, obtains Obtain the motor braking torque maximum Tmotor, wherein, Δ T represents predetermined torque surplus.
9. the control method of brakes according to claim 6, it is characterised in that according to formula TM=Kmotor*Tmotor, Obtain the first allocated demand braking torque T of the motorM, wherein, KmotorRepresent and motor power recovery coefficient preset, The motor power recovery coefficient KmotorValue be less than 1.
10. the control method of brakes according to claim 6, it is characterised in that according to formula
T H = 0 T r e q &le; T M T r e q - T M T r e q > T M
Obtain the second allocated demand braking torque T of the hydraulic brake unitH, wherein, TreqRepresent that demand braking is turned round Square.
The control method of 11. brakes according to claim 1, it is characterised in that by the motor according to this The first allocated demand braking torque of motor and the hydraulic brake unit are allocated according to the hydraulic brake unit Second demand braking torque also includes after being controlled to vehicle:
Obtain the speed of the vehicle;
According to the speed, when judging that the on-position of the vehicle is unsatisfactory for presetting braking condition, compensation moment of torsion is obtained;
The compensation moment of torsion is distributed to the motor.
The control method of 12. brakes according to claim 11, it is characterised in that according to formula
T C = 0 &Delta;T q < K u M a p ( &Delta; T ) &Delta;T q &GreaterEqual; K u
Obtain compensation torque Tc, wherein, Δ Tq=Treq-TE, Tc<(1-Kmotor)*Tmotor, Δ TqRepresent deviation moment of torsion, TERepresent pre- If estimation braking torque, KuFor a positive number more than 0, Map(Δ T) is according to difference moment of torsion Δ TqWith compensation torque TcObtain.
The control method of 13. brakes according to claim 1, it is characterised in that the battery status signal includes: Battery failures information, battery allow maximum charge-discharge electric power and dump energy.
14. a kind of control devices of brakes, it is characterised in that include:
First acquisition module, for obtaining the current battery status signal of battery management system output;
Control module, for according to the battery status signal, demand braking torque being distributed to motor and hydraulic braking Unit, and by the motor according to the first allocated demand braking torque of the motor and the hydraulic brake unit According to the second demand braking torque that the hydraulic brake unit is allocated, vehicle is controlled.
CN201610937095.9A 2016-10-25 2016-10-25 Control method and device of braking system CN106427597A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610937095.9A CN106427597A (en) 2016-10-25 2016-10-25 Control method and device of braking system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610937095.9A CN106427597A (en) 2016-10-25 2016-10-25 Control method and device of braking system

Publications (1)

Publication Number Publication Date
CN106427597A true CN106427597A (en) 2017-02-22

Family

ID=58178035

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610937095.9A CN106427597A (en) 2016-10-25 2016-10-25 Control method and device of braking system

Country Status (1)

Country Link
CN (1) CN106427597A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107323271A (en) * 2017-06-16 2017-11-07 北京新能源汽车股份有限公司 The braking control system of electric vehicle, method and device
CN107444393A (en) * 2017-07-20 2017-12-08 北京新能源汽车股份有限公司 Brakes control method and device
CN108639037A (en) * 2018-06-21 2018-10-12 北京新能源汽车股份有限公司 Electric braking compensating control method, controller, electric boosted auxiliary system and automobile
CN110341668A (en) * 2018-04-08 2019-10-18 上海汽车集团股份有限公司 A kind of braking force distribution method, apparatus and entire car controller

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101751034A (en) * 2009-10-12 2010-06-23 吉林大学 Test bed of air pressure and regenerative braking coordinated control system of hybrid electric bus
CN102951027A (en) * 2012-11-27 2013-03-06 东南(福建)汽车工业有限公司 Braking energy recovery self-adaptive control method of electric automobile
CN102975702A (en) * 2012-12-12 2013-03-20 奇瑞汽车股份有限公司 Tandem regenerative brake control method
JP2014113972A (en) * 2012-12-12 2014-06-26 Nissan Motor Co Ltd Braking control system
CN104828044A (en) * 2014-07-03 2015-08-12 北汽福田汽车股份有限公司 Braking control method and braking control system of vehicle
CN105034821A (en) * 2015-02-05 2015-11-11 南京理工大学 Composite regenerative braking method used for vehicle
CN105644546A (en) * 2015-12-29 2016-06-08 湖南南车时代电动汽车股份有限公司 Power generation control method for engine and driving motor of hybrid power bus

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101751034A (en) * 2009-10-12 2010-06-23 吉林大学 Test bed of air pressure and regenerative braking coordinated control system of hybrid electric bus
CN102951027A (en) * 2012-11-27 2013-03-06 东南(福建)汽车工业有限公司 Braking energy recovery self-adaptive control method of electric automobile
CN102975702A (en) * 2012-12-12 2013-03-20 奇瑞汽车股份有限公司 Tandem regenerative brake control method
JP2014113972A (en) * 2012-12-12 2014-06-26 Nissan Motor Co Ltd Braking control system
CN104828044A (en) * 2014-07-03 2015-08-12 北汽福田汽车股份有限公司 Braking control method and braking control system of vehicle
CN105034821A (en) * 2015-02-05 2015-11-11 南京理工大学 Composite regenerative braking method used for vehicle
CN105644546A (en) * 2015-12-29 2016-06-08 湖南南车时代电动汽车股份有限公司 Power generation control method for engine and driving motor of hybrid power bus

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107323271A (en) * 2017-06-16 2017-11-07 北京新能源汽车股份有限公司 The braking control system of electric vehicle, method and device
CN107444393A (en) * 2017-07-20 2017-12-08 北京新能源汽车股份有限公司 Brakes control method and device
CN110341668A (en) * 2018-04-08 2019-10-18 上海汽车集团股份有限公司 A kind of braking force distribution method, apparatus and entire car controller
CN108639037A (en) * 2018-06-21 2018-10-12 北京新能源汽车股份有限公司 Electric braking compensating control method, controller, electric boosted auxiliary system and automobile

Similar Documents

Publication Publication Date Title
CN105857309B (en) A kind of adaptive cruise control method for considering multiple target
CN104210383B (en) A kind of four-wheel drive electric automobile torque distribution control method and system
Lv et al. Novel control algorithm of braking energy regeneration system for an electric vehicle during safety–critical driving maneuvers
CN102717714B (en) Pure electric vehicle braking energy recovery control system and method based on DCT (Data Communication Terminal)
WO2016074623A1 (en) Vehicle operation monitoring, overseeing, data processing and overload monitoring method and system
DE10226143B4 (en) Method for controlling a hybrid drive in a motor vehicle
CN104176054B (en) A kind of automatic lane change control system of automobile active anti-corrosion and method of work thereof
CN103231658B (en) Electrobus brake system and control method thereof
CN102167001B (en) Controller for electric vehicle
CN102506160B (en) Ramp based on longitudinal dynamics and vehicle load identification method
CN104108316B (en) Electrohydraulic-combined brake control method of battery electric vehicle
CN108081961B (en) braking energy recovery control method and device and electric automobile
CN102941816B (en) A kind of drive motor method for controlling torque of elec. vehicle
CN102975702B (en) A kind of Tandem regenerative brake control method
CN204750152U (en) A self -adaptation cruise control system for electric automobile
CN100475596C (en) Vehicle regenerative braking control apparatus and method
CN106945670A (en) Anti-rollover system for automobiles and control strategy based on driver&#39;s input prediction
CN101112869B (en) Automobile energy source regenerative braking system and the control method thereof
CN104228591B (en) A kind of regenerating braking energy recycling and control method and device
CN102642474B (en) Accelerator pedal and brake pedal-based electrically driven automobile feedback brake control method
US8577522B2 (en) Method for monitoring at least one system parameter which influences the operating behaviour of vehicles or trains of vehicles
CN104175902A (en) Torque distribution control method for electric-wheel automobile hub motor torque distribution system
CN103991384B (en) A kind of composite braking system of elec. vehicle and composite brakig method thereof
Ruan et al. The dynamic performance and economic benefit of a blended braking system in a multi-speed battery electric vehicle
DE102005047722B4 (en) A method of controlling regenerative braking of a belt driven hybrid vehicle

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20170222