CN107444393A - Brakes control method and device - Google Patents
Brakes control method and device Download PDFInfo
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- CN107444393A CN107444393A CN201710596094.7A CN201710596094A CN107444393A CN 107444393 A CN107444393 A CN 107444393A CN 201710596094 A CN201710596094 A CN 201710596094A CN 107444393 A CN107444393 A CN 107444393A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
-
- 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
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of brakes control method and device, wherein method includes：According to the transport condition of vehicle, demand braking torque is calculated；It is that motor and hydraulic braking control unit distribute moment of torsion, so that the motor and the hydraulic braking control unit are braked according to each allocated moment of torsion to vehicle according to the demand braking torque；During the motor and the hydraulic braking control unit are braked according to allocated moment of torsion to vehicle, the transport condition of vehicle is obtained, and the transport condition in braking procedure compensates to the moment of torsion for distributing to motor.Brakes control method and device provided by the invention, enable to braking procedure to produce a desired effect as far as possible, effectively improve the precision of control for brake.
Description
Technical field
The present invention relates to technical field of automobile control, more particularly to a kind of brakes control method and device.
Background technology
In face of increasingly severe energy and environment problem, increase of the conventional fuel oil automobile to petroleum resources demand and bring
Environmental pollution increasingly caused the concern of people, at the same time energy-conservation is just turning into the focus of research with new-energy automobile.Development
New-energy automobile, the pure electric automobile especially with no pollution, zero-emission, not only there is weight to energy security, environmental protection
Big meaning, while be also that automotive field realizes transition and upgrade, the important directions of technological break-through, it is becoming for automotive field Future Development
Gesture.The one kind of pilotless automobile as intelligent automobile, equally it is the trend of automotive field Future Development.Pilotless automobile
Referred to as wheeled mobile robot, it perceives road environment, vehicle location, traffic signals and barrier by vehicle-mounted sensor-based system
Etc. information, automatic planning travelling line and realize that the vertical, horizontal of vehicle couples control by certain control logic on this basis
System, vehicle safety is reached intended destination, manually need not additionally intervene during this period.Pilotless automobile collection is controlled automatically
Numerous technologies such as system, architecture, artificial intelligence, machine vision are computer science, pattern-recognition and intelligent control in one
The product of technology height development, while be also an important symbol for weighing national a research strength and industrial level.Compare
Compared with conventional fuel oil car, pure electric automobile generally acknowledges that it is unmanned due to having the characteristics that pure level platform, motor driving
The more preferable carrier of automobile.
Control for brake is that automatic driving vehicle realizes one of longitudinally controlled key technology, current pure electronic unmanned vapour
Brakes in car using line traffic control scheme and retains brake pedal mostly, unmanned between pilot steering for realizing
Switching.When vehicle is artificial driving condition, vehicle control device is according to the driving of the information acquisition driver such as brake pedal aperture
It is intended to, and the intention is converted into demand command brake torque, hydraulic braking control unit is braked according to demand on this basis
Torque command controls hydraulic work system, realizes the braking of vehicle；And when vehicle is in unmanned state, with pilot steering
Difference, now unmanned controller is according to the information such as environment, barrier, traffic signals and vehicle's current condition calculating demand
Braking torque, on this basis, the braking function of vehicle is realized by hydraulic braking control unit.
In brake-by-wire scheme more than, there is substantial amounts of nonlinear element and uncertainty in whole control process,
These can have an impact to the precision of control, cause control accuracy relatively low.
The content of the invention
The present invention provides a kind of brakes control method and device, to solve brakes control essence in the prior art
Spend relatively low technical problem.
Therefore, the present invention proposes a kind of brakes control method, comprise the following steps：
According to the transport condition of vehicle, demand braking torque is calculated；
Be that motor and hydraulic braking control unit distribute moment of torsion according to the demand braking torque so that the motor and
The hydraulic braking control unit is braked according to each allocated moment of torsion to vehicle；
In the process that the motor and the hydraulic braking control unit are braked according to allocated moment of torsion to vehicle
In, the transport condition of vehicle is obtained, and the transport condition in braking procedure compensates to the moment of torsion for distributing to motor.
Alternatively, according to the transport condition of vehicle, demand braking torque is calculated, including：
Obtain speed and it is expected acceleration；
According to the speed and it is expected acceleration, the demand braking torque is determined by tabling look-up.
Alternatively, according to the demand braking torque, moment of torsion is distributed for motor and hydraulic braking control unit, including：
Calculate the maximum allowable energy regenerating moment of torsion of motor；
According to the maximum allowable energy regenerating moment of torsion, the moment of torsion for distributing to the motor is calculated；
According to the moment of torsion and the demand braking torque for distributing to the motor, the hydraulic braking control is distributed in calculating
The moment of torsion of unit processed.
Alternatively, the maximum allowable energy regenerating moment of torsion of motor is calculated, including：
Obtain the maximum allowable charge power of the maximum allowable generated output and battery of motor；
Determine the minimum value in the maximum allowable charge power of the maximum allowable generated output and battery of motor；
According to the minimum value, the generating efficiency of motor and rotating speed, determine that the end-point energy of motor reclaims moment of torsion；
Moment of torsion and default moment of torsion surplus are reclaimed according to the end-point energy of the motor, determine the maximum allowable energy of motor
Amount recovery moment of torsion.
Alternatively, according to the maximum allowable energy regenerating moment of torsion, the moment of torsion for distributing to the motor is calculated, including：
Judge whether the demand braking torque is multiplied by motor power more than the maximum allowable energy regenerating moment of torsion and reclaims
Coefficient；
If being more than, the moment of torsion for distributing to the motor is multiplied by motor power time for the maximum allowable energy regenerating moment of torsion
Receive coefficient；
If being not more than, the moment of torsion for distributing to the motor is the demand braking torque.
Alternatively, the mistake braked in the motor and the hydraulic brake unit according to allocated moment of torsion to vehicle
Cheng Zhong, the transport condition of vehicle is obtained, and the transport condition in braking procedure compensates to the moment of torsion for distributing to motor,
Including：
Obtain the speed and acceleration of vehicle in braking procedure；
Calculate the acceleration of vehicle in braking procedure and it is expected the acceleration bias between acceleration；
According to the speed of vehicle in the braking procedure and the acceleration bias, it is determined that the compensation being added on motor is turned round
Square；
According to the compensation moment of torsion, the moment of torsion being assigned to the demand braking torque on motor compensates.
Alternatively, according to the speed of vehicle in the braking procedure and the acceleration bias, it is determined that being added on motor
Compensation moment of torsion, including：
Obtain the form for the corresponding relation for being stored with speed, acceleration bias and compensation moment of torsion；
According to the speed of vehicle in the braking procedure and the acceleration bias, by tabling look-up, acquisition determination is added to electricity
Compensation moment of torsion on machine.
The present invention also provides a kind of brake system controls, including：
Computing module, for the transport condition according to vehicle, calculate demand braking torque；
Distribute module, for according to the demand braking torque, being that motor and hydraulic braking control unit distribute moment of torsion, with
The motor and the hydraulic braking control unit is set to be braked according to each allocated moment of torsion to vehicle；
Compensating module, for being entered in the motor and the hydraulic braking control unit according to allocated moment of torsion to vehicle
During row braking, the transport condition of vehicle is obtained, and the transport condition in braking procedure is to distributing to the torsion of motor
Square compensates.
Alternatively, the computing module is specifically used for：
Obtain speed and it is expected acceleration；
According to the speed and it is expected acceleration, the demand braking torque is determined by tabling look-up.
Alternatively, the distribute module is specifically used for：
Calculate the maximum allowable energy regenerating moment of torsion of motor；
According to the maximum allowable energy regenerating moment of torsion, the moment of torsion for distributing to the motor is calculated；
According to the moment of torsion and the demand braking torque for distributing to the motor, the hydraulic braking control is distributed in calculating
The moment of torsion of unit processed.
The present invention proposes a kind of computer equipment, including memory, processor and storage on a memory and can located
The computer program that runs on reason device, during the computing device described program, a kind of brakes control method is able to carry out,
Methods described includes：According to the transport condition of vehicle, demand braking torque is calculated；It is motor according to the demand braking torque
With hydraulic braking control unit moment of torsion is distributed, so that the motor and the hydraulic braking control unit are according to being each allocated
Moment of torsion is braked to vehicle；Vehicle is carried out according to allocated moment of torsion in the motor and the hydraulic braking control unit
During braking, the transport condition of vehicle is obtained, and the transport condition in braking procedure is to distributing to the moment of torsion of motor
Compensate.
The present invention proposes a kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium by
When managing device execution, a kind of brakes control method is able to carry out, methods described includes：According to the transport condition of vehicle, calculate
Demand braking torque；It is that motor and hydraulic braking control unit distribute moment of torsion, so that the electricity according to the demand braking torque
Machine and the hydraulic braking control unit are braked according to each allocated moment of torsion to vehicle；In the motor and the liquid
During pressure brak control unit is braked according to allocated moment of torsion to vehicle, the transport condition of vehicle, and root are obtained
The moment of torsion for distributing to motor is compensated according to the transport condition in braking procedure.
The present invention proposes a kind of computer program product, when the instruction in the computer program product is held by processor
During row, a kind of brakes control method is able to carry out, methods described includes：According to the transport condition of vehicle, demand system is calculated
Dynamic torque；It is that motor and hydraulic braking control unit distribute moment of torsion, so that the motor and institute according to the demand braking torque
Hydraulic braking control unit is stated to brake vehicle according to each allocated moment of torsion；In the motor and the hydraulic braking
During control unit is braked according to allocated moment of torsion to vehicle, the transport condition of vehicle is obtained, and according to braking
During transport condition the moment of torsion for distributing to motor is compensated.
Brakes control method and device provided by the invention, by calculating demand braking torque, according to the demand
Braking torque, it is that motor and hydraulic braking control unit distribute moment of torsion, so that the motor and the hydraulic braking control unit
Vehicle is braked according to each allocated moment of torsion, in the motor and the hydraulic braking control unit according to allocated
Moment of torsion vehicle is braked during, obtain the transport condition of vehicle, and the transport condition pair in braking procedure
The moment of torsion for distributing to motor compensates, and braking procedure is produced a desired effect as far as possible, effectively improves the precision of control for brake.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is the schematic flow sheet for the brakes control method that the embodiment of the present invention one provides；
Fig. 2 is the control configuration diagram of brakes in the brakes control method that the embodiment of the present invention one provides；
Fig. 3 is the computing block diagram of demand braking torque in the brakes control method that the embodiment of the present invention one provides；
Fig. 4 is that the flow of moment of torsion distribution and torque compensation is shown in the brakes control method that the embodiment of the present invention one provides
It is intended to；
Fig. 5 is the computing block diagram that moment of torsion is compensated in the brakes control method that the embodiment of the present invention one provides；
Fig. 6 is the structured flowchart for the brake system controls that the embodiment of the present invention two provides.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Embodiment one
The embodiment of the present invention one provides a kind of brakes control method.Fig. 1 is the braking that the embodiment of the present invention one provides
The schematic flow sheet of system control method.As shown in figure 1, the method in the present embodiment, may comprise steps of：
Step 101, the transport condition according to vehicle, calculate demand braking torque.
Step 102, according to the demand braking torque, be that motor and hydraulic braking control unit distribute moment of torsion, so that institute
Motor and the hydraulic braking control unit is stated to brake vehicle according to each allocated moment of torsion.
Step 103, in the motor and the hydraulic braking control unit according to allocated moment of torsion to vehicle system
In dynamic process, the transport condition of vehicle is obtained, and the transport condition in braking procedure enters to the moment of torsion for distributing to motor
Row compensation.
Brakes control method in the present embodiment, can be used for unpiloted pure electric automobile.Fig. 2 is the present invention
The control configuration diagram of brakes in the brakes control method that embodiment one provides.
In Fig. 2, unmanned controller 1 is according to onboard sensor (camera, laser radar, millimetre-wave radar, ultrasonic wave
Radar, GPS etc.) information such as the position of vehicle, environment, traffic signals, barrier are obtained, and car is calculated according to information above
Expectation acceleration, the expectation acceleration information is fed back to vehicle control device 2 by unmanned controller 1, if the expectation adds
Speed is negative, then vehicle control device 2 performs brake operating.
Vehicle control device 2 is the general name of three controls system in traditional pure electric automobile, and it includes entire car controller, motor
Controller and battery management system.Vehicle control device 2 is (negative according to the expectation acceleration received first when performing brake operating
To) demand braking torque is calculated, the status information of electrokinetic cell 3 is obtained from power cell of vehicle 3 afterwards, according to electrokinetic cell 3
Status information and the status information etc. of motor 4 demand braking torque is allocated, be respectively allocated to motor 4 with
Hydraulic braking control unit 5, the moment of torsion of wherein motor 4 are realized by energy recuperation mode, are made caused by motor 4
Dynamic torque is acted directly in wheel 7 by single reduction gear 6, and hydraulic braking control unit 5 is turned round according to assigned braking
Square controls brake caliper 8, realizes that vehicle is braked.Last vehicle control device 2 is driven according to produced negativeacceleration is braked with nobody
The expectation acceleration for sailing the transmission of controller 1 is compared, and judges whether braking reaches expected, to moment of torsion point if being not up to expected
With being adjusted, ultimately form closed loop and vehicle braking procedure is controlled.
Hydraulic braking control unit 5 is the important component in the control framework.Control in hydraulic braking control unit 5
After device processed receives allocated torque information, by controlling motor, braking liquid pump to realize brake fluid inflow, outflow braked wheel
Cylinder, the control to brake caliper 8 is finally reached, so as to realize the braking function of vehicle (generation braking torque).
The brakes control method provided based on above-mentioned control framework, the present embodiment, mainly passes through demand braking torque
Calculate, moment of torsion distribution, torque compensation are realized, correspond to above-mentioned steps 101 respectively to step 103, the executive agent of method can be with
For vehicle control device 2.
In a step 101, according to the transport condition of vehicle, demand braking torque is calculated.
In vehicle travel process, unmanned controller 1 is according to the position of onboard sensor acquisition vehicle, environment, friendship
The information such as messenger, barrier, and desired control state is sent to vehicle control device 2 according to certain control logic, it is final real
Existing unmanned function.
The longitudinally controlled of pilotless automobile is actually speed control, wherein for the control for brake of vehicle, nobody
Driving controller 1 is it is expected acceleration (negative sense) by being sent to vehicle control device 2, responds the life by vehicle control device 2 afterwards
Order, car is finally realized by the control to hydraulic braking control unit 5 and the energy regenerating of motor (hereinafter referred to as motor) 4
Braking function.
The realization of vehicle braking function, actually realized by being applied to the braking torque in wheel 7, therefore at this
In embodiment, after vehicle control device 2 receives the expectation acceleration that unmanned controller 1 is sent, if according to expectation acceleration
Judge that needs are braked, then firstly the need of calculating demand braking torque.
Demand braking torque can calculate according to the transport condition of vehicle, and the transport condition of vehicle can include but unlimited
In：Speed, it is expected acceleration etc..
Preferably, the transport condition according to vehicle in step 101, demand braking torque is calculated, can be included：Obtain
Speed and expectation acceleration；According to the speed and it is expected acceleration, the demand braking torque is determined by tabling look-up.
Fig. 3 is the computing block diagram of demand braking torque in the brakes control method that the embodiment of the present invention one provides.Fig. 3
In, VaRepresent the expectation acceleration that unmanned controller 1 is sent, VnRepresent the current speed of vehicle, TbRepresent by tabling look-up
The demand braking torque arrived.
Vehicle in actual travel, apply specific braking torque to it, its caused negativeacceleration and vehicle-state
And environmental factor strong correlation, such as in case of the high-speed travel state, windage is larger, now under the conditions of identical braking torque caused by vehicle
Negativeacceleration is higher compared with low speed driving cycle；Equally, ambient wind velocity, track situation (the rolling friction system of corresponding wheel
Number) and climb and fall etc. can the negativeacceleration final to vehicle have an impact.
In the present embodiment, by carry out early stage train experiment (such as below ambient wind velocity three-level, dry and straight mat formation
Carry out real train test under pavement conditions), apply caused negative sense under the conditions of different braking torques obtains different speeds and accelerate
Angle value, obtain it is expected acceleration V after collateda, current vehicle speed VnWith braking torque TbCorresponding relation, store it in form
In, in actual applications, pass through VaWith VnIt can directly inquire about to obtain demand braking torque Tb。
Demand braking torque computational methods shown in Fig. 3 do not consider environment, and such as wind speed, pavement conditions factor is to TbMade
Into influence, but the influence of the part can be compensated by the regulation to the energy regenerating intensity of motor 4 in the present embodiment.
In a step 102, it is that motor 4 and hydraulic braking control unit 5 distribute moment of torsion according to the demand braking torque,
So that the motor 4 and the hydraulic braking control unit 5 are braked according to each allocated moment of torsion to vehicle.
Specifically, the demand braking torque is segmented into the first moment of torsion and the second moment of torsion, the first moment of torsion and the second moment of torsion
Sum is the demand braking torque.First braking torque is the moment of torsion that motor 4 is braked to vehicle, and the second moment of torsion is hydraulic pressure
The moment of torsion that brak control unit 5 is braked to vehicle.
For example, be 10Nm by demand braking torque is calculated, the first moment of torsion and the second moment of torsion can be respectively 7Nm and
3Nm, motor 4 and hydraulic braking control unit 5 are braked according to 7Nm and 3Nm to vehicle respectively.
Preferably, in step 102 according to the demand braking torque, divide for motor 4 and hydraulic braking control unit 5
With moment of torsion, can include：
Calculate the maximum allowable energy regenerating moment of torsion of motor 4；According to the maximum allowable energy regenerating moment of torsion, distribution is calculated
Moment of torsion to the motor 4；According to the moment of torsion and the demand braking torque for distributing to the motor 4, institute is distributed in calculating
State the moment of torsion of hydraulic braking control unit 5.
Wherein, the maximum allowable energy regenerating moment of torsion of motor 4 is calculated, can be included：Obtain the maximum allowable generating of motor 4
The maximum allowable charge power of power and electrokinetic cell 3；Determine the maximum allowable generated output and electrokinetic cell 3 of motor 4
Maximum allowable charge power in minimum value；According to the minimum value, the generating efficiency of motor 4 and rotating speed, motor 4 is determined
End-point energy recovery moment of torsion；Moment of torsion and default moment of torsion surplus are reclaimed according to the end-point energy of the motor 4, determine motor
4 maximum allowable energy regenerating moment of torsion.
Specifically, in the present embodiment, to ensure to improve vehicle energy service efficiency to greatest extent in vehicle braking procedure,
Maximum allowable energy regenerating moment of torsion can be first determined, the electricity is distributed to calculate according to the maximum allowable energy regenerating moment of torsion
The moment of torsion of machine 4.And in order to determine maximum allowable energy regenerating moment of torsion, it can first calculate the end-point energy recovery moment of torsion of motor 4.
The end-point energy recovery torque caculation method of motor 4 is shown in formula (1).
In formula (1), TmaxRepresent the end-point energy of motor 4 recovery moment of torsion；PMotorRepresent 4 maximum allowable generated output of motor
(Kw)；PBattRepresent the maximum allowable charge power (Kw) of electrokinetic cell 3；η represents the generating efficiency of motor 4；ω represents 4 turns of motor
Speed.The end-point energy of motor 4 recovery moment of torsion can obtain according to formula (1).
For protection motor 4 and electrokinetic cell 3, it should not be allowed to be worked in limiting value, moment of torsion surplus is introduced for this.
Tmotor=T- Δs T (2)
In formula (2), Δ T represents moment of torsion surplus, TmotorThe maximum allowable energy regenerating moment of torsion of motor 4 is represented, T represents motor 4
End-point energy reclaims moment of torsion, i.e. T in formula (1)max.Δ T introducing ensure that motor 4 and power electric it can be seen from formula (2)
Pond 3 is not operate at limiting condition, therefore serves protective effect to motor 4 and electrokinetic cell 3.
Further, according to the maximum allowable energy regenerating moment of torsion, the moment of torsion for distributing to the motor 4 is calculated, can be with
Including：Judge whether the demand braking torque more than the maximum allowable energy regenerating moment of torsion is multiplied by the energy regenerating system of motor 4
Number；If being more than, the moment of torsion for distributing to the motor 4 is multiplied by the energy regenerating of motor 4 for the maximum allowable energy regenerating moment of torsion
Coefficient；If being not more than, the moment of torsion for distributing to the motor 4 is the demand braking torque.
Specifically,, can be according to maximum allowable energy after completing maximum allowable energy regenerating torque arithmetic in the present embodiment
Recovery moment of torsion is allocated to demand braking torque, defines TKObtained braking torque, T are distributed for hydraulic braking control unit 5M
Obtained energy regenerating (generating) moment of torsion is distributed for motor 4, its computational methods is as follows：
Wherein KMThe energy regenerating coefficient of motor 4 is represented, the value is less than 1, and its object is to be follow-up energy regenerating moment of torsion
Fine setting provide regulation surplus.
Method as shown in Figure 3 obtains the demand braking torque T of vehicleb, according to formula (3), (4), if KM·Tmotor≥Tb's
Condition is met, then means that the moment of torsion as caused by the energy regenerating of motor 4 disclosure satisfy that braking requirement, now TMFor Tb, simultaneously
TKFor 0；If conditions above is unmet, it is K that motor 4, which distributes obtained braking torque,M·Tmotor, hydraulic braking control list
The braking torque that the distribution of member 5 obtains is Tb-KM·Tmotor。
The distribution method considers the less situation of demand braking torque, hydraulic braking is not controlled in this case single
Member 5 distributes braking torque, provides braking requirement by the Brake energy recovery of motor 4 completely, reduces hydraulic braking control unit 5
Net cycle time, this is for being avoided brakes due to heat fade caused by working long hours and extending the life-span and be respectively provided with weight
Want meaning；At the same time, this method due to can reclaim to the utmost braking in caused energy, therefore for extend vehicle
Effective continual mileage there is actively impact.
In step 103, in the motor 4 and the hydraulic braking control unit 5 according to allocated moment of torsion to vehicle
During being braked, the transport condition of vehicle is obtained, and the transport condition in braking procedure is to distributing to motor 4
Moment of torsion compensates.
Formula (3) completes the distribution of demand braking torque with formula (4), it is contemplated that hydraulic braking control unit 5 is performing system
(such as descending, upward slope, with the wind, against the wind) is after braking torque is applied under error during dynamic torque order, or some special operation conditions
Acceleration caused by vehicle (negative sense), for these situations, designs adjustable strategies, passes through regulation motor 4 below or above expection
Energy regenerating moment of torsion it is compensated so that vehicle reaches expected braking effect.
Preferably, in step 103 in the motor 4 and the hydraulic braking control unit 5 according to allocated torsion
During square is braked to vehicle, the transport condition of vehicle is obtained, and the transport condition in braking procedure is to distribution
Moment of torsion to motor 4 compensates, and can include：
Obtain the speed and acceleration of vehicle in braking procedure；The acceleration of vehicle in braking procedure is calculated with it is expected to accelerate
Acceleration bias between degree；According to the speed of vehicle in the braking procedure and the acceleration bias, it is determined that being added to electricity
Compensation moment of torsion on machine 4；According to the compensation moment of torsion, the moment of torsion being assigned to the demand braking torque on motor 4 is mended
Repay.
Fig. 4 is that the flow of moment of torsion distribution and torque compensation is shown in the brakes control method that the embodiment of the present invention one provides
It is intended to.In Fig. 4, VaThe expectation acceleration sent for unmanned controller 1, after braking torque calculates link (referring to Fig. 3)
Obtain demand braking torque Tb, moment of torsion distribution is carried out on this basis, wherein being assigned to hydraulic braking control unit 5 and driving electricity
The braking torque of machine 4 is respectively TKWith TM；Afterwards hydraulic braking control unit 5 and motor 4 according to torque command respectively to car
Produce braking torque；In the presence of braking torque, vehicle, which produces, subtracts acceleration Vra, it is expected acceleration VaWith the actual production of vehicle
Raw acceleration VraSubtract each other, obtain acceleration bias ae, torque T is compensated by torque compensation link using the deviatione, profit
Use TeTo TMCompensate, it is final to ensure that vehicle produce expected acceleration.
According to Fig. 4 as can be seen that the core in the control method is torque compensation, i.e., mended according to acceleration bias to calculate
Repay moment of torsion.Preferably, according to the speed of vehicle in the braking procedure and the acceleration bias, it is determined that being added to motor 4
On compensation moment of torsion, can include：
Obtain the form for the corresponding relation for being stored with speed, acceleration bias and compensation moment of torsion；Braked according to described
The speed of vehicle and the acceleration bias in journey, the compensation moment of torsion for determining to be added on motor 4 is obtained by tabling look-up.
Fig. 5 is the computing block diagram that moment of torsion is compensated in the brakes control method that the embodiment of the present invention one provides.In Fig. 5,
VnCurrent vehicle speed is represented, in the present embodiment, can carry out going up a slope under the operating mode of different gradient respectively and be demarcated with the real vehicle of descending,
Gone up a slope, under descent run state so as to obtain different speeds, acceleration bias aeWith compensating torque TeCorresponding relation, and by its
Stored in a tabular form, pass through acceleration bias a in actual applicationeWith vehicle present speed VnDirectly inquire about
To compensation torque Te.The compensation way can effectively to vehicle driving up, descending, sail with the wind, go against the wind, different road surface bars
Acceleration caused by part (corresponding different rolling resistance of wheel coefficient) and the brake torque error of hydraulic braking control unit 5
Deviation compensates.
The brakes control method that the present embodiment provides, by calculating demand braking torque, braked according to the demand
Moment of torsion, it is that motor 4 and hydraulic braking control unit 5 distribute moment of torsion, so that the motor 4 and the hydraulic braking control unit 5
Vehicle is braked according to each allocated moment of torsion, in the motor 4 and the hydraulic braking control unit 5 according to being divided
During the moment of torsion matched somebody with somebody is braked to vehicle, the transport condition of vehicle, and the transport condition in braking procedure are obtained
The moment of torsion for distributing to motor 4 is compensated, braking procedure is produced a desired effect as far as possible, effectively improves the essence of control for brake
Degree.
The method provided according to the present embodiment, in actual applications, can be first under unmanned pattern by vehicle control
The expectation acceleration (negative sense) that device 2 processed obtains according to unmanned controller 1 calculates vehicle current demand braking torque, Zhi Hougen
According to 4 maximum allowable energy regenerating moment of torsion of electrokinetic cell 3 and 4 state computation motor of motor；Carry out on this basis
Demand braking torque distributes, and demand braking torque is divided into two parts, a part is realized by hydraulic braking control unit 5, another
Realized by the energy regenerating of motor 4 part.
Motor 4 is incorporated into control for brake by the present embodiment can reclaim in braking caused energy to greatest extent to prolong
The continual mileage of long vehicle, while the caused heat fade of continuous braking is impaired on influence caused by braking effect, have
Good promotional value.
The distribution method of demand braking torque in the present embodiment, demand braking torque is rationally and effectively distributed into hydraulic pressure
Brak control unit 5 and motor 4, hydraulic braking control unit 5, according to corresponding torque command, pass through with motor 4
Control oil pressure produces braking torque jointly with the energy regenerating of motor 4, so as to realize the braking function of vehicle.In the assignment procedure,
The protection to motor 4 and electrokinetic cell 3 is considered, it is avoided and is operated in limiting condition, therefore to extending its working life tool
There is positive effect；In addition, the distribution method considers, demand braking torque is smaller (just can only to be produced by the energy regenerating of motor 4
Braking torque needed for life) situation, in this case not to hydraulic braking control unit 5 distribute braking torque, pass through completely
The Brake energy recovery of motor 4 provides braking requirement for driver, and this is for being avoided brakes caused by working long hours
Caused energy, the effective continual mileage for extending vehicle have positive effect in heat fade and to greatest extent recovery braking.
Truly error be present between caused braking torque meeting and actual demand in view of hydraulic braking control unit 5, with
And due to caused by braking procedure caused by the factors such as environment, road surface the problems such as deviation between negativeacceleration and actual demand,
Can be by being within the specific limits adjusted caused braking torque in the energy recovery process of motor 4 to compensate.It is logical
Cross and the Brake energy recovery moment of torsion of motor 4 is adjusted to realize braking compensation, on the premise of the trouble free service of motor 4 is ensured
By increasing or reducing energy regenerating intensity, braking procedure is set to produce a desired effect as far as possible.
In addition, the compensation method that the present embodiment provides does not change the braking torque distribution of hydraulic braking control unit 5, as far as possible
The acceleration error of vehicle is compensated by adjusting the energy regenerating moment of torsion of motor 4, reduces control difficulty, therefore with larger
Dissemination.
Embodiment two
The embodiment of the present invention two provides a kind of brake system controls.Fig. 6 is the braking that the embodiment of the present invention two provides
The structured flowchart of system control device.As shown in fig. 6, the device in the present embodiment, can include：
Computing module 201, for the transport condition according to vehicle, calculate demand braking torque；
Distribute module 202, for being that motor and the distribution of hydraulic braking control unit are turned round according to the demand braking torque
Square, so that the motor and the hydraulic braking control unit are braked according to each allocated moment of torsion to vehicle；
Compensating module 203, in the motor and the hydraulic braking control unit according to allocated moment of torsion to car
During being braked, the transport condition of vehicle is obtained, and the transport condition in braking procedure is to distributing to motor
Moment of torsion compensate.
Brake system controls in the present embodiment, it can be used for performing the brakes controlling party described in embodiment one
Method, its concrete principle and implementation process may refer to embodiment one, and here is omitted.
The brake system controls that the present embodiment provides, by calculating demand braking torque, braked according to the demand
Moment of torsion, be that motor and hydraulic braking control unit distribute moment of torsion so that the motor and the hydraulic braking control unit according to
Each allocated moment of torsion is braked to vehicle, in the motor and the hydraulic braking control unit according to allocated torsion
During square is braked to vehicle, the transport condition of vehicle is obtained, and the transport condition in braking procedure is to distribution
Moment of torsion to motor compensates, and braking procedure is produced a desired effect as far as possible, effectively improves the precision of control for brake.
Further, the computing module 201 can be specifically used for：
Obtain speed and it is expected acceleration；
According to the speed and it is expected acceleration, the demand braking torque is determined by tabling look-up.
Further, the distribute module 202 can be specifically used for：
Calculate the maximum allowable energy regenerating moment of torsion of motor；
According to the maximum allowable energy regenerating moment of torsion, the moment of torsion for distributing to the motor is calculated；
According to the moment of torsion and the demand braking torque for distributing to the motor, the hydraulic braking control is distributed in calculating
The moment of torsion of unit processed.
Further, the maximum allowable energy regenerating moment of torsion of motor is calculated, can be included：
Obtain the maximum allowable charge power of the maximum allowable generated output and battery of motor；
Determine the minimum value in the maximum allowable charge power of the maximum allowable generated output and battery of motor；
According to the minimum value, the generating efficiency of motor and rotating speed, determine that the end-point energy of motor reclaims moment of torsion；
Moment of torsion and default moment of torsion surplus are reclaimed according to the end-point energy of the motor, determine the maximum allowable energy of motor
Amount recovery moment of torsion.
Further, according to the maximum allowable energy regenerating moment of torsion, the moment of torsion for distributing to the motor is calculated, can be wrapped
Include：
Judge whether the demand braking torque is multiplied by motor power more than the maximum allowable energy regenerating moment of torsion and reclaims
Coefficient；
If being more than, the moment of torsion for distributing to the motor is multiplied by motor power time for the maximum allowable energy regenerating moment of torsion
Receive coefficient；
If being not more than, the moment of torsion for distributing to the motor is the demand braking torque.
Further, the compensating module 203 can be specifically used for：
Obtain the speed and acceleration of vehicle in braking procedure；
Calculate the acceleration of vehicle in braking procedure and it is expected the acceleration bias between acceleration；
According to the speed of vehicle in the braking procedure and the acceleration bias, it is determined that the compensation being added on motor is turned round
Square；
According to the compensation moment of torsion, the moment of torsion being assigned to the demand braking torque on motor compensates.
Further, according to the speed of vehicle in the braking procedure and the acceleration bias, it is determined that being added to motor
On compensation moment of torsion, can include：
Obtain the form for the corresponding relation for being stored with speed, acceleration bias and compensation moment of torsion；
According to the speed of vehicle in the braking procedure and the acceleration bias, by tabling look-up, acquisition determination is added to electricity
Compensation moment of torsion on machine.
In order to realize above-described embodiment, the present invention also proposes a kind of computer equipment, including memory, processor and storage
On a memory and the computer program that can run on a processor, during the computing device described program, it is able to carry out one
Kind brakes control method, methods described include：According to the transport condition of vehicle, demand braking torque is calculated；According to described
Demand braking torque, it is that motor and hydraulic braking control unit distribute moment of torsion, so that the motor and hydraulic braking control
Unit is braked according to each allocated moment of torsion to vehicle；In the motor and the hydraulic braking control unit according to quilt
During the moment of torsion of distribution is braked to vehicle, the transport condition of vehicle, and the traveling shape in braking procedure are obtained
State compensates to the moment of torsion for distributing to motor.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, when described
When instruction in storage medium is by computing device, a kind of brakes control method is able to carry out, methods described includes：According to
The transport condition of vehicle, calculate demand braking torque；It is motor and hydraulic braking control unit according to the demand braking torque
Distribute moment of torsion so that the motor and the hydraulic braking control unit according to the moment of torsion being each allocated to vehicle system
It is dynamic；During the motor and the hydraulic braking control unit are braked according to allocated moment of torsion to vehicle, obtain
The transport condition of pick-up, and the transport condition in braking procedure compensates to the moment of torsion for distributing to motor.
In order to realize above-described embodiment, the present invention also proposes a kind of computer program product, when the computer program produces
When instruction processing unit in product performs, a kind of brakes control method is able to carry out, methods described includes：According to the row of vehicle
State is sailed, calculates demand braking torque；It is that motor and the distribution of hydraulic braking control unit are turned round according to the demand braking torque
Square, so that the motor and the hydraulic braking control unit are braked according to each allocated moment of torsion to vehicle；Institute
State during motor and the hydraulic braking control unit brake according to allocated moment of torsion to vehicle, obtain vehicle
Transport condition, and the transport condition in braking procedure compensates to the moment of torsion for distributing to motor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
Any process or method described otherwise above description in flow chart or herein is construed as, and represents to include
Module, fragment or the portion of the code of the executable instruction of one or more the step of being used to realize custom logic function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium, which can even is that, to print the paper of described program thereon or other are suitable
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware with another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized：With the logic gates for realizing logic function to data-signal from
Logic circuit is dissipated, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method carries
Suddenly it is that by program the hardware of correlation can be instructed to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..Although have been shown and retouch above
Embodiments of the invention are stated, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as the limit to the present invention
System, one of ordinary skill in the art can be changed to above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (11)
1. a kind of brakes control method, it is characterised in that comprise the following steps：
According to the transport condition of vehicle, demand braking torque is calculated；
It is that motor and hydraulic braking control unit distribute moment of torsion according to the demand braking torque, so that the motor and described
Hydraulic braking control unit is braked according to each allocated moment of torsion to vehicle；
During the motor and the hydraulic braking control unit are braked according to allocated moment of torsion to vehicle, obtain
The transport condition of pick-up, and the transport condition in braking procedure compensates to the moment of torsion for distributing to motor.
2. brakes control method as claimed in claim 1, it is characterised in that according to the transport condition of vehicle, calculating needs
Braking torque is sought, including：
Obtain speed and it is expected acceleration；
According to the speed and it is expected acceleration, the demand braking torque is determined by tabling look-up.
3. brakes control method as claimed in claim 1, it is characterised in that according to the demand braking torque, for electricity
Machine and hydraulic braking control unit distribution moment of torsion, including：
Calculate the maximum allowable energy regenerating moment of torsion of motor；
According to the maximum allowable energy regenerating moment of torsion, the moment of torsion for distributing to the motor is calculated；
According to the moment of torsion and the demand braking torque for distributing to the motor, it is single that the hydraulic braking control is distributed in calculating
The moment of torsion of member.
4. brakes control method as claimed in claim 3, it is characterised in that calculate the maximum allowable energy regenerating of motor
Moment of torsion, including：
Obtain the maximum allowable charge power of the maximum allowable generated output and battery of motor；
Determine the minimum value in the maximum allowable charge power of the maximum allowable generated output and battery of motor；
According to the minimum value, the generating efficiency of motor and rotating speed, determine that the end-point energy of motor reclaims moment of torsion；
Moment of torsion and default moment of torsion surplus are reclaimed according to the end-point energy of the motor, determine that the maximum allowable energy of motor returns
Receive moment of torsion.
5. brakes control method as claimed in claim 3, it is characterised in that turned round according to the maximum allowable energy regenerating
Square, the moment of torsion for distributing to the motor is calculated, including：
Judge whether the demand braking torque more than the maximum allowable energy regenerating moment of torsion is multiplied by motor power recovery coefficient；
If being more than, the moment of torsion for distributing to the motor is multiplied by motor power recovery system for the maximum allowable energy regenerating moment of torsion
Number；
If being not more than, the moment of torsion for distributing to the motor is the demand braking torque.
6. the brakes control method as described in claim any one of 1-5, it is characterised in that in the motor and the liquid
During compacting moving cell is braked according to allocated moment of torsion to vehicle, the transport condition of vehicle is obtained, and according to system
Transport condition during dynamic compensates to the moment of torsion for distributing to motor, including：
Obtain the speed and acceleration of vehicle in braking procedure；
Calculate the acceleration of vehicle in braking procedure and it is expected the acceleration bias between acceleration；
According to the speed of vehicle in the braking procedure and the acceleration bias, it is determined that the compensation moment of torsion being added on motor；
According to the compensation moment of torsion, the moment of torsion being assigned to the demand braking torque on motor compensates.
7. brakes control method as claimed in claim 6, it is characterised in that according to the speed of vehicle in the braking procedure
Degree and the acceleration bias, it is determined that the compensation moment of torsion being added on motor, including：
Obtain the form for the corresponding relation for being stored with speed, acceleration bias and compensation moment of torsion；
According to the speed of vehicle in the braking procedure and the acceleration bias, by tabling look-up, acquisition determination is added on motor
Compensation moment of torsion.
A kind of 8. brake system controls, it is characterised in that including：
Computing module, for the transport condition according to vehicle, calculate demand braking torque；
Distribute module, for being that motor and hydraulic braking control unit distribute moment of torsion, so that institute according to the demand braking torque
Motor and the hydraulic braking control unit is stated to brake vehicle according to each allocated moment of torsion；
Compensating module, in the motor and the hydraulic braking control unit according to allocated moment of torsion to vehicle system
In dynamic process, the transport condition of vehicle is obtained, and the transport condition in braking procedure enters to the moment of torsion for distributing to motor
Row compensation.
9. a kind of computer equipment, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, it is characterised in that during the computing device described program, realize as any one of claim 1-7
Method.
10. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, it is characterised in that the program
The method as any one of claim 1-7 is realized when being executed by processor.
11. a kind of computer program product, it is characterised in that when the instruction in the computer program product is by computing device
When, perform the method as any one of claim 1-7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710596094.7A CN107444393B (en) | 2017-07-20 | 2017-07-20 | Brake system control method and device |
| PCT/CN2018/096414 WO2019015666A1 (en) | 2017-07-20 | 2018-07-20 | Method and device for controlling brake system |
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|---|---|---|---|
| CN201710596094.7A CN107444393B (en) | 2017-07-20 | 2017-07-20 | Brake system control method and device |
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| CN107444393B CN107444393B (en) | 2020-06-12 |
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| CN108995538A (en) * | 2018-08-09 | 2018-12-14 | 金龙联合汽车工业（苏州）有限公司 | A kind of Unmanned Systems of electric car |
| CN109228887A (en) * | 2018-09-30 | 2019-01-18 | 北京新能源汽车股份有限公司 | Electric car and its control method and device |
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| WO2021022473A1 (en) * | 2019-08-06 | 2021-02-11 | 深圳市大疆创新科技有限公司 | Control method, control device, mobile platform, and storage medium |
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| CN111806510A (en) * | 2020-07-24 | 2020-10-23 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle brake control method and system and rail vehicle |
| CN111806510B (en) * | 2020-07-24 | 2021-09-10 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle brake control method and system and rail vehicle |
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| CN114683860A (en) * | 2020-12-30 | 2022-07-01 | 观致汽车有限公司 | Braking method and device for vehicle energy recovery and vehicle with braking method and device |
| CN113580948A (en) * | 2021-08-11 | 2021-11-02 | 华人运通(江苏)技术有限公司 | Brake control method, device, equipment and storage medium for electric automobile |
| CN117622097A (en) * | 2024-01-25 | 2024-03-01 | 江西五十铃汽车有限公司 | Power switching energy recovery method, system, readable storage medium and vehicle |
Also Published As
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|---|---|
| WO2019015666A1 (en) | 2019-01-24 |
| CN107444393B (en) | 2020-06-12 |
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