CN107499142B - Active electric vehicle regenerative braking control system and method thereof - Google Patents
Active electric vehicle regenerative braking control system and method thereof Download PDFInfo
- Publication number
- CN107499142B CN107499142B CN201710690223.9A CN201710690223A CN107499142B CN 107499142 B CN107499142 B CN 107499142B CN 201710690223 A CN201710690223 A CN 201710690223A CN 107499142 B CN107499142 B CN 107499142B
- Authority
- CN
- China
- Prior art keywords
- information
- vehicle
- regenerative braking
- control
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to an active regenerative braking control system of an electric vehicle and a method thereof, wherein the regenerative braking control system comprises an information acquisition unit, an information interaction unit, an information analysis unit and a control unit, wherein the information acquisition unit is used for acquiring vehicle information, the information interaction unit is used for receiving feedback information of a driver to realize human-vehicle information interaction, the information analysis unit is used for analyzing the vehicle information collected by the regenerative braking control system, the control unit is used for acquiring the braking intention of the driver according to the acquired and analyzed vehicle information and providing corresponding control parameters according to the braking intention, the braking condition of the electric vehicle is controlled, the information acquisition unit and the information interaction unit are both connected with the information analysis unit, and the information analysis unit is connected with the control unit.
Description
Technical Field
The invention relates to an electric brake control device of an electric vehicle, in particular to control and management of energy recovery function of vehicle motor braking, and specifically relates to an active regenerative brake control system and method of the electric vehicle.
Background
The purpose of vehicle braking is to decelerate or stop, and the optimization of economy and braking performance by utilizing the kinetic energy conversion of the vehicle under the condition of ensuring the braking performance is one of the technical indexes generally pursued by the electric vehicle industry. One of the typical features of an electric vehicle, which is different from a conventional internal combustion engine vehicle, is that electric energy recovery in a braking state can be performed by using an electric powertrain, i.e., braking energy of the vehicle is converted into electric energy by a regenerative braking function of an electric machine and stored in a battery. In electric vehicles, mechanical braking remains an absolute guarantee of vehicle braking performance, and regenerative braking is an auxiliary braking.
At present, a generally adopted control method for regenerative braking of a vehicle is to judge driving intention and formulate an energy recovery control strategy by using software and hardware functions of a vehicle controller and according to information such as vehicle speed, braking signals and types, battery information, ISG motor state, driving motor state and the like. For different types and driving modes of vehicles, the control rules under different common road conditions are often very different, and the attention degree to the functional relationship in regenerative braking control is also very different, for example, the braking energy of a vehicle speed function, the braking power of the vehicle speed function, the braking energy of a braking power function, the braking energy of a vehicle speed deceleration function and the like, multiple requirements are often subjected to coordination compromise treatment, for example, a control strategy is focused on optimizing the braking performance, and a control strategy is focused on optimizing the energy recovery.
The existing regenerative braking control method has technical problems or difficulties that the optimal control of regenerative braking is influenced, such as:
(1) the analysis of the braking intention of a driver is too simple, enough braking intention analysis resources cannot be obtained through simple input information, the braking strategy is rough and random, and the refining degree is seriously deficient, so that the regenerative braking energy recovery efficiency is low, the comfort is poor, the consistency of the electric braking strength feeling is poor, and even the driving braking safety is influenced by interference;
(2) many vehicles are not provided with a brake pedal depth sensor, only have common brake switching values, and basically, the vehicles of the type can not carry out reasonable regenerative brake control because the driving intention can not be analyzed and the requirements of users on regenerative braking are not clear;
(3) many vehicles use a single vehicle controller to perform regenerative braking control, and a very professional regenerative braking or electric braking control processing system is generally not equipped, so that efficient braking performance optimization control cannot be formed with an ABS (anti-lock brake system) or other components of the vehicle, for example, during hybrid braking, the corresponding relation between a mechanical braking law and a brake pedal depth signal is often deviated or changed greatly due to the change of the physical characteristics and the environment of the mechanical braking, and a professional control system is needed for sensing the change, adjusting the electric braking law, evaluating the efficiency consistency of the hybrid braking system, informing information and the like;
(4) at the present stage, performance evaluation and information feedback function of regenerative braking are greatly lacked, and effective information support cannot be provided for a driver or a vehicle information system, for example, reasonable opportunity of using regenerative braking, regenerative braking behavior suggestion, real-time information of distance and direction of a barrier in a traveling direction, real-time technical state of regenerative braking (such as braking torque, braking current, recovered energy and the like), evaluation of regenerative braking effect (difference from an ideal state), regenerative braking limiting conditions, notification and response measures of fault information (such as driving system fault, distance sensing signal abnormity, other control signal normality and the like) and the like are provided;
(5) the current common regenerative braking system does not deeply analyze the deep physical signal meaning of an input signal, and in practical engineering, a large amount of vehicle information is less used to apply related vehicle control theory knowledge to guide the deep research and development of a regenerative braking control technology, such as running condition analysis, road condition memory (road characteristics and GPS positioning associated information), vehicle parameter analysis (braking force distribution curve, tire pressure, wheel speed, vehicle inclination angle, vehicle acceleration, vehicle weight evaluation, driving resistance evaluation, braking force limit, mechanical braking force and brake pedal depth calibration curve, braking intensity classification, steering operation characteristics and the like), vehicle distance dynamic analysis (relative distance, relative vehicle speed, relative direction and the like) and the like;
(6) the regenerative braking control needs to form multi-level information communication and control with a plurality of systems on the electric vehicle, and the combined control can efficiently optimize the energy-saving effect of the whole vehicle, but the current control idea and application are relatively lacked. Particularly, information interaction with a driver can greatly strengthen and supplement intention analysis resources (such as vehicle technical parameters, road condition information, road surface attachment information, weather conditions and the like), and a more reasonable control strategy is formulated;
(7) self-learning and adaptability are not enough. Since regenerative braking is a supplementary part of service braking, personalized adaptation is necessarily a part of man-machine interaction service, and not only can the running characteristics of people, vehicles and roads be summarized and learned (driving habits, vehicle working conditions, vehicle part parameters, road conditions and the like can be sensed and counted), but also the control law of regenerative braking is adapted and adjusted according to the energy-saving guiding purpose.
At present, the state advocates the development of a high-efficiency driving system scientific and technical project, and simultaneously, the problems need to be solved for realizing the sufficient realization of a better control strategy of regenerative braking under the conditions of meeting diversified regenerative braking requirements and pursuing energy-saving indexes. The concept of optimizing the regenerative braking control of the electric vehicle by adopting a specialized regenerative braking control system in China is low in popularity, and particularly the active regenerative braking control technology which is grafted on the deep analysis braking intention is adopted. At present, the unmanned technology is rapidly developed, the vehicle distance measuring radar application in the traditional vehicle active anti-collision system is gradually popularized, the vehicle positioning and driving obstacle detection technologies in the traditional vehicle active anti-collision system have great reference significance for the active regenerative braking control technology, can be applied to common electric vehicles, and is favorable for optimizing the closed-loop control precision and the intelligent degree in the regenerative braking active control.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an active electric vehicle regenerative braking control system and a method thereof, which are beneficial to optimizing the closed-loop control accuracy and the intelligent degree in the regenerative braking active control.
In order to achieve the above object, the active regenerative braking control system for an electric vehicle and the method thereof of the present invention are specifically as follows:
the active electric vehicle regenerative braking control system is mainly characterized by comprising an information acquisition unit, an information interaction unit, an information analysis unit and a control unit, wherein the information acquisition unit is used for acquiring vehicle information, the information interaction unit is used for receiving feedback information of a driver and realizing man-vehicle information interaction, the information analysis unit is used for analyzing the vehicle information acquired by the regenerative braking control system, the control unit is used for acquiring braking intention of the driver according to the analyzed vehicle information acquired by the control unit and providing corresponding control parameters according to the braking intention to control the braking condition of an electric vehicle, the information acquisition unit and the information interaction unit are both connected with the information analysis unit, and the information analysis unit is connected with the control unit.
Preferably, the information acquisition unit comprises a vehicle tilt angle sensor, a vehicle distance measuring radar module, a brake pedal depth sensor and a GPS signal receiving module, the vehicle tilt angle sensor, the vehicle distance measuring radar module, the brake pedal depth sensor and the GPS signal receiving module are all connected to the information analysis unit through special signal wire harnesses, and the information acquisition unit, the vehicle distance measuring radar module, the brake pedal depth sensor and the GPS signal receiving module are all connected to the information analysis unit through special signal wire harnesses, and
the vehicle inclination angle sensor is used for measuring the inclination angle of the vehicle body in the front-back direction and judging the gradient condition of the road where the vehicle is located so as to realize the optimization of regenerative braking control;
the vehicle range radar module is used for measuring the relative distance of the obstacle in the advancing direction in real time;
the brake pedal depth sensor is used for measuring the depth of the brake pedal in real time;
the GPS signal receiving module is used for coordinate positioning of road information and assisting judgment of road condition information.
Preferably, the information interaction unit comprises an information service interaction module, and the information service interaction module is used for collecting feedback information of a driver, so that the control module can optimize regenerative braking control.
Preferably, the information service interaction module includes an information processing component connected to a CAN bus of the electric vehicle, and configured to process user information input to the information service interaction module, where the user information includes voice information and image information.
Preferably, the information analysis unit includes a vehicle information analysis module connected to the CAN bus of the electric vehicle, and receives and analyzes the vehicle information collected by the information collection unit, the vehicle information of other systems connected to the CAN bus of the electric vehicle, and the feedback information of the driver collected by the information interaction unit, and the information analysis unit includes corresponding analysis software and hardware circuits.
Preferably, the control unit includes a regenerative braking function control module, the regenerative braking function control module includes a control algorithm and a hardware circuit, and is configured to implement regenerative braking control, an input end of the regenerative braking function control module is connected to the information analyzing unit, acquire the vehicle information analyzed by the information analyzing unit and the feedback information of the driver acquired by the information interacting unit, and acquire the braking intention of the driver according to the control algorithm and the analyzed vehicle information, and the regenerative braking function control module includes a feedback unit, and the feedback unit is configured to perform closed-loop correction on the control parameter output by the regenerative braking function control module according to the vehicle information acquired by the information acquiring unit in real time and analyzed by the information analyzing unit in real time, and the feedback information of the driver acquired by the information interacting unit.
Preferably, the control algorithm includes a control parameter list, and the regenerative braking function control module searches the control parameter list according to the braking intention of the driver, which is obtained by the regenerative braking function control module, by referring to the analyzed vehicle information which is obtained in real time, and obtains the braking intention and the control parameters under the real-time vehicle conditions.
Preferably, the control algorithm is a machine learning-based control algorithm, and a learning object of the machine learning-based control algorithm is an actual service braking condition.
Preferably, the regenerative braking control system further comprises an energy buffer control module, which is connected with the regenerative braking function control module, and comprises a high-power heating resistor, a capacitor, a thyristor, a relay and a control circuit, wherein the energy buffer control module is used for performing voltage-limiting protection on the motor controller when a bus circuit is disconnected due to the power battery fault in the traveling process through the short-time high-power heating consumed electric energy; the bus voltage limiting protection device is also used for consuming electric energy through short-time high-power heating, and providing bus voltage limiting protection when the battery is full of electric quantity and normal power regenerative braking cannot be carried out.
The method for realizing the regenerative braking control based on the active electric vehicle regenerative braking control system is mainly characterized by comprising the following steps of:
(1) the regenerative braking control system confirms the reliability of the vehicle information input by the input end of the regenerative braking control system;
(2) after confirming that the input vehicle information is reliable, the regenerative braking control system analyzes the braking intention according to the input vehicle information;
(3) and (3) controlling the electric vehicle by the regenerative braking control system according to the braking intention obtained in the step (2).
Preferably, the information analysis unit includes a vehicle information analysis module connected to a CAN bus of the electric vehicle, and the step (1) specifically includes:
and judging the vehicle information input in the regenerative braking control system through the vehicle information analysis module, wherein the judgment comprises the steps of judging whether the input vehicle information exists, whether the input vehicle information has defects, whether the input vehicle information is to be calibrated, whether the input vehicle information is to be updated, reading a working condition analysis result and a man-car model in an analysis model by the regenerative braking control system, and confirming whether the communication between the systems is normal.
Preferably, after the step (1) and before the step (2), there is a further step of:
and (2.0) the regenerative braking control system establishes communication with other systems of the vehicle through the information interaction unit, and the control unit sends handshake information to other systems connected on the CAN bus of the electric vehicle through the information analysis unit and the information interaction unit in sequence to establish handshake connection so as to confirm the authority of the control command.
Preferably, the control unit comprises a regenerative braking function control module, which comprises a control algorithm and a hardware circuit for implementing regenerative braking control, the input end of the system is connected with the information analysis unit to acquire the vehicle information analyzed by the information analysis unit and the feedback information of the driver acquired by the information interaction unit, and obtains the braking intention of the driver according to the control algorithm and the analyzed vehicle information, and the regenerative braking function control module comprises a feedback unit, the feedback unit is used for acquiring vehicle information in real time by the information acquisition unit and analyzing the vehicle information in real time by the information analysis unit and acquiring feedback information of the driver by the information interaction unit, performing closed-loop correction on the control parameter output by the regenerative braking function control module, wherein the step (2) of performing braking intention analysis according to the input vehicle information specifically comprises the following steps:
the regenerative braking function control module obtains the analyzed vehicle information, analyzes the analyzed vehicle information to obtain real-time vehicle conditions, and calculates the operation intention of the driver according to a built-in control algorithm.
More preferably, the step (3) is specifically:
and the regenerative braking function control module provides control parameters for possible control commands according to the calculated operation intention and in combination with the control parameter list.
Preferably, the regenerative braking control system further comprises an energy buffer control module, connected to the regenerative braking function control module, and including a high-power heating resistor, a capacitor, a thyristor, a relay, and a control circuit, wherein the method further comprises a protection method, including:
the regenerative braking control system protects a motor controller, a power battery and a high-voltage circuit by the energy buffer control module during the running of the vehicle.
Preferably, the energy buffer control module consumes generated current generated by an electric drive system of the vehicle by high power heating.
The active regenerative braking control system and the method thereof of the invention improve the technical level of regenerative braking control of the electric vehicle, optimize the energy-saving performance of the vehicle, simultaneously inherit the thought of high cohesion, low coupling, distribution and modularization of the vehicle control system, are a specialized and independent regenerative braking control module, can deeply analyze the braking intention of a driver, greatly enhance the active control of the regenerative braking of the electric vehicle, further solve the current situations of fuzzy regenerative braking control rules and low informatization level in the current engineering application, can realize the detection of distance and direction, deeply analyze the braking intention, automatically analyze vehicle parameters, dynamically analyze driving conditions, dynamically analyze road conditions, have high intelligent degree and good robustness control rules, and can perform high-efficiency communication and combined control, self-learning and self-adaptive control are carried out, and advanced information service and specialized software/hardware control systems are provided for users. The main benefits that can be achieved with an active regenerative braking control system are:
(1) on the basis of not sacrificing safety and comfort, the braking energy recovery capability can reach a theoretically higher level, and the braking energy recovery effect of the vehicle is greatly improved;
(2) the method can provide regenerative braking condition evaluation information and good man-machine interaction information, optimize driving feeling and develop good vehicle energy-saving operation habits.
Drawings
FIG. 1 is a topology diagram of an active electric vehicle regenerative braking control system of the present invention.
FIG. 2 is a schematic information flow diagram of the active electric vehicle regenerative braking control system of the present invention.
Detailed Description
In order to clearly understand the technical contents of the present invention, the following embodiments are specifically illustrated.
The active electric vehicle regenerative braking control system comprises an information acquisition unit, an information interaction unit, an information analysis unit and a control unit, wherein the information acquisition unit is used for acquiring vehicle information, the information interaction unit is used for receiving feedback information of a driver and realizing human-vehicle information interaction, the information analysis unit is used for analyzing the vehicle information acquired by the regenerative braking control system, the control unit is used for acquiring braking intention of the driver according to the analyzed vehicle information acquired by the control unit and providing corresponding control parameters according to the braking intention to control the braking condition of an electric vehicle, the information acquisition unit and the information interaction unit are both connected with the information analysis unit, and the information analysis unit is connected with the control unit.
In a preferred embodiment, the information collecting unit includes a vehicle tilt angle sensor, a vehicle distance measuring radar module, a brake pedal depth sensor and a GPS signal receiving module, which are respectively and correspondingly used for collecting a vehicle tilt angle, measuring a relative distance of an obstacle in an advancing direction in real time, collecting a brake pedal depth, performing coordinate positioning of road information, and assisting judgment of road condition information, and the four are connected to the information analyzing unit through a dedicated signal wire harness, so as to collect corresponding parameters, and the information collecting unit further includes a GPS signal receiving module, a GPS signal processing module
The vehicle inclination angle sensor is used for measuring the inclination angle of the vehicle body in the front-back direction and judging the gradient condition of the road where the vehicle is located so as to realize the optimization of regenerative braking control;
the vehicle range radar module is used for measuring the relative distance of the obstacle in the advancing direction in real time;
the brake pedal depth sensor is used for measuring the depth of the brake pedal in real time;
the GPS signal receiving module is used for coordinate positioning of road information and assisting judgment of road condition information.
In a preferred embodiment, the information interaction unit includes an information service interaction module, and the information service interaction module is configured to collect feedback information of the driver, so that the control module can optimize regenerative braking control.
In a preferred embodiment, the information service interaction module comprises an information processing component, which is connected with a CAN bus of the electric vehicle and is used for processing user information input into the information service interaction module, wherein the user information comprises voice information and image information.
In a preferred embodiment, the information analyzing unit includes a vehicle information analyzing module, which is connected to a CAN bus of the electric vehicle, and receives and analyzes the vehicle information collected by the information collecting unit, the vehicle information of other systems connected to the CAN bus of the electric vehicle, and the feedback information of the driver collected by the information interacting unit, and the information analyzing unit includes corresponding analyzing software and hardware circuits.
In a preferred embodiment, the control unit includes a regenerative braking function control module, the regenerative braking function control module comprises a control algorithm and a hardware circuit, is used for realizing regenerative braking control, the input end of the system is connected with the information analysis unit to acquire the vehicle information analyzed by the information analysis unit and the feedback information of the driver acquired by the information interaction unit, and obtains the braking intention of the driver according to the control algorithm and the analyzed vehicle information, and the regenerative braking function control module comprises a feedback unit, the feedback unit is used for analyzing the vehicle information collected by the information collecting unit in real time and analyzed by the information analyzing unit in real time, and the feedback information of the driver acquired by the information interaction unit is used for carrying out closed-loop correction on the control parameter output by the regenerative braking function control module.
In a preferred embodiment, the control algorithm includes a control parameter list, and the regenerative braking function control module searches the control parameter list according to the braking intention of the driver, which is obtained by the regenerative braking function control module, with reference to the analyzed vehicle information which is obtained in real time, and obtains the braking intention and the control parameters under the real-time vehicle conditions.
In a particularly preferred embodiment, the control algorithm is a machine learning based control algorithm, and the learning objective of the machine learning based control algorithm is the actual service braking condition.
In a preferred embodiment, the regenerative braking control system further comprises an energy buffer control module, which is connected with the regenerative braking function control module, and comprises a high-power heating resistor, a capacitor, a thyristor, a relay and a control circuit, wherein the energy buffer control module is used for performing voltage-limiting protection on the motor controller when a bus loop is disconnected due to the power battery failure during driving through short-time high-power heating to consume electric energy; the bus voltage limiting protection device is also used for consuming electric energy through short-time high-power heating, and providing bus voltage limiting protection when the battery is full of electric quantity and normal power regenerative braking cannot be carried out.
The method for realizing the regenerative braking control based on the active electric vehicle regenerative braking control system comprises the following steps:
(1) the regenerative braking control system confirms the reliability of the vehicle information input by the input end of the regenerative braking control system;
(2) after confirming that the input vehicle information is reliable, the regenerative braking control system analyzes the braking intention according to the input vehicle information;
(3) and (3) controlling the electric vehicle by the regenerative braking control system according to the braking intention obtained in the step (2).
In a preferred embodiment, the information analysis unit includes a vehicle information analysis module, and is connected to a CAN bus of the electric vehicle, and the step (1) specifically includes:
and judging the vehicle information input in the regenerative braking control system through the vehicle information analysis module, wherein the judgment comprises the steps of judging whether the input vehicle information exists, whether the input vehicle information has defects, whether the input vehicle information is to be calibrated, whether the input vehicle information is to be updated, reading a working condition analysis result and a man-car model in an analysis model by the regenerative braking control system, and confirming whether the communication between the systems is normal.
In a preferred embodiment, after the step (1) and before the step (2), there is a further step of:
and (2.0) the regenerative braking control system establishes communication with other systems of the vehicle through the information interaction unit, and the control unit sends handshake information to other systems connected on the CAN bus of the electric vehicle through the information analysis unit and the information interaction unit in sequence to establish handshake connection so as to confirm the authority of the control command.
In a preferred embodiment, the control unit includes a regenerative braking function control module, the regenerative braking function control module includes a control algorithm and a hardware circuit for implementing regenerative braking control, an input end of the regenerative braking function control module is connected to the information analysis unit, the vehicle information analyzed by the information analysis unit and the feedback information of the driver acquired by the information interaction unit are acquired, and the braking intention of the driver is acquired according to the control algorithm and the analyzed vehicle information, and the regenerative braking function control module includes a feedback unit for performing closed-loop correction on the control parameter output by the regenerative braking function control module according to the vehicle information acquired by the information acquisition unit in real time and analyzed by the information analysis unit in real time and the feedback information of the driver acquired by the information interaction unit, the analyzing of the braking intention according to the input vehicle information in the step (2) is specifically as follows:
the regenerative braking function control module obtains the analyzed vehicle information, analyzes the analyzed vehicle information to obtain real-time vehicle conditions, and calculates the operation intention of the driver according to a built-in control algorithm.
In a more preferred embodiment, the step (3) is specifically:
and the regenerative braking function control module provides control parameters for possible control commands according to the calculated operation intention and in combination with the control parameter list.
In a preferred embodiment, the regenerative braking control system further includes an energy buffer control module, connected to the regenerative braking function control module, and including a high-power heating resistor, a capacitor, a thyristor, a relay, and a control circuit, and the method further includes a protection method, including:
the regenerative braking control system protects a motor controller, a power battery and a high-voltage circuit by the energy buffer control module during the running of the vehicle.
In a particularly preferred embodiment, the energy buffer control module consumes generated current generated by the electric drive system of the vehicle by high power heating.
A Regenerative Braking Control System (RBCS) belongs to an active Regenerative braking Control technology, and is based on a man-vehicle-road Control model, and the composition and the working principle are as follows:
the RBCS comprises the following modules:
the system comprises a regenerative braking function control module, an automotive distance measuring radar module, a brake pedal depth sensor, a vehicle inclination angle sensor, a GPS signal receiving module, a vehicle information analysis module, an information service interaction module and an energy buffering control module.
Referring to fig. 1, in one embodiment, the connection relationship of the modules is:
the vehicle information analysis module, the regenerative braking function control module, the energy buffer control module and the information service interaction module are all connected with a vehicle CAN bus and are connected to other systems in the vehicle through the vehicle CAN bus, and the vehicle information analysis module, the regenerative braking function control module, the energy buffer control module and the information service interaction module comprise a vehicle controller, a circuit management system, a battery management system, a driving system, a CAN instrument and other information service systems.
In the specific embodiment, the information service systems such as the vehicle control unit, the circuit management system, the battery management system, the driving system, the CAN instrument and the like are information cooperation systems of the regenerative braking control system, and the communication and the joint control with other systems are connected through a CAN bus.
In this embodiment, the functions of the modules are as follows:
the information service interaction module: the method provides an important way for comprehensive information service, collects feedback information of a driver, and is the core of information interaction between people and vehicles. Can be composed of mature voice and image processing modules and other information processing components and can be shared with other information service systems.
Vehicle tilt angle sensor: the device is used for measuring the inclination angle of the front and back directions of the vehicle body, can judge the gradient condition of the road where the vehicle is located when the vehicle normally runs on the road, and is a signal source for optimizing regenerative braking control.
The vehicle range radar module: the distance information is the most critical auxiliary information for analyzing the braking intention of a driver in regenerative braking control when a vehicle normally runs on a road, and needs to be closely matched with brake pedal depth information, vehicle speed information and the like.
Brake pedal depth sensor: the method is used for measuring the depth of the brake pedal in real time and is the most direct embodiment of the braking intention of a driver.
GPS signal receiving module: the method is used for coordinate positioning of road information, can be shared with other systems, namely, can input or inquire the road surface type, the gradient and the like of the current road by utilizing the GPS coordinates according to the well-correlated information, and is used for assisting judgment of road condition information.
A vehicle information analysis module: the system receives and analyzes control information from sensors, an information interaction unit and other systems on a CAN bus of the vehicle, is a core processing module for analyzing the braking intention of a driver, consists of analysis software and a hardware circuit, and is a necessary component for realizing informatization and intellectualization of regenerative braking control.
A regenerative braking function control module: the core processing module for realizing the control algorithm and the control consists of control software and a hardware circuit, and is a necessary component for realizing the combined control and the specialized control of the regenerative braking.
The energy buffer control module: a regenerative braking protection device consists of a high-power heating resistor, a capacitor, a silicon controlled rectifier, a relay and a control circuit, and is used for voltage-limiting protection (electric energy is consumed by short-time high-power heating) of a motor controller when a bus loop is disconnected due to the fault of a power battery in a running process; meanwhile, the bus voltage limiting protection can be provided when the battery is full and the normal power regenerative braking cannot be carried out (the electric energy is consumed through short-time high-power heating).
In this particular embodiment, the regenerative braking control system operates on the following principle:
through the information service interaction module, the driver can be conveniently provided with awareness services about direct information and indirect information of regenerative braking, such as active intervention condition of regenerative braking, recommendation of regenerative braking behavior, real-time information (image display or voice prompt) of distance and direction of an obstacle in a traveling direction, evaluation of regenerative braking effect (difference from an ideal state), regenerative braking limitation condition, notification and countermeasure of information of reasons of loss of regenerative braking function (such as driving system fault, abnormal distance perception signal, normal or abnormal of other related control signals and the like), evaluation of efficiency and deviation of a braking system and the like. The driver can also be informed of the analysis information of the vehicle usage, such as the running condition statistical information, the running resistance estimation, the vehicle weight estimation, the road gradient, the driving/braking intensity, etc., through the information service interaction module. The information which is fed back by the driver and changes rapidly in real time can be acquired through the information service interaction module in an information interaction mode, such as vehicle technical parameters, driving road conditions, weather conditions, setting information (such as user model management) and the like.
The information required by the regenerative braking control of the vehicle is obtained through the vehicle inclination angle sensor, the vehicle distance measuring radar module, the brake pedal depth sensor and the GPS signal receiving module, and the understanding of the regenerative braking control strategy of the vehicle can be greatly improved. In addition, information (such as vehicle speed, ABS information, steering angle information, tire pressure, other system related parameter information and the like) obtained from a vehicle CAN bus and interactive information obtained through an information service interaction module CAN make an intelligent control rule on the basis of more fully understanding human and vehicle technical parameters and intentions.
The obtained multi-channel information is comprehensively analyzed through a vehicle information analysis module and is used for analyzing braking intention, estimating vehicle dynamic parameters, counting running conditions, analyzing road conditions, analyzing vehicle faults or limiting conditions, establishing a human-vehicle cooperation model and the like.
Wherein, the braking intention is analyzed as:
through a large amount of vehicle technical parameters, driving information, road information, operation information statistics and the like, brake preparation, brake operation reaction, vehicle response results and the like of a driver under different conditions are analyzed and summarized, and probability theory and mathematical statistics tools are applied to obtain control response actions which should be made by a power system, a mechanical system and other related information systems during braking, namely the most possible braking intention of the driver, which is a precondition for implementing active regenerative braking control.
The vehicle dynamic parameters are estimated as:
when the vehicle is in normal use, the technical parameters change along with the change of time, application, roads and the like, such as the vehicle weight, the abrasion of a traditional system, the abrasion of a braking system, the change of a braking gas circuit or a liquid braking pipeline, the windward size and the gravity center of goods, the braking capacity limit, the gradient and the like. The sensing and estimation of dynamic parameters related to the braking capability are very important to the safety and comfort of the regenerative braking control, and the vehicle weight, the braking capability limit, the braking curve change, the driving resistance, the acceleration capability, the driving gradient, the turning characteristic and the like can be calculated and calibrated through the mechanical principle and the related knowledge of the automobile theory.
The running condition is counted as follows:
and counting daily running states of the vehicle, such as average vehicle speed, maximum acceleration/deceleration, mileage change, idle time, idle times and the like. According to the statistical analysis result, the participation condition suggestion of the regenerative braking, the evaluation of the regenerative braking effect and the like can be given.
The road condition analysis is as follows:
the method comprises the steps of binding road characteristics with GPS positioning information, quickly determining the type of a road, automatically binding positioning information of a slope and the like, estimating the attachment condition of the road by combining the temperature, weather conditions and the like, and assisting in correcting regenerative braking control parameters.
Vehicle faults or constraints are analyzed as:
the vehicle regenerative braking control is closely related to the whole human-vehicle-road information, the human and road factors are input information with strong randomness, the vehicle is an input object with relatively stable technical condition, and the vehicle is a carrier of regenerative braking, so all systems or information related to the regenerative braking control of the whole vehicle must be included in the monitoring range of a control system, the influence weight and the domain degree of signals or information are analyzed, once the fault or unstable factors occur, the safety of the vehicle and the integrity of components are preferentially ensured, and related problem information is sent and recorded.
The establishment of the human-vehicle cooperation model comprises the following steps:
according to the user model management concept, the driving habits, the vehicle using working conditions and the like of a driver are analyzed and learned, a user driving habit dynamic model based on the vehicle condition is established, and the control rule of regenerative braking is adapted and adjusted according to the energy-saving guiding purpose within the limit capacity range of the vehicle regenerative braking physical system.
Through the regenerative braking function control module, a regenerative braking control algorithm can be realized. The braking intention and the control information can be obtained from the comprehensive analysis result of various control information, and by combining a vehicle braking theory and a regenerative braking principle, an appropriate control parameter value is provided for a regenerative braking electric drive system at an appropriate time, the electric drive system or a circuit system is provided with safety protection control under an abnormal condition, and a special control mechanism is provided under a special condition (for example, the braking force is adjusted and supplemented for ensuring safety when the mechanical braking efficiency is abnormal).
The motor controller, the power battery and other high-voltage circuits are protected during the running of the vehicle through the energy buffer control module, and the generated current generated by the electric drive system intentionally or unintentionally is consumed through high-power heating. On the other hand, through reasonably designing the capacity of the energy buffer control module, the participation consistency of the regenerative braking in the control strategy can be ensured, and the participation proportion of the regenerative braking in the hybrid braking efficiency is not influenced when the power battery is disconnected or the battery is over-full.
Referring to fig. 2, a control method in a regenerative braking control system is described, in which a control algorithm and a control command are directly issued and implemented by a regenerative braking function control module, and control information is processed by a vehicle information parsing module and provided to the control algorithm as an input, including the steps of:
(1) initializing an information source: confirming input information resources: and confirming the existence condition of each control information through the vehicle information analysis module, namely whether input information does not exist, the input information is defective, the input information is to be calibrated, the input information is to be updated and the like. The control system must confirm the reliability of the ranging radar signal for the vehicle, is a key braking intention analysis resource of an active regenerative braking control system, and is an important input signal for building braking energy recovery control of a braking distance function. And simultaneously reading the working condition analysis result in the analysis model and the man-vehicle model, and confirming whether the communication between the systems is normal.
(2) Analyzing the braking intention: and establishing communication with other systems of the vehicle, performing control information handshake and confirming the authority of the control instruction. And entering a braking intention analysis flow, monitoring vehicle distance information (setting an effective distance limit value, a safety distance limit value, an information rationality limit value and the like), brake pedal depth information (a brake preparation bit, a brake effective bit, an electric brake control rule curve, an electric brake release bit, a pedal depth limit, a pedal depth change rate and the like), vehicle speed information, gradient information and the like in real time, receiving and analyzing vehicle condition information and related vehicle parameter information in real time, calculating the operation intention with high possibility of a driver, and providing control parameters for possible control instructions in advance. For example, the speed is high, the braking depth is not large, the ABS enters a working state, the road surface adhesion condition is not good, and the regenerative braking access is not suitable; the braking depth is large, the vehicle distance is short, the braking effect curve is obviously small, mechanical braking is weakened when the possibility is high, and electric braking needs to be forcibly increased to ensure safety. In addition, the regenerative braking control system receives upper-layer topology management of the whole vehicle circuit management system, can start a function selection mode and receives control requirements from the upper-layer control system.
(3) The control algorithm is realized as follows: and performing look-up table control according to the input valid information (default parameter setting is performed on the missing or invalid information) and the test calibration data, and performing closed-loop control correction according to the parameter feedback result of the vehicle. Because the braking conditions are complex and various (such as sliding braking, deceleration parking braking, distance keeping braking, turning braking, zero-speed braking, ramp braking, high-speed emergency braking, ultralow-speed slow braking, wet-road braking and the like), the regenerative braking function control module needs to continuously analyze and summarize according to the actual service braking conditions, learn and perfect the control strategy besides the control parameters calibrated in advance. The working condition analysis result and the man-vehicle model in the initialization stage are insufficient in control strategy fineness due to insufficient statistical data in the vehicle operation initial stage, but the man-vehicle model is more and more intelligent with the increase of vehicle use experience. The participation degree of the braking force is a very key control index, and the control index is related to the consistency of the driver on the feeling of the braking force under the working condition of hybrid braking, particularly the consistency of the braking depth and the braking distance directly influences the judgment of the safety distance of the driver, for example, after the regenerative braking is automatically loaded, the consistency of the braking feeling is ensured when the driver actively adds the pedal depth. In regenerative braking control, the participation ratio of the electric braking force meets the requirements of safety and comfort, and also meets the requirements of related regulations, such as the constraint terms of ECE regulations on the braking force of front and rear wheels of a vehicle, and after the regenerative braking function is added to the electric vehicle, the braking efficiency of the vehicle can be influenced and changed, and when the regenerative braking control is carried out, the original braking performance cannot be damaged, but the optimization can be carried out. The regenerative braking control can be matched with an original active safety system of the vehicle to optimize active driving safety, for example, when the vehicle is driven to make a fast turn, the motor brake is actively controlled to control the posture and the driving stability of the vehicle body under the driving state of the vehicle. Intelligent energy recovery control: under the non-limit condition, the electric braking force curve is continuously optimized, the utilization rate of the power generation high-efficiency area, the electric braking force control curve, automatic adjustment and the like are achieved.
The brake control theoretical basis includes the following:
(1) the technical theory is as follows: vehicle braking principle and technical regulation, control principle and demand model.
(2) Controlling and calibrating: parameter characteristics, response characteristics, fault simulation.
(3) And (3) testing: and (5) performing comprehensive braking working condition operation to obtain control response data.
(4) And (3) analysis: control effect and precision analysis, and control model analysis.
In a specific embodiment, when the control design of the entire vehicle is performed, the regenerative braking control system is used to perform double optimization of braking efficiency and braking energy recovery effect on the hybrid braking system, and the RBCS design scheme is integrated in the control and the circuit, specifically:
(1) installing a ranging radar module for a vehicle at the front part of the vehicle;
(2) mounting a vehicle tilt angle sensor on a main body frame of a vehicle;
(3) adopting a brake pedal with brake depth feedback, or combining and assembling a brake pedal depth sensor and a brake pedal of an original vehicle;
(4) acquiring GPS information through other systems, or installing (5) a GPS signal receiving module at a position with better signal on the vehicle;
(5) the information service interaction module is arranged on the instrument desk at a position which does not influence the driving operation and can be shared with other systems;
(6) installing a regenerative braking function control module and a vehicle information analysis module in an electrical and control centralized arrangement area;
(7) the energy buffer control module is arranged at a position which is ventilated and radiated and has certain protection, and is used for consuming the conversion electric energy generated by regenerative braking when the protection function is started.
The greater the contribution to energy conservation of the vehicle with complex running conditions, the more the comprehensive integration scheme of the system is considered during vehicle design.
In one embodiment, a regenerative braking control system is used in a pure electric box type logistics truck chassis prototype developed in cooperation with a company. All components in the system are installed according to the loading requirement, and are subjected to control fusion and electrical fusion with an original electric control system of the vehicle. And carrying out real vehicle test of the test vehicle, carrying out comprehensive control information calibration work, and verifying and correcting various test functions item by item according to the experimental items. In the process of integrating the multi-working-condition real vehicle test functions, most functions can be executed according to a control strategy, and compared with data of a standard vehicle, the method has good performance in energy-saving indexes, driving feeling and fault simulation, and meets the functional requirements of system development. In the subsequent development and improvement process, the main work is to optimize the performance, test the BUG, improve the reliability of the components and the control system, reduce the system cost and meet the use requirement of batch loading as soon as possible.
The active electric vehicle regenerative braking control system and the method thereof have the following advantages:
(1) specialization: the braking intention analysis is more accurate, the regenerative braking control is more professional, and the braking energy recovery effect is better;
(2) informationization: the information service is richer, and the joint control and the man-machine interaction are more convenient;
(3) intelligentization: taking statistical analysis as a learning means, and adaptively adjusting a regenerative braking rule according to energy-saving guidance;
(4) the efficiency and cost are better: for vehicles with complex working conditions and frequent operation, the driving range of the vehicle can be greatly prolonged, particularly, the sensor technology and the electronic equipment are rapidly developed, the cost can be rapidly reduced, and the vehicle purchasing cost cannot be burdened;
(5) the installation is convenient, the modular design and installation are adopted, and the human-computer interaction module and the sensor can be shared with other systems.
The active regenerative braking control system and the method thereof of the invention improve the technical level of regenerative braking control of the electric vehicle, optimize the energy-saving performance of the vehicle, simultaneously inherit the thought of high cohesion, low coupling, distribution and modularization of the vehicle control system, are a specialized and independent regenerative braking control module, can deeply analyze the braking intention of a driver, greatly enhance the active control of the regenerative braking of the electric vehicle, further solve the current situations of fuzzy regenerative braking control rules and low informatization level in the current engineering application, can realize the detection of distance and direction, deeply analyze the braking intention, automatically analyze vehicle parameters, dynamically analyze driving conditions, dynamically analyze road conditions, have high intelligent degree and good robustness control rules, and can perform high-efficiency communication and combined control, self-learning and self-adaptive control are carried out, and advanced information service and specialized software/hardware control systems are provided for users. The main benefits that can be achieved with an active regenerative braking control system are:
(1) on the basis of not sacrificing safety and comfort, the braking energy recovery capability can reach a theoretically higher level, and the braking energy recovery effect of the vehicle is greatly improved;
(2) the method can provide regenerative braking condition evaluation information and good man-machine interaction information, optimize driving feeling and develop good vehicle energy-saving operation habits.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (15)
1. An active electric vehicle regenerative braking control system is characterized by comprising an information acquisition unit, an information interaction unit, an information analysis unit and a control unit, wherein the information acquisition unit is used for acquiring vehicle information, the information interaction unit is used for receiving feedback information of a driver and realizing man-vehicle information interaction, the information analysis unit is used for analyzing the vehicle information acquired by the regenerative braking control system, the control unit is used for acquiring braking intention of the driver according to the acquired analyzed vehicle information and providing corresponding control parameters according to the braking intention to control the braking condition of an electric vehicle, the information acquisition unit and the information interaction unit are both connected with the information analysis unit, and the information analysis unit is connected with the control unit;
the information acquisition unit comprises a vehicle tilt angle sensor, a vehicle distance measuring radar module, a brake pedal depth sensor and a GPS signal receiving module, the vehicle tilt angle sensor, the vehicle distance measuring radar module, the brake pedal depth sensor and the GPS signal receiving module are all connected to the information analysis unit through special signal wire harnesses, and
the vehicle inclination angle sensor is used for measuring the inclination angle of the vehicle body in the front-back direction and judging the gradient condition of the road where the vehicle is located so as to realize the optimization of regenerative braking control;
the vehicle range radar module is used for measuring the relative distance of the obstacle in the advancing direction in real time;
the brake pedal depth sensor is used for measuring the depth of the brake pedal in real time;
the GPS signal receiving module is used for coordinate positioning of road information and assisting judgment of road condition information.
2. The active electric vehicle regenerative braking control system of claim 1, wherein the information interaction unit comprises an information service interaction module, and the information service interaction module is configured to collect feedback information of a driver for the control module to optimize regenerative braking control.
3. The active regenerative braking control system for an electric vehicle of claim 2, wherein the message service interaction module comprises a message processing component coupled to a CAN bus of the electric vehicle for processing user information input to the message service interaction module, the user information comprising voice information and image information.
4. The active regenerative braking control system of an electric vehicle of claim 1, wherein the information analyzing unit comprises a vehicle information analyzing module, which is connected to the CAN bus of the electric vehicle, and receives and analyzes the vehicle information collected by the information collecting unit, the vehicle information of other systems connected to the CAN bus of the electric vehicle, and the driver feedback information collected by the information interacting unit, and the information analyzing unit comprises corresponding analyzing software and hardware circuits.
5. The active electric vehicle regenerative braking control system of claim 1, wherein the control unit comprises a regenerative braking function control module, the regenerative braking function control module comprises a control algorithm and a hardware circuit for implementing regenerative braking control, an input end of the regenerative braking function control module is connected to the information analysis unit, the vehicle information analyzed by the information analysis unit and the feedback information of the driver obtained by the information interaction unit are obtained, the braking intention of the driver is obtained according to the control algorithm and the analyzed vehicle information, and the regenerative braking function control module comprises a feedback unit for obtaining the braking intention of the driver according to the vehicle information collected by the information collection unit in real time and analyzed by the information analysis unit in real time and the feedback information of the driver obtained by the information interaction unit, and carrying out closed-loop correction on the control parameter output by the regenerative braking function control module.
6. The active electric vehicle regenerative braking control system of claim 5, wherein the control algorithm comprises a control parameter list, and the regenerative braking function control module searches the control parameter list against the analyzed vehicle information currently obtained in real time according to the braking intention of the driver, so as to obtain the braking intention and the control parameters under real-time vehicle conditions.
7. The active electric vehicle regenerative braking control system of claim 6, wherein the control algorithm is a machine learning based control algorithm and the learning objective of the machine learning based control algorithm is actual service braking condition.
8. The active regenerative braking control system for electric vehicles according to claim 5, further comprising an energy buffer control module, connected to the regenerative braking function control module, including a high power heating resistor, a capacitor, a thyristor, a relay, and a control circuit, for performing voltage limiting protection on the motor controller when the bus circuit is disconnected due to a power battery failure during driving by consuming power through short time high power heating; the bus voltage limiting protection device is also used for consuming electric energy through short-time high-power heating, and providing bus voltage limiting protection when the battery is full of electric quantity and normal power regenerative braking cannot be carried out.
9. A method for implementing regenerative braking control based on the active electric vehicle regenerative braking control system of any one of claims 1 to 8, the method comprising the steps of:
(1) the regenerative braking control system confirms the reliability of the vehicle information input by the input end of the regenerative braking control system;
(2) after confirming that the input vehicle information is reliable, the regenerative braking control system analyzes the braking intention according to the input vehicle information;
(3) and (3) controlling the electric vehicle by the regenerative braking control system according to the braking intention obtained in the step (2).
10. The method for implementing regenerative braking control by an active electric vehicle regenerative braking control system according to claim 9, wherein the information analysis unit includes a vehicle information analysis module connected to a CAN bus of the electric vehicle, and the step (1) is specifically as follows:
and judging the vehicle information input in the regenerative braking control system through the vehicle information analysis module, wherein the judgment comprises the steps of judging whether the input vehicle information exists, whether the input vehicle information has defects, whether the input vehicle information is to be calibrated, whether the input vehicle information is to be updated, reading a working condition analysis result and a man-car model in an analysis model by the regenerative braking control system, and confirming whether the communication between the systems is normal.
11. The method for implementing regenerative braking control by an active regenerative braking control system for an electric vehicle according to claim 9, wherein the step (1) is followed by the step (2) and further comprises the steps of:
and (2.0) the regenerative braking control system establishes communication with other systems of the vehicle through the information interaction unit, and the control unit sends handshake information to other systems connected on the CAN bus of the electric vehicle through the information analysis unit and the information interaction unit in sequence to establish handshake connection so as to confirm the authority of the control command.
12. The method of claim 9, wherein the control unit includes a regenerative braking function control module, the regenerative braking function control module includes a control algorithm and a hardware circuit for implementing regenerative braking control, an input end of the control unit is connected to the information analysis unit, the vehicle information analyzed by the information analysis unit and the feedback information of the driver obtained by the information interaction unit are obtained, and the braking intention of the driver is obtained according to the control algorithm and the analyzed vehicle information, and the regenerative braking function control module includes a feedback unit for obtaining the braking intention of the driver according to the vehicle information collected by the information collection unit in real time and analyzed by the information analysis unit in real time, and the feedback information of the driver obtained by the information interaction unit, performing closed-loop correction on the control parameter output by the regenerative braking function control module, wherein the step (2) of performing braking intention analysis according to the input vehicle information specifically comprises the following steps:
the regenerative braking function control module obtains the analyzed vehicle information, analyzes the analyzed vehicle information to obtain real-time vehicle conditions, and calculates the operation intention of the driver according to a built-in control algorithm.
13. The method for implementing regenerative braking control by an active electric vehicle regenerative braking control system according to claim 12, wherein the step (3) is specifically:
and the regenerative braking function control module provides control parameters for possible control commands according to the calculated operation intention and in combination with the control parameter list.
14. The method of claim 12, wherein the regenerative braking control system further comprises an energy buffer control module connected to the regenerative braking function control module and including a high power heating resistor, a capacitor, a thyristor, a relay, and a control circuit, and the method further comprises a protection method comprising:
the regenerative braking control system protects a motor controller, a power battery and a high-voltage circuit by the energy buffer control module during the running of the vehicle.
15. The method of claim 14, wherein the energy buffer control module consumes generated current generated by an electric drive system of the vehicle by high power heat generation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710690223.9A CN107499142B (en) | 2017-08-14 | 2017-08-14 | Active electric vehicle regenerative braking control system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710690223.9A CN107499142B (en) | 2017-08-14 | 2017-08-14 | Active electric vehicle regenerative braking control system and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107499142A CN107499142A (en) | 2017-12-22 |
| CN107499142B true CN107499142B (en) | 2020-07-10 |
Family
ID=60690980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710690223.9A Active CN107499142B (en) | 2017-08-14 | 2017-08-14 | Active electric vehicle regenerative braking control system and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107499142B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341668B (en) * | 2018-04-08 | 2022-04-05 | 上海汽车集团股份有限公司 | Braking force distribution method and device and vehicle control unit |
| CN109130873B (en) * | 2018-07-24 | 2020-09-18 | 浙江亚太机电股份有限公司 | Electric vehicle energy recovery system using millimeter wave radar and intelligent electric vehicle |
| CN108909459A (en) * | 2018-07-27 | 2018-11-30 | 爱驰汽车有限公司 | Energy reclaiming method, system and the electric car of electric car |
| CN110816281B (en) * | 2018-08-10 | 2024-03-01 | 罗伯特·博世有限公司 | Control unit, device and method for vehicle recuperation brake control |
| CN109387855B (en) * | 2018-10-29 | 2020-09-22 | 浙江大学 | System for predicting slope gradient and slope length in advance by utilizing vehicle-mounted pulse laser radar |
| CN113095344A (en) * | 2020-01-08 | 2021-07-09 | 奥迪股份公司 | Evaluation and optimization device, system and method, vehicle, server and medium |
| CN112164273A (en) * | 2020-10-16 | 2021-01-01 | 兖州煤业股份有限公司 | Tramcar operating skill training system |
| CN112721939B (en) * | 2021-01-15 | 2022-04-08 | 南京航空航天大学 | Driver braking intention identification method based on multi-sensor fusion |
| CN114454724A (en) * | 2022-03-11 | 2022-05-10 | 南京工业大学 | Intelligent pure electric vehicle braking energy recovery control method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101209675A (en) * | 2006-12-26 | 2008-07-02 | 比亚迪股份有限公司 | Electric automobile energy back-feed control method |
| CN102717714A (en) * | 2012-06-08 | 2012-10-10 | 北京汽车新能源汽车有限公司 | Pure electric vehicle braking energy recovery control system and method based on DCT (Data Communication Terminal) |
| CN103930296A (en) * | 2011-01-06 | 2014-07-16 | 福特全球技术公司 | Regenerative braking feedback display system and method |
| CN104228591A (en) * | 2014-10-10 | 2014-12-24 | 北京现代汽车有限公司 | Recovered braking energy recovery control method and device |
| KR20150012527A (en) * | 2013-07-25 | 2015-02-04 | (주) 세인 | Active Regenerative Brake Control Apparatus of Vehicle for RE-EV |
| CN104354701A (en) * | 2014-10-29 | 2015-02-18 | 云南大学 | Human-car interaction realization method |
| CN105905100A (en) * | 2015-02-23 | 2016-08-31 | 福特全球技术公司 | Battery state of charge target based on predicted regenerative energy |
| CN106114238A (en) * | 2016-08-31 | 2016-11-16 | 北京新能源汽车股份有限公司 | The determination method, device and the automobile that recover energy of a kind of hybrid vehicle |
| CN106585389A (en) * | 2015-10-20 | 2017-04-26 | 北汽福田汽车股份有限公司 | Electric vehicle, electric vehicle regenerative braking control method and device |
-
2017
- 2017-08-14 CN CN201710690223.9A patent/CN107499142B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101209675A (en) * | 2006-12-26 | 2008-07-02 | 比亚迪股份有限公司 | Electric automobile energy back-feed control method |
| CN103930296A (en) * | 2011-01-06 | 2014-07-16 | 福特全球技术公司 | Regenerative braking feedback display system and method |
| CN102717714A (en) * | 2012-06-08 | 2012-10-10 | 北京汽车新能源汽车有限公司 | Pure electric vehicle braking energy recovery control system and method based on DCT (Data Communication Terminal) |
| KR20150012527A (en) * | 2013-07-25 | 2015-02-04 | (주) 세인 | Active Regenerative Brake Control Apparatus of Vehicle for RE-EV |
| CN104228591A (en) * | 2014-10-10 | 2014-12-24 | 北京现代汽车有限公司 | Recovered braking energy recovery control method and device |
| CN104354701A (en) * | 2014-10-29 | 2015-02-18 | 云南大学 | Human-car interaction realization method |
| CN105905100A (en) * | 2015-02-23 | 2016-08-31 | 福特全球技术公司 | Battery state of charge target based on predicted regenerative energy |
| CN106585389A (en) * | 2015-10-20 | 2017-04-26 | 北汽福田汽车股份有限公司 | Electric vehicle, electric vehicle regenerative braking control method and device |
| CN106114238A (en) * | 2016-08-31 | 2016-11-16 | 北京新能源汽车股份有限公司 | The determination method, device and the automobile that recover energy of a kind of hybrid vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107499142A (en) | 2017-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107499142B (en) | Active electric vehicle regenerative braking control system and method thereof | |
| CN111791711B (en) | Energy recovery control method and device, controller and electric automobile | |
| CN105799549B (en) | One kind is for electric wheel truck EPS and DYC integrated control system and its method | |
| CN110877529A (en) | Pure electric vehicle and energy recovery control method and control system thereof | |
| CN108045268B (en) | Energy recovery method and system for pure electric vehicle | |
| CN200993741Y (en) | Hybrid power electric automobile matching demarcation device based on serial communication | |
| US20130297164A1 (en) | System and method for controlling a brake system in a vehicle | |
| US8260509B2 (en) | Vehicle speed limiting via engine control commands issued by electronic transmission controller | |
| CN107117169A (en) | A kind of control method of constant speed cruising system, device, controller and automobile | |
| CN102050029B (en) | Method and device for recycling energy of pure electric automobile | |
| CN106585389A (en) | Electric vehicle, electric vehicle regenerative braking control method and device | |
| CN109849933B (en) | Method and device for determining driver demand torque, vehicle and readable storage medium | |
| CN104670206A (en) | Method and apparatus for monitoring unintended vehicle motion | |
| CN110696632A (en) | Automobile brake feedback method and device and vehicle | |
| CN110466361A (en) | Two-wheeled In-wheel motor driving pure electric vehicle controller and control method | |
| CN114475263B (en) | Control method, whole vehicle controller, control system, electric vehicle and storage medium | |
| CN103600669A (en) | Method for outputting target torque of pure electric vehicle realizing multi-target dynamic optimization | |
| CN110385998A (en) | Parallel hybrid electric vehicle regenerative brake control system and control method | |
| CN117507861A (en) | Range-extending electric automobile, range extender control method and device thereof and storage medium | |
| CN108725257A (en) | Electric automobile whole-control system and its control method | |
| CN112193076A (en) | Electric automobile braking energy recovery device and method and electric automobile | |
| CN111674263A (en) | Auxiliary braking method and system for vehicle | |
| CN108081960A (en) | A kind of braking energy of electric automobiles recovery method and system | |
| CN112124224A (en) | Electric vehicle control system, electric vehicle control method, storage medium, and electric vehicle | |
| WO2022251072A1 (en) | Method and system with selectable multimode control of regenerative braking torque limitation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |