CN108394390A - Method for recovering brake energy and device - Google Patents
Method for recovering brake energy and device Download PDFInfo
- Publication number
- CN108394390A CN108394390A CN201810130571.5A CN201810130571A CN108394390A CN 108394390 A CN108394390 A CN 108394390A CN 201810130571 A CN201810130571 A CN 201810130571A CN 108394390 A CN108394390 A CN 108394390A
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- Prior art keywords
- braking
- speed
- value
- brake
- aperture
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Classifications
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the invention discloses a kind of method for recovering brake energy and devices, wherein method includes：The transport condition data of real-time collection vehicle；The braking intention of driver is determined according to the transport condition data；According to the braking intention distribution machinery brake force and/or motor braking power；The current remaining capacity information of battery is obtained, and Brake energy recovery is carried out according to the remaining capacity information and the allocation result of mechanical braking force and motor braking power.The embodiment of the present invention can improve Brake energy recovery efficiency.
Description
Technical field
The present invention relates to Brake energy recovery technical field, especially a kind of method for recovering brake energy and device.
Background technology
Brake energy recovery technology is one of the important technology of modern electric vehicle and hybrid electric vehicle.Electric vehicle with
Hybrid vehicle slows down, braking when, the kinergety of vehicle by Brake energy recovery technical change be electrical energy for storage in
In accumulator, and it is further converted to driving energy.For example, when vehicle start or acceleration, when needing to increase driving force, motor
Driving force becomes the auxiliary power of engine, and electric energy is made to obtain effectively application.Therefore, the recycling effect of braking energy how is improved
Rate receives significant attention.
Electric vehicle and hybrid electric vehicle are when carrying out Brake energy recovery in the prior art, typically in the vehicle body system of sliding
Dynamic or speed proceeds by energy regenerating when being higher than a certain speed.
However, current this method for recovering brake energy logic is relatively simple, Brake Energy can not be carried out well
Amount recycling, causes Brake energy recovery efficiency relatively low.
Invention content
In order to solve the above technical problems, a kind of method for recovering brake energy of offer of the embodiment of the present invention and device.The present invention
The technical solution of embodiment is as follows：
The embodiment of the present invention provides a kind of method for recovering brake energy, and the method for recovering brake energy includes：
The transport condition data of real-time collection vehicle；
The braking intention of driver is determined according to the transport condition data；
According to the braking intention distribution machinery brake force and/or motor braking power；
The current remaining capacity information of battery is obtained, and according to the remaining capacity information and mechanical braking force and motor system
The allocation result of power carries out Brake energy recovery.
Wherein, the transport condition data includes at least speed, brake pedal aperture and brake pedal aperture change rate.
Optionally, the braking intention includes high speed emergency braking, the general braking of high speed and the gentle braking of high speed；Described
The braking intention of driver is determined according to the transport condition data, including：
When the speed is more than First Speed V1, the brake pedal aperture be less than the first aperture A1And the brake pedal
Aperture change rate is more than the first aperture change rate a1When, determine that the braking intention is the high speed emergency braking；
When the speed is more than the First Speed V1, the brake pedal aperture is between the first aperture A1With second
Aperture A2Between and the brake pedal aperture change rate between the second aperture change rate a2With the first aperture change rate a1It
Between when, determine the braking intention be the high speed generally brake；
When the speed is more than the First Speed V1, the brake pedal aperture be more than the second aperture A2And it is described
Brake pedal aperture change rate is less than the second aperture change rate a2When, determine that the braking intention is that the high speed is gently made
It is dynamic；
Wherein, the first aperture A1Less than the second aperture A2, the first aperture change rate a1More than described second
Aperture change rate a2。
Optionally, the braking intention further includes middling speed emergency braking and the non-emergent braking of middling speed；It is described according to the row
The braking intention that status data determines driver is sailed, further includes：
When the speed is between second speed V2With the First Speed V1Between, the brake pedal aperture be less than third
Aperture A3And the brake pedal aperture change rate is more than third aperture change rate a3When, in determining that the braking intention is described
Fast emergency braking；
When the speed is between the second speed V2With the First Speed V1Between, the brake pedal aperture it is not small
In the third aperture A3And the brake pedal aperture change rate is not more than the third aperture change rate a3When, determine described in
Braking intention is the non-emergent braking of the middling speed；
Wherein, the second speed V2Less than the First Speed V1。
Optionally, the braking intention further includes low speed braking；It is described that driver is determined according to the transport condition data
Braking intention, further include：
When the speed is less than the second speed V2, the brake pedal aperture be less than the 4th aperture A4And the braking
Pedal aperture change rate is less than the 4th aperture change rate a4When, determine that the braking intention is braked for the low speed.
Further, described according to the braking intention distribution machinery brake force and/or motor braking power, including：
When the braking intention is the high speed emergency braking, distribution uses the mechanical braking force system of the first numerical value
It is dynamic；
When the braking intention is that the high speed is generally braked, distribution uses the mechanical braking force and second of second value
The motor braking power of numerical value is braked；The motor braking power of the mechanical braking force of the second value and the second value it
With the mechanical braking force less than first numerical value, the mechanical braking force of the second value is more than the motor of the second value
Brake force, and the motor braking power of the second value is less than the maximum value of motor braking power；
When the braking intention is that the high speed is gently braked, distribution uses the mechanical braking force and third of third value
The motor braking power of numerical value is braked；The motor braking power of the mechanical braking force of the third value and the third value it
With the sum of the motor braking power of mechanical braking force and the second value less than the second value, the machine of the third value
Tool brake force is less than the mechanical braking force of the second value, and the motor braking power of the third value is more than the second value
Motor braking power.
Optionally, described according to the braking intention distribution machinery brake force and/or motor braking power, including：
When the braking intention is the middling speed emergency braking, distribution uses the mechanical braking force system of the 4th numerical value
It is dynamic；
When the braking intention is the non-emergent braking of the middling speed, distribution using the motor braking power maximum value into
Row is braked and insufficient brake force is supplemented using mechanical braking force.
Optionally, described according to the braking intention distribution machinery brake force and/or motor braking power, including：
When the braking intention is that the low speed is braked, distribution is braked using the mechanical braking force of the 5th numerical value.
Optionally, described to be carried out according to the remaining capacity information and the allocation result of mechanical braking force and motor braking power
Brake energy recovery, including：
Judge whether the remaining capacity information is less than predetermined threshold value；
If the remaining capacity information is less than predetermined threshold value, judge whether to be assigned with motor braking power system
It is dynamic；
It is braked if it is determined that being assigned with motor braking power, then carries out Brake energy recovery.
The embodiment of the present invention also provides a kind of brake power recovering device, and the brake power recovering device includes：
Acquisition module is used for the transport condition data of real-time collection vehicle；
Determining module, the braking intention for determining driver according to the transport condition data；
Distribution module, for according to the braking intention distribution machinery brake force and/or motor braking power；
Acquisition module, the remaining capacity information current for obtaining battery；
Energy recovery module, for the distribution knot according to the remaining capacity information and mechanical braking force and motor braking power
Fruit carries out Brake energy recovery.
Wherein, the transport condition data includes at least speed, brake pedal aperture and brake pedal aperture change rate.
Optionally, the braking intention includes high speed emergency braking, the general braking of high speed and the gentle braking of high speed；It is described true
Cover half block is used for：
When the speed is more than First Speed V1, the brake pedal aperture be less than the first aperture A1And the brake pedal
Aperture change rate is more than the first aperture change rate a1When, determine that the braking intention is the high speed emergency braking；
When the speed is more than the First Speed V1, the brake pedal aperture is between the first aperture A1With second
Aperture A2Between and the brake pedal aperture change rate between the second aperture change rate a2With the first aperture change rate a1It
Between when, determine the braking intention be the high speed generally brake；
When the speed is more than the First Speed V1, the brake pedal aperture be more than the second aperture A2And it is described
Brake pedal aperture change rate is less than the second aperture change rate a2When, determine that the braking intention is that the high speed is gently made
It is dynamic；
Wherein, the first aperture A1Less than the second aperture A2, the first aperture change rate a1More than described second
Aperture change rate a2。
Optionally, the braking intention further includes middling speed emergency braking and the non-emergent braking of middling speed；The determining module is also
For：
When the speed is between second speed V2With the First Speed V1Between, the brake pedal aperture be less than third
Aperture A3And the brake pedal aperture change rate is more than third aperture change rate a3When, in determining that the braking intention is described
Fast emergency braking；
When the speed is between the second speed V2With the First Speed V1Between, the brake pedal aperture it is not small
In the third aperture A3And the brake pedal aperture change rate is not more than the third aperture change rate a3When, determine described in
Braking intention is the non-emergent braking of the middling speed；
Wherein, the second speed V2Less than the First Speed V1。
Optionally, the braking intention further includes low speed braking；The determining module is additionally operable to：
When the speed is less than the second speed V2, the brake pedal aperture be less than the 4th aperture A4And the braking
Pedal aperture change rate is less than the 4th aperture change rate a4When, determine that the braking intention is braked for the low speed.
Further, the distribution module is used for：
When the braking intention is the high speed emergency braking, distribution uses the mechanical braking force system of the first numerical value
It is dynamic；
When the braking intention is that the high speed is generally braked, distribution uses the mechanical braking force and second of second value
The motor braking power of numerical value is braked；The motor braking power of the mechanical braking force of the second value and the second value it
With the mechanical braking force less than first numerical value, the mechanical braking force of the second value is more than the motor of the second value
Brake force, and the motor braking power of the second value is less than the maximum value of motor braking power；
When the braking intention is that the high speed is gently braked, distribution uses the mechanical braking force and third of third value
The motor braking power of numerical value is braked；The motor braking power of the mechanical braking force of the third value and the third value it
With the sum of the motor braking power of mechanical braking force and the second value less than the second value, the machine of the third value
Tool brake force is less than the mechanical braking force of the second value, and the motor braking power of the third value is more than the second value
Motor braking power.
Optionally, the braking intention further includes low speed braking；The distribution module is additionally operable to：
When the braking intention is the middling speed emergency braking, distribution uses the mechanical braking force system of the 4th numerical value
It is dynamic；
When the braking intention is the non-emergent braking of the middling speed, distribution using the motor braking power maximum value into
Row is braked and insufficient brake force is supplemented using mechanical braking force.
Optionally, the distribution module is additionally operable to：When the braking intention is that the low speed is braked, distribution uses the 5th
The mechanical braking force of numerical value is braked.
Optionally, the energy recovery module includes：
First judging unit, for judging whether the remaining capacity information is less than predetermined threshold value；
Second judgment unit judges whether to be assigned with electricity if being less than predetermined threshold value for the remaining capacity information
Brake force is braked；
Energy recovery unit then carries out braking energy and returns for being braked if it is determined that being assigned with motor braking power
It receives.
The recovery method and device of braking energy provided in an embodiment of the present invention, by according to the braking intention of driver point
With mechanical braking force and/or motor braking power, and according to the remaining capacity information and mechanical braking force and motor braking power of battery
Allocation result carry out Brake energy recovery so that when carrying out Brake energy recovery, fully considered driver braking anticipate
Figure, so as to improve Brake energy recovery efficiency.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Description of the drawings
The attached drawing of a part for constitution instruction describes the embodiment of the present invention, and together with description for explaining
The principle of the present invention.
The present invention can be more clearly understood according to following detailed description with reference to attached drawing, wherein：
Fig. 1 is the flow chart of method for recovering brake energy provided in an embodiment of the present invention.
Fig. 2 be the embodiment of the present invention according to the allocation result of remaining capacity information and mechanical braking force and motor braking power into
The process schematic of row Brake energy recovery.
Fig. 3 is the composed structure schematic diagram of brake power recovering device provided in an embodiment of the present invention.
Fig. 4 is the composed structure schematic diagram of energy recovery module in Fig. 3.
Specific implementation mode
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should be noted that：Unless in addition having
Body illustrates that the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
Simultaneously, it should be appreciated that for ease of description, the size of attached various pieces shown in the drawings is not according to reality
Proportionate relationship draw.
It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to the present invention
And its application or any restrictions that use.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.
As shown in Figure 1, method for recovering brake energy provided in an embodiment of the present invention includes the following steps S1 to S4：
S1, the transport condition data of real-time collection vehicle.
Wherein, which can be pure electric automobile, or hybrid vehicle.Transport condition data is for indicating
The state of vehicle in the process of moving, state when particularly for indicating that vehicle is braked in the process of moving.Implement in the present invention
In example, transport condition data includes at least speed, brake pedal aperture and brake pedal aperture change rate.In conjunction with transport condition number
According to type can pass through speed sensing carried on vehicle or external in the transport condition data of real-time collection vehicle
The realizations such as device, brake pedal jaw opening sensor.
S2, according to transport condition data determine the braking intention of driver.
Wherein, braking intention is the type of retardation taken of driver, including emergency braking, non-emergent braking, is run at high speed
When braking, non-high-speed brakes when driving.In conjunction with the various situations being likely to occur in vehicle travel process, in the embodiment of the present invention
Braking intention to include at least high speed emergency braking, the general braking of high speed, the gentle braking of high speed, middling speed emergency braking, middling speed non-
Emergency braking and low speed braking.
In conjunction with the concrete type of driving condition data in step S1, different braking intentions passes through vehicle in the embodiment of the present invention
Fast V, brake pedal aperture A and brake pedal aperture change rate a are distinguished.On this basis, the embodiment of the present invention is in root
The braking intention of driver, including following six kinds of situations are determined according to transport condition data：
The first situation：When vehicle velocity V is more than First Speed V1, brake pedal aperture A be less than the first aperture A1And brake pedal
Aperture change rate a is more than the first aperture change rate a1When, determine that braking intention is high speed emergency braking.
Speed is bigger when the braking of this kind of situation, when vehicle braking and driver with speed quickly by brake pedal step on to
Smaller aperture, thus can determine that its braking intention is high speed emergency braking.This kind of braking intention formula can indicate
For vehicle velocity V ＞ V1, brake pedal aperture A ＜ A1And brake pedal aperture change rate a ＞ a1。
The second situation：When vehicle velocity V is more than First Speed V1, brake pedal aperture A is between the first aperture A1With the second aperture
A2Between and brake pedal aperture change rate a between the second aperture change rate a2With the first aperture change rate a1Between when, determine system
It is dynamic to be intended to the general braking of high speed.
When this kind of situation braking, the speed of vehicle is also bigger, but the first situation of brake percentage is slow.This kind braking meaning
Figure formula can be expressed as vehicle velocity V ＞ V1, brake pedal aperture A ∈ [A1, A2] and brake pedal aperture change rate a ∈ [a2,
a1].Wherein, the first aperture A1Less than the second aperture A2, the first aperture change rate a1More than the second aperture change rate a2, similarly hereinafter.
The third situation：When vehicle velocity V is more than First Speed V1, brake pedal aperture A be more than the second aperture A2And brake pedal
Aperture change rate a is less than the second aperture change rate a2When, determine that braking intention is the gentle braking of high speed.
When this kind of situation braking, the speed of vehicle is also bigger, but brake percentage the second situation is also slow.This kind is braked
Intention formula can be expressed as vehicle velocity V ＞ V1, brake pedal aperture A ＞ A2And brake pedal aperture change rate a ＜ a2。
4th kind of situation：When vehicle velocity V is between second speed V2With First Speed V1Between, brake pedal aperture A be less than third
Aperture A3And brake pedal aperture change rate a is more than third aperture change rate a3When, determine that braking intention is middling speed emergency braking.
Wherein, second speed V2Less than First Speed V1。
When this kind of situation braking, speed is small when the speed of vehicle compares the first situation to the third situation, but drives
Member is to be stepped on brake pedal to smaller aperture with speed quickly.This kind of braking intention formula can be expressed as vehicle velocity V
∈[V2, V1], brake pedal aperture A ＜ A3And brake pedal aperture change rate a ＞ a3.Wherein, third aperture A3Numerical value and
One aperture A1Numerical value may be the same or different, when specific implementation, is set as needed.Third aperture change rate a3Number
Value and the first aperture change rate a1Similarly.
5th kind of situation：When vehicle velocity V is between second speed V2With First Speed V1Between, brake pedal aperture A is not less than the
Three aperture A3And brake pedal aperture change rate a is not more than third aperture change rate a3When, determine that braking intention is that middling speed is non-emergent
Braking.
When this kind of situation braking, the speed of vehicle is close with the speed in the case of the 4th kind, but the 5th kind of feelings of brake percentage
Condition is slow.This kind of braking intention formula can be expressed as vehicle velocity V ∈ [V2, V1], brake pedal aperture A >=A3And brake pedal
Aperture change rate a≤a3。
6th kind of situation：When vehicle velocity V is less than second speed V2, brake pedal aperture A be less than the 4th aperture A4And brake pedal
Aperture change rate a is less than the 4th aperture change rate a4When, determine that braking intention is braked for low speed.
When this kind of situation braking, the speed of vehicle is smaller, and brakes also relatively slower.This kind of braking intention formula can
To be expressed as vehicle velocity V ＜ V2, brake pedal aperture A ＜ A4And brake pedal aperture change rate a ＜ a4。
It should be noted that in the specific implementation, First Speed V in the embodiment of the present invention1, second speed V2, the first aperture
A1, the second aperture A2, third aperture A3, the 4th aperture A4, the first aperture change rate a1, the second aperture change rate a2, third aperture
Change rate a3With the 4th aperture change rate a4By being trained to vehicle, and data acquisition and statistics are carried out to determine, for it
The concrete numerical value embodiment of the present invention be not especially limited.
It includes above-mentioned six type that braking intention, which is arranged, in the embodiment of the present invention, has fully considered driver in driving procedure
Various actual conditions when braking are braked convenient for subsequently distributing different brake force according to different braking intentions.
S3, according to braking intention distribution machinery brake force and/or motor braking power.
The embodiment of the present invention is in different braking intentions, by distributing different mechanical braking force and/or motor braking
Power is braked, that is, is braked by mechanical braking force under the braking intention having, and passes through machinery system under some braking intentions
Power and motor braking power are carried out at the same time braking.
In conjunction with the type of above-mentioned braking intention, the embodiment of the present invention according to braking intention distribution machinery brake force and/or
Also include following 6 kinds of situations when motor braking power：
1st kind of situation：When braking intention is high speed emergency braking, distribution uses the mechanical braking force F of the first numerical value1Into
Row braking.
The mechanical braking of the first numerical value is used in the case of safety, high speed emergency braking of the embodiment of the present invention
Power F1It is braked, i.e., total brake force F=F in the case of high speed emergency braking1.In addition, in the case of this kind, the machinery of the first numerical value
Brake force F1Distribution follow front and rear wheel brake brake-power balance coefficient.The concrete numerical value of the distribution coefficient is also according to training
It determines, the determination method of specific distribution coefficient may refer to determining method in the prior art.
2nd kind of situation：When braking intention, which is that high speed is general, to be braked, the mechanical braking force F using second value is distributed2With
The motor braking power N of second value2It is braked；The mechanical braking force F of second value2With the motor braking power N of second value2
The sum of be less than the first numerical value mechanical braking force F1, the mechanical braking force F of second value2More than the motor braking power of second value
N2, and the motor braking power N of second value2Less than the maximum value N of motor braking powermax。
Required total brake force is slightly smaller when under the general brake condition of high speed compared to high speed emergency braking situation, therefore, the
The mechanical braking force F of two numerical value2With the motor braking power N of second value2The sum of be less than the first numerical value mechanical braking force F1.It should
In the case of kind, total brake force F=F2+N2＜ F1.Further, it is contemplated that the factor of safety is still very heavy, but can also fit
Locality carries out Brake energy recovery, and therefore, it is necessary to the motor braking power for distributing certain to be braked, and the machinery of second value
Brake force F2More than the motor braking power N of second value2, i.e. F2＞ N2.The maximum value of motor braking is set as Nmax, then this kind of feelings
N under condition2＜ Nmax, i.e. motor will not work in its Greatest load to carry out Brake energy recovery by this kind of situation.Different vehicle
The maximum value of motor braking power may be the same or different.In addition, before total brake force F in such cases is still followed
Rear wheel brake brake-power balance coefficient.
3rd kind of situation：When braking intention, which is that high speed is gentle, to be braked, the mechanical braking force F using third value is distributed3With
The motor braking power N of third value3It is braked；The mechanical braking force F of third value3With the motor braking power N of third value3
The sum of be less than second value mechanical braking force F2With the motor braking power N of second value2The sum of, the mechanical braking of third value
Power F3Less than the mechanical braking force F of second value2, the motor braking power N of third value3More than the motor braking power of second value
N2。
Gentle brake condition is compared to the general brake condition of high speed at a high speed, and the required total brake force F of the gentle braking of high speed is more
It is small, therefore, total brake force F=F in the case of this kind3+N3＜ F2+N2.However, in view of being braked under high speed, safety factor ratio
It is more important, it is also contemplated that the relatively high speed general brake condition of this kind of situation is easier to make for Brake energy recovery, therefore, the present invention
Embodiment is still braked using mechanical braking force with motor braking power jointly in the gentle brake condition of high speed, but compared to high speed
General brake condition, mechanical braking force continue to reduce i.e. F3＜ F2, motor braking power continue increase i.e. N3More than N2, with ensure can
More to carry out energy regenerating.In addition, total brake force F in the case of this kind still follows front and back brake braking force distribution system
Number.
4th kind of situation：When braking intention is middling speed emergency braking, distribution uses the mechanical braking force F of the 4th numerical value4Into
Row braking.
When middling speed emergency braking, the considerations of in view of safety, the embodiment of the present invention still all using mechanical braking force into
Row braking, i.e., total brake force F=F4.In the case of this kind, the mechanical braking force F of the 4th numerical value4Follow front and back brake braking force point
Distribution coefficient.
5th kind of situation：When braking intention braking non-emergent for middling speed, distribution uses the maximum value N of motor braking powermax
It carries out braking and insufficient brake force is supplemented using mechanical braking force.
When the non-emergent braking of middling speed, the safety of vehicle status is higher, considers recycling braking as much as possible at this time
Energy, therefore, in that case, the embodiment of the present invention uses the maximum value N of motor braking powermaxIt is braked.If Nmax
It is not enough to complete braking, remaining brake force is supplemented by mechanical braking force, i.e., total brake force F=Nmax+ F ', F ' numerical value according to system
Depending on dynamic demand, the present embodiment is not especially limited.
6th kind of situation：When braking intention is that low speed is braked, distribution uses the mechanical braking force F of the 5th numerical value5It is made
It is dynamic.
When low speed is braked, since motor braking energy regenerating amount is smaller, therefore this kind of situation embodiment of the present invention is only with machine
Tool brake force is braked.In addition, the mechanical braking force F of the 5th numerical value5Distribution follow front and back brake braking force distribution system
Number.
S4 obtains the current remaining capacity information of battery, and according to remaining capacity information and mechanical braking force and motor system
The allocation result of power carries out Brake energy recovery.
Wherein, it in the current remaining capacity information of acquisition battery, can be asked by sending inquiry to battery management system
It asks, and is realized by receiving the remaining capacity information that battery management system returns.
In conjunction with the allocation result of mechanical braking force and motor braking power in above-mentioned steps S3, it is assigned with when braking certain
When motor braking power, explanation can carry out Brake energy recovery, at this point it is possible to start and carried out by brake energy recovering system
Brake energy recovery.Wherein, the specific method of Brake energy recovery may refer to correlation energy recovery method in the prior art,
This is not elaborated herein.
Optionally, the embodiment of the present invention is in the distribution knot according to remaining capacity information and mechanical braking force and motor braking power
When fruit carries out Brake energy recovery, it can be realized with S41 as follows to S43：
S41, judges whether remaining capacity information (soc) is less than predetermined threshold value (m).
Wherein, predetermined threshold value can be set as needed, and the embodiment of the present invention is not especially limited this.For example, default
Threshold value can be 0.9,0.95 etc., and predetermined threshold value is preferably 0.95.
The current remaining capacity information of battery why is obtained in the embodiment of the present invention, be because if remaining capacity is believed
Breath is not less than predetermined threshold value, it was demonstrated that electricity is also more abundant at this time for battery, if to its charging, may be damaged electricity by force
Therefore pond in order to avoid damaging battery, needs to judge whether remaining capacity information is less than predetermined threshold value.
S42 judges whether to be assigned with motor braking power system if remaining capacity information is less than predetermined threshold value
It is dynamic.
It, can be according to the braking force distribution result of step S3 when judging whether that being assigned with motor braking power has carried out braking
It realizes.
S43, if it is determined that be assigned with motor braking power and braked, then carry out Brake energy recovery.
If being assigned with certain motor braking power in step S3, it can be said that motor takes part in system in bright braking process
It is dynamic, thus energy regenerating can be carried out.In conjunction with the content in step S3, the embodiment of the present invention is the general system of high speed in braking intention
When dynamic, the gentle braking of high speed and non-emergent middling speed, it is assigned with certain motor braking power, it therefore, can under these braking intentions
To carry out Brake energy recovery, then without Brake energy recovery under other braking intentions.As shown in Fig. 2, it is according to residue
The allocation result of information about power and mechanical braking force and motor braking power carries out the process schematic of Brake energy recovery.
Method for recovering brake energy provided in an embodiment of the present invention passes through the braking intention distribution machinery system according to driver
Power and/or motor braking power, and according to the distribution knot of the remaining capacity information and mechanical braking force of battery and motor braking power
Fruit carries out Brake energy recovery so that when carrying out Brake energy recovery, fully consider the braking intention of driver, so as to
To improve Brake energy recovery efficiency.
As shown in figure 3, the embodiment of the present invention also provides a kind of brake power recovering device, the brake power recovering device packet
It includes：
Acquisition module 31 is used for the transport condition data of real-time collection vehicle；
Determining module 32 determines the braking intention of driver for data according to transport condition；
Distribution module 33, for according to braking intention distribution machinery brake force and/or motor braking power；
Acquisition module 34, the remaining capacity information current for obtaining battery；
Energy recovery module 35, for the allocation result according to remaining capacity information and mechanical braking force and motor braking power
Carry out Brake energy recovery.
Wherein, transport condition data includes at least speed, brake pedal aperture and brake pedal aperture change rate.
Optionally, braking intention includes high speed emergency braking, the general braking of high speed and the gentle braking of high speed；Determining module 32
For：When speed is more than First Speed V1, brake pedal aperture is less than the first aperture A1 and brake pedal aperture change rate is more than
When the first aperture change rate a1, determine that braking intention is high speed emergency braking；When speed is more than First Speed V1, brake pedal is opened
Degree is between the first aperture A1 and the second aperture A2 and brake pedal aperture change rate is between the second aperture change rate a2 and the
When between one aperture change rate a1, determine that braking intention is the general braking of high speed；When speed is more than First Speed V1, brake pedal
When aperture is more than the second aperture A2 and brake pedal aperture change rate and is less than the second aperture change rate a2, determine that braking intention is height
Fast gentle braking；Wherein, the first aperture A1Less than the second aperture A2, the first aperture change rate a1More than the second aperture change rate a2。
Optionally, braking intention further includes middling speed emergency braking and the non-emergent braking of middling speed；Determining module 32 is additionally operable to：When
Speed is between second speed V2 and First Speed V1, brake pedal aperture is less than third aperture A3 and brake pedal aperture becomes
When rate is more than third aperture change rate a3, determine that braking intention is middling speed emergency braking；When speed between second speed V2 with
Between First Speed V1, brake pedal aperture is not less than third aperture A3 and brake pedal aperture change rate is no more than aperture variation
When rate a3, determine that braking intention is the non-emergent braking of middling speed；Wherein, second speed V2Less than First Speed V1。
Optionally, braking intention further includes low speed braking；Determining module 32 is additionally operable to：
When speed is less than second speed V2, brake pedal aperture is less than the 4th aperture A4 and brake pedal aperture change rate is small
When the 4th aperture change rate a4, determine that braking intention is braked for low speed.
Further, distribution module 33 is used for：
When braking intention is high speed emergency braking, distribution is braked using the mechanical braking force of the first numerical value；Work as system
Dynamic when being intended to the general braking of high speed, distribution is carried out using the mechanical braking force of second value and the motor braking power of second value
Braking；The sum of the mechanical braking force of second value and the motor braking power of second value are less than the mechanical braking force of the first numerical value,
The mechanical braking force of second value is more than the motor braking power of second value, and the motor braking power of second value is less than motor system
The maximum value of power；
When braking intention, which is that high speed is gentle, to be braked, the electricity of the mechanical braking force and third value using third value is distributed
Brake force is braked；The sum of the mechanical braking force of third value and the motor braking power of third value are less than second value
The mechanical braking force of the sum of the motor braking power of mechanical braking force and second value, third value is less than the machinery system of second value
Power, the motor braking power of third value are more than the motor braking power of second value.
Optionally, distribution module 33 is additionally operable to：
When braking intention is middling speed emergency braking, distribution is braked using the mechanical braking force of the 4th numerical value；
When braking intention braking non-emergent for middling speed, distribution carries out braking and deficiency using the maximum value of motor braking power
Brake force is supplemented using mechanical braking force.
Optionally, distribution module 33 is additionally operable to：When braking intention is that low speed is braked, distribution uses the machinery of the 5th numerical value
Brake force is braked.
Optionally, as shown in figure 4, energy recovery module 35 includes：
First judging unit 351, for judging whether remaining capacity information is less than predetermined threshold value；
Second judgment unit 352 judges whether to be assigned with motor if being less than predetermined threshold value for remaining capacity information
Brake force is braked；
Energy recovery unit 353 then carries out braking energy for being braked if it is determined that being assigned with motor braking power
Recycling.
The method of Brake energy recovery is carried out in above-mentioned method for recovering brake energy about the brake power recovering device
In described in detail, for details, reference can be made to the contents in above-mentioned method for recovering brake energy, and details are not described herein again.
Brake power recovering device provided in an embodiment of the present invention passes through the braking intention distribution machinery system according to driver
Power and/or motor braking power, and according to the distribution knot of the remaining capacity information and mechanical braking force of battery and motor braking power
Fruit carries out Brake energy recovery so that when carrying out Brake energy recovery, fully consider the braking intention of driver, so as to
To improve Brake energy recovery efficiency.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer read/write memory medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or light
The various media that can store program code such as disk.
Methods and apparatus of the present invention may be achieved in many ways.For example, can by software, hardware, firmware or
Software, hardware, firmware any combinations realize methods and apparatus of the present invention.The said sequence of the step of for the method
Merely to illustrate, the step of method of the invention, is not limited to sequence described in detail above, special unless otherwise
It does not mentionlet alone bright.In addition, in some embodiments, also the present invention can be embodied as to record program in the recording medium, these programs
Include for realizing machine readable instructions according to the method for the present invention.Thus, the present invention also covers storage for executing basis
The recording medium of the program of the method for the present invention.
Description of the invention provides for the sake of example and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
Various embodiments with various modifications of the solution present invention to design suitable for special-purpose.
Claims (10)
1. a kind of method for recovering brake energy, which is characterized in that the method for recovering brake energy includes：
The transport condition data of real-time collection vehicle；
The braking intention of driver is determined according to the transport condition data；
According to the braking intention distribution machinery brake force and/or motor braking power；
The current remaining capacity information of battery is obtained, and according to the remaining capacity information and mechanical braking force and motor braking power
Allocation result carry out Brake energy recovery.
2. method for recovering brake energy according to claim 1, which is characterized in that the transport condition data includes at least
Speed, brake pedal aperture and brake pedal aperture change rate.
3. method for recovering brake energy according to claim 2, which is characterized in that the braking intention includes that high speed is urgent
Braking, the general braking of high speed and the gentle braking of high speed；The braking intention that driver is determined according to the transport condition data,
Including：
When the speed is more than First Speed V1, the brake pedal aperture be less than the first aperture A1And the brake pedal aperture
Change rate is more than the first aperture change rate a1When, determine that the braking intention is the high speed emergency braking；
When the speed is more than the First Speed V1, the brake pedal aperture is between the first aperture A1With the second aperture
A2Between and the brake pedal aperture change rate between the second aperture change rate a2With the first aperture change rate a1Between
When, determine that the braking intention is that the high speed is generally braked；
When the speed is more than the First Speed V1, the brake pedal aperture be more than the second aperture A2And the braking
Pedal aperture change rate is less than the second aperture change rate a2When, determine that the braking intention is that the high speed is gently braked；
Wherein, the first aperture A1Less than the second aperture A2, the first aperture change rate a1More than second aperture
Change rate a2。
4. method for recovering brake energy according to claim 3, which is characterized in that the braking intention further includes that middling speed is tight
Anxious braking and the non-emergent braking of middling speed；The braking intention that driver is determined according to the transport condition data further includes：
When the speed is between second speed V2With the First Speed V1Between, the brake pedal aperture be less than third aperture
A3And the brake pedal aperture change rate is more than third aperture change rate a3When, determine that the braking intention is that the middling speed is tight
Anxious braking；
When the speed is between the second speed V2With the First Speed V1Between, the brake pedal aperture be not less than institute
State third aperture A3And the brake pedal aperture change rate is not more than the third aperture change rate a3When, determine the braking
It is intended to the non-emergent braking of the middling speed；
Wherein, the second speed V2Less than the First Speed V1。
5. method for recovering brake energy according to claim 3 or 4, which is characterized in that the braking intention further includes low
Speed braking；The braking intention that driver is determined according to the transport condition data further includes：
When the speed is less than the second speed V2, the brake pedal aperture be less than the 4th aperture A4And the brake pedal
Aperture change rate is less than the 4th aperture change rate a4When, determine that the braking intention is braked for the low speed.
6. method for recovering brake energy according to claim 3, which is characterized in that described to be distributed according to the braking intention
Mechanical braking force and/or motor braking power, including：
When the braking intention is the high speed emergency braking, distribution is braked using the mechanical braking force of the first numerical value；
When the braking intention is that the high speed is generally braked, distribution uses the mechanical braking force and second value of second value
Motor braking power braked；The sum of the mechanical braking force of the second value and the motor braking power of the second value are small
In the mechanical braking force of first numerical value, the mechanical braking force of the second value is more than the motor braking of the second value
Power, and the motor braking power of the second value is less than the maximum value of motor braking power；
When the braking intention is that the high speed is gently braked, distribution uses the mechanical braking force and third value of third value
Motor braking power braked；The sum of the mechanical braking force of the third value and the motor braking power of the third value are small
In the sum of the motor braking power of the mechanical braking force and the second value of the second value, the machinery system of the third value
Power is less than the mechanical braking force of the second value, and the motor braking power of the third value is more than the electricity of the second value
Brake force.
7. method for recovering brake energy according to claim 4, which is characterized in that described to be distributed according to the braking intention
Mechanical braking force and/or motor braking power, including：
When the braking intention is the middling speed emergency braking, distribution is braked using the mechanical braking force of the 4th numerical value；
When braking intention braking non-emergent for the middling speed, distribution uses the maximum value system of the motor braking power
Dynamic and insufficient brake force is supplemented using mechanical braking force.
8. method for recovering brake energy according to claim 5, which is characterized in that described to be distributed according to the braking intention
Mechanical braking force and/or motor braking power, including：
When the braking intention is that the low speed is braked, distribution is braked using the mechanical braking force of the 5th numerical value.
9. method for recovering brake energy according to claim 1, which is characterized in that described according to the remaining capacity information
Brake energy recovery is carried out with the allocation result of mechanical braking force and motor braking power, including：
Judge whether the remaining capacity information is less than predetermined threshold value；
If the remaining capacity information is less than predetermined threshold value, judge whether that being assigned with motor braking power is braked；
It is braked if it is determined that being assigned with motor braking power, then carries out Brake energy recovery.
10. a kind of brake power recovering device, which is characterized in that the brake power recovering device includes：
Acquisition module is used for the transport condition data of real-time collection vehicle；
Determining module, the braking intention for determining driver according to the transport condition data；
Distribution module, for according to the braking intention distribution machinery brake force and/or motor braking power；
Acquisition module, the remaining capacity information current for obtaining battery；
Energy recovery module, for according to the remaining capacity information and the allocation result of mechanical braking force and motor braking power into
Row Brake energy recovery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810130571.5A CN108394390A (en) | 2018-02-08 | 2018-02-08 | Method for recovering brake energy and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810130571.5A CN108394390A (en) | 2018-02-08 | 2018-02-08 | Method for recovering brake energy and device |
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| Publication Number | Publication Date |
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| CN108394390A true CN108394390A (en) | 2018-08-14 |
Family
ID=63096478
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810130571.5A Pending CN108394390A (en) | 2018-02-08 | 2018-02-08 | Method for recovering brake energy and device |
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| CN (1) | CN108394390A (en) |
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| CN111391675A (en) * | 2020-03-31 | 2020-07-10 | 东风汽车集团有限公司 | Variable braking torque energy recovery control method for electric automobile |
| CN112441000A (en) * | 2019-08-16 | 2021-03-05 | 华为技术有限公司 | Vehicle braking control method and device |
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| CN117985011A (en) * | 2024-04-03 | 2024-05-07 | 潍柴动力股份有限公司 | Vehicle braking method and system |
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