CN108501728A - 用于车辆的后轮再生制动控制系统及其方法 - Google Patents

用于车辆的后轮再生制动控制系统及其方法 Download PDF

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CN108501728A
CN108501728A CN201710910855.1A CN201710910855A CN108501728A CN 108501728 A CN108501728 A CN 108501728A CN 201710910855 A CN201710910855 A CN 201710910855A CN 108501728 A CN108501728 A CN 108501728A
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trailing wheel
regenerative braking
wheel regenerative
braking performance
vehicle
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CN108501728B (zh
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田甲培
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Hyundai Motor Co
Kia Corp
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Hyundai Motor Co
Kia Motors Corp
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    • B60L7/26—Controlling the braking effect
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    • B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
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Abstract

本发明涉及一种用于车辆的后轮再生制动控制系统及其方法。用于车辆的后轮再生制动控制系统可以包括：制动器控制器、车辆控制器、液压控制器以及电机控制器，其中，所述系统和所述方法可以使后轮再生制动量最大化，同时易于确保车辆的制动稳定性。

Description

用于车辆的后轮再生制动控制系统及其方法
技术领域
本发明涉及一种用于车辆的后轮再生制动控制系统及其方法。更具体地，本发明涉及这样一种用于车辆的后轮再生制动控制系统及其方法，该系统和方法配置为使车辆后轮再生制动的量最大化，同时很容易确保车辆的制动稳定性。
背景技术
环保车辆(包括电动车辆、燃料电池车辆以及混合动力车辆)利用再生制动来将一部分制动力转换成电能并且用电能对电池充电，其中，在制动操作期间，驱动电机被用作发电机。
通常，当驱动电机的力传递至前轮时，执行前轮再生制动，而当驱动电机的力传递至后轮时，执行后轮再生制动。这里，通过再生制动力和液压制动力的总和来获得总制动力。
参考图1，控制包括后轮再生制动的制动力的分配，以从总制动力来增强电能的回收，首先尽可能分配后轮再生制动力，并且从前轮和后轮液压制动力分配剩余的制动力。
在这样的制动力分配控制中，如图1所示，在后轮再生制动力可以在实际道路行驶期间主要使用的较低减速区域中最大限度地分配时，在这种情况下，后轮制动力的分配量变得远大于前轮制动力的分配量，这可能导致后轮更快的锁定。这种后轮更快的锁定的问题是，导致车辆制动稳定性的降低和车辆打滑的发生。
相反，如图2所示，当处于较低减速区域时，后轮再生制动力分配到预定水平或以下，同时液压制动力比后轮再生制动力分配更多时，能够确保车辆的制动稳定性，但是来自后轮再生制动力的电能的回收降低，导致增加燃料效率的效果减少。
公开于本发明背景部分的信息仅仅旨在增强对本发明的总体背景的理解，而不应当被视为承认或以任何形式暗示该信息构成已为本领域技术人员所公知的现有技术。
发明内容
本发明的各个方面致力于提供一种用于车辆的后轮再生制动控制系统和方法，所述系统和方法配置为用于在控制车辆的制动力的分配时，使后轮再生制动的量最大化，以在燃料效率方面获得改善，同时易于确保车辆的制动稳定性。
本发明的各个方面致力于提供一种用于车辆的后轮再生制动控制系统，所述系统包括：制动器控制器、车辆控制器、液压控制器以及电机控制器；其中，所述制动器控制器配置为确定并向所述车辆控制器发送允许的后轮再生制动性能值，基于从所述车辆控制器接收到的实际的后轮再生制动性能值来确定目标液压制动性能值，并且将所述目标液压制动性能值发送到所述液压控制器；所述车辆控制器配置为基于从所述制动器控制器接收到的允许的后轮再生制动性能值，来确定后轮再生制动性能指令值，将后轮再生制动性能指令值发送至所述电机控制器，并将从所述电机控制器接收到的实际的后轮再生制动性能值发送到所述制动器控制器；所述液压控制器配置为基于从所述制动器控制器接收到的目标液压制动性能值，将液压制动力施加到液压制动器；所述电机控制器配置为根据从所述车辆控制器接收到的后轮再生制动性能指令值来控制电机以产生后轮再生制动操作，并且其中，所述制动器控制器配置为基于来自车轮速度检测器的检测信号来确定车轮滑移率，并且当车轮滑移率确定为在预定持续时间或更久内保持预定水平或以上时，将后轮再生制动中断信号发送至所述车辆控制器，所述车辆控制器配置为根据后轮再生制动中断信号，将后轮再生制动性能指令值重置为小于当前的后轮再生制动性能值的值，并且将重置的值发送至所述电机控制器。
本发明的各个方面致力于提供一种用于车辆的后轮再生制动控制方法，所述方法包括以下步骤：利用制动器控制器来确定并向车辆控制器发送允许的后轮再生制动性能值，基于从所述车辆控制器接收到的实际的后轮再生制动性能值来确定目标液压制动性能值，并且将所述目标液压制动性能值发送到所述液压控制器；利用车辆控制器，基于从所述制动器控制器接收到的允许的后轮再生制动性能值，来确定后轮再生制动性能指令值，将后轮再生制动性能指令值发送至电机控制器，并将从所述电机控制器接收到的实际的后轮再生制动性能值发送到所述制动器控制器；利用液压控制器，基于从所述制动器控制器接收到的目标液压制动性能值，将液压制动力施加到液压制动器；利用电机控制器，根据从所述车辆控制器接收到的后轮再生制动性能指令值来控制电机产生后轮再生制动操作，其中，所述方法进一步包括以下步骤：利用制动器控制器，基于来自车轮速度检测器的检测信号来确定车轮滑移率；当车轮滑移率确定为在预定持续时间或更久内保持预定水平或以上时，将后轮再生制动中断信号发送至所述车辆控制器；利用车辆控制器，根据后轮再生制动中断信号，将后轮再生制动性能指令值重置为小于当前的后轮再生制动性能值的值；将重置的值发送至所述电机控制器。
本发明相应地产生以下效果。
首先，在后轮比前轮更快地锁定或者由于锁定发生车轮打滑之前执行后轮再生制动，使后轮再生制动最大化，并且使电池所充电能增加，从而提高了燃料效率。
其次，在后轮比前轮更快地锁定或者由于锁定发生打滑之前执行后轮再生制动，防止了后轮比前轮更快锁定，或者由于后轮制动力变得大于前轮制动力而发生车轮打滑的常见问题，从而提高了车辆的制动稳定性。
本发明的方法和装置具有其它的特性和优点，这些特性和优点从并入本文中的附图和随后的具体实施方案中将是显而易见的，或者将在并入本文中的附图和随后的具体实施方案中进行详细陈述，这些附图和具体实施方案共同用于解释本发明的特定原理。
附图说明
图1是示出了后轮再生制动车辆的制动力分配的示例的曲线图，其中，优先考虑了后轮再生制动性能；
图2是示出了后轮再生制动车辆的制动力分配的示例的曲线图，其中，优先考虑了制动稳定性；
图3为示出了根据本发明示例性实施方案的用于车辆的后轮再生制动控制系统的配置图；
图4和图5为示出了根据本发明示例性实施方案的用于车辆的后轮再生制动控制方法的流程图；
图6为示出了根据用于车辆的后轮再生制动控制方法的重置后轮再生制动性能指令值的示例的曲线图；
图7A和图7B为示出了用于车辆的后轮再生制动控制方法的测试结果的曲线图。
应当理解的是，附图并非按比例地绘制，而是图示性地简化呈现各种特征以显示本发明的基本原理。本文所公开的本发明的具体设计特征(包括例如具体尺寸、方向、位置和形状)将部分地由具体所要应用和使用的环境来确定。
在这些图形中，贯穿附图的多幅图形，附图标记指代本发明的同样的或等同的部分。
具体实施方式
下面将详细参考本发明的各种实施方案，这些实施方案的示例示于附图中并且描述如下。尽管将结合示例性实施方案来描述本发明，但是将理解的是，本说明书并非旨在将本发明限制于那些示例性实施方案。相反，本发明旨在不但覆盖这些示例性实施方案，而且覆盖可以包括在由所附权利要求所限定的本发明的精神和范围之内的各种替选方式、修改方式、等同方式以及其它的实施方案。
下面将参考所附附图对本发明的示例性实施方案进行具体描述。贯穿附图，相同的附图标记指代相同的或等同的部分。
图3为根据本发明示例性实施方案的用于车辆的后轮再生制动控制系统的配置图，图4和图5为示出了根据本发明示例性实施方案的用于车辆的后轮再生制动控制方法的流程图，图6为示出了根据用于车辆的后轮再生制动控制方法的重置后轮再生制动性能指令值的示例的曲线图。
在图3中，附图标记10表示作为后轮再生制动车辆的顶级控制器的车辆控制器。
制动器控制器12和电机控制器14电连通地联接到车辆控制器10，并且液压控制器16联接到制动器控制器12以控制液压制动。
除了车轮速度检测器20和横摆率检测器22之外，制动踏板检测器18是检测驾驶员的制动要求的装置，其通信地连接到制动器控制器12。
制动器控制器12配置为确定并向车辆控制器发送允许的后轮再生制动性能值，基于从车辆控制器接收到的实际的后轮再生制动性能值来确定目标液压制动性能值，并将目标液压制动性能值发送到液压控制器。
车辆控制器10配置为基于从制动器控制器12接收到的允许的后轮再生制动性能值，来确定后轮再生制动性能指令值，将后轮再生制动性能指令值发送至电机控制器，并将从电机控制器接收到的实际的后轮再生制动性能值发送到制动器控制器。
液压控制器16配置为基于从制动器控制器12接收到的目标液压制动性能值，将液压制动力施加到液压制动器。
电机控制器14配置为根据从车辆控制器10接收到的后轮再生制动性能指令值来控制电机以产生后轮再生制动操作。
制动器控制器12进一步配置为发送后轮再生制动中断信号，以应对后轮锁定现象的发生或在后轮再生制动期间发生车轮打滑。到目前为止，车轮速度检测器20和横摆率检测器22通信地连接至制动器控制器12。
这里，具有上述配置的后轮再生制动控制方法如下。
首先，制动踏板检测器18在驾驶员压下制动踏板时同时地检测驾驶员的制动要求，然后将检测到的信号发送到制动器控制器12。照此，制动器控制器12确定要求的制动力，并且基于所要求的制动力来确定允许的后轮再生制动性能值(S101)。
然后，制动器控制器12将允许的后轮再生制动性能值发送至作为顶级控制器的车辆控制器10。
这里，允许的后轮再生制动性能值是这样的值，其被预定为低于所要求的制动力的水平，并且根据所要求的制动力而变化。
随后，车辆控制器10确定后轮再生制动性能指令值(S102)，并将确定的指令值发送到电机控制器14(S103)。
当车辆控制器10确定后轮再生制动性能指令值时，从制动器控制器12接收到的允许的后轮再生制动性能值和预定的后轮再生制动能力中选择较低值作为后轮再生制动性能指令值。
随后，电机控制器14根据从车辆控制器10接收到的后轮再生制动性能指令值，来控制电机以产生后轮再生制动操作(S104)，从而用基于所产生的后轮再生制动操作而获得的电能对电池进行充电。
此外，电机控制器14向车辆控制器10发送由电机执行的实际的后轮再生制动性能值，所述电机执行适合后轮再生制动性能指令值的再生制动(S104)。
随后，车辆控制器10将从电机控制器14接收的实际的后轮再生制动性能值发送到制动器控制器12(S105)。
随后，制动器控制器12从车辆控制器10接收实际的后轮再生制动性能值(S106)，基于接收到的实际的后轮再生制动性能值来确定目标液压制动性能值(S107)，并且将确定的液压制动性能值发送至液压控制器16(S108)。
这里，由于所要求的制动力为液压制动力和再生制动力(实际的再生制动性能值)的总和，所以由制动器控制器12确定的液压制动力可以通过从所要求的制动力中减去实际的后轮再生制动性能值而获得。
随后，液压控制器16基于从制动器控制器12接收到的液压制动性能值，将液压制动力施加到液压制动器，从而在车轮上执行液压制动。
这样，通过后轮再生制动期间的液压制动性能值和实际的后轮再生制动性能值的组合来执行车辆制动。
同时，可能有如下的一种情况，在这样的后轮再生制动期间，后轮制动力变得远大于前轮制动力，使得后轮首先被锁定。后轮比前轮更快地锁定可能导致制动稳定性降低，以及发生车轮打滑。
因此，本发明配置为使得在后轮比前轮更快地锁定，或者由于更快的锁定发生车轮打滑之前，执行后轮再生制动，从而使后轮再生制动最大化并且提高了燃料效率，同时易于防止后轮更快的锁定或发生车轮打滑，从而提高了制动稳定性。
因此，确定车轮滑移率及其持续时间，以确定在后轮再生制动期间是否发生了后轮锁定或车轮打滑(S111)。
制动器控制器12基于从车轮速度检测器20接收到的车轮速度信号来确定车轮滑移率及其持续时间，并且确定车轮滑移率是否在预定的持续时间(B ms)或更久内保持在预定水平(A％)或以上(S112)。
当确定出车轮滑移率在预定持续时间(B m)或更久内保持在预定水平(A％)或以上时，制动器控制器向车辆控制器10发送后轮再生制动中断信号(S113)。
随后，当从制动器控制器12接收到后轮再生制动中断信号时(S114)，车辆控制器10根据后轮再生制动中断信号将后轮再生制动性能指令值(D)重置为小于当前后轮再生制动性能值的值，并且将重置的值发送至电机控制器14(S115)。
同时，制动器控制器12还可以将前轮和后轮之间的车轮速度差确定为再生制动中断条件，以确定在后轮再生制动期间是否发生了后轮锁定或车轮打滑。当确定出车轮速度差为预定水平(C)或以上时，制动器控制器将后轮再生制动中断信号发送至车辆控制器。
这里，除了前后轮之间的车轮速度差之外，前轮和后轮的左右轮速度差、平均前轮速度和平均后轮速度之间的车轮速度差等也可以用作再生制动中断条件，以确定在后轮再生制动期间是否发生了后轮锁定或车轮打滑。
此外，制动器控制器12还可以从横摆率检测器22接收横摆率检测信号作为再生制动中断条件，以确定在后轮再生制动期间是否发生了后轮锁定或车轮打滑。当确定出横摆率信号为预定水平或以上时，制动器控制器将后轮再生制动中断信号发送至车辆控制器10。
如参考S115所述的，车辆控制器10根据来自制动器控制器12的后轮再生制动中断信号，将后轮再生制动性能指令值重置到小于当前的后轮再生制动性能值的值，并且将重置的值发送至电机控制器14。
这里，如图6所示，发送到电机控制器14的后轮再生制动性能指令值(D)被重置为如下的值：以一定斜率减少到低于当前的后轮再生制动性能值的一定水平的值，以一定的斜率从当前的后轮再生制动性能值减少到零的值，或者从当前的后轮再生制动性能值以逐步的方式减少到零的值。
随后，电机控制器14控制电机的再生制动操作，以具有对应于重置的后轮再生制动性能指令值(D)的实际的后轮再生制动性能值(S116)，并且同时，将对应于后轮再生制动性能指令值(D)的实际的后轮再生制动性能值发送至制动器控制器12。
因此，利用电机的再生制动的控制，从而具有对应于重置的后轮再生制动性能指令值(D)的减少的实际后轮再生制动性能值，使得在后轮与前轮相比首先被锁定、或由于发生后轮锁定而引起车轮打滑之前，执行车辆的后轮再生制动，使后轮再生制动最大化，并且易于防止后轮更快的锁定或车轮打滑，从而提高了制动稳定性。
同时，当制动器控制器12接收到对应于后轮再生制动性能指令值(D)的实际后轮再生制动性能值时，制动器控制器基于接收到的实际的后轮再生制动性能值来确定液压制动性能值(S118)，并且将确定的液压制动性能值发送至液压控制器16(S119)。
这里，由于所要求的制动力为液压制动性能值和再生制动性能值(实施为对应于后轮再生制动性能指令值)的总和，所以由制动器控制器12确定的液压制动性能值可以确定为增加了实际后轮再生制动性能值所减少的量的值。
因此，利用液压控制器的控制，将施加到液压制动器的液压制动力增加实际后轮再生制动性能值所减少的量，可以稳定地执行车辆制动。
作为示例性测试，车辆制动稳定性评价测试在低摩擦人造道路上执行，其关于如下两种情况：第一种情况，利用根据后轮再生制动中断信号的后轮再生制动性能指令值来执行再生制动(本发明)；第二种情况，利用后轮再生制动性能指令值，而不用后轮再生制动中断信号来执行再生制动(常见的)。测试结果如图7A和图7B的曲线图所示。
可以看出，由于后轮比前轮更快地锁定，常见的再生制动示出的问题在于图7A所示的车轮滑移和车轮反向旋转，或者发生图7B所示的车轮打滑，导致降低了制动稳定性，而根据本发明示例性实施方案的再生制动在图7A上没有显示出车轮滑移或者车轮反向旋转，或者车轮打滑，从而易于确保制动稳定性。
为了方便在所附权利要求书中进行解释和准确定义，术语“上部”、“下部”、“内部”、“外部”、“上”、“下”、“向上”、“向下”、“前”、“后”、“背部”、“内侧”、“外侧”、“向内”、“向外”、“内在”、“外在”、“向前”和“向后”用于参照示例性实施方案的特征如图中所示的位置来描述这些特征。
前面对本发明具体示例性实施方案所呈现的描述出于说明和描述的目的。前面的描述并非旨在穷举，或者将本发明限制为公开的精确形式，且显然的是，根据以上教导若干修改和变化都是可能的。选择示例性实施方案并进行描述是为了解释本发明的特定原理及其实际应用，从而使得本领域的其它技术人员能够实现并利用本发明的各种示例性实施方案及其不同选择形式和修改形式。本发明的范围旨在通过所附权利要求及其等同形式来限定。

Claims (12)

1.一种用于车辆的后轮再生制动控制系统，所述系统包括：
制动器控制器、车辆控制器、液压控制器以及电机控制器，
其中，所述制动器控制器配置为确定并向所述车辆控制器发送允许的后轮再生制动性能值，基于从所述车辆控制器接收到的实际的后轮再生制动性能值来确定目标液压制动性能值，并且将目标液压制动性能值发送到所述液压控制器；
所述车辆控制器配置为基于从所述制动器控制器接收到的允许的后轮再生制动性能值，来确定后轮再生制动性能指令值，将后轮再生制动性能指令值发送至所述电机控制器，并将从所述电机控制器接收到的实际的后轮再生制动性能值发送到所述制动器控制器；
所述液压控制器配置为基于从所述制动器控制器接收到的目标液压制动性能值，将液压制动力施加到液压制动器；
所述电机控制器配置为根据从所述车辆控制器接收到的后轮再生制动性能指令值来控制电机以产生后轮再生制动操作，
所述制动器控制器配置为基于来自车轮速度检测器的检测信号来确定车轮滑移率，并且当车轮滑移率确定为在预定持续时间或更久内保持在预定水平或以上时，将后轮再生制动中断信号发送至所述车辆控制器，
其中，所述车辆控制器配置为根据后轮再生制动中断信号，将后轮再生制动性能指令值重置为小于当前的后轮再生制动性能值的值，并且将重置的值发送至所述电机控制器。
2.根据权利要求1所述的用于车辆的后轮再生制动控制系统，其中，所述制动器控制器配置为确定前轮和后轮之间的车轮速度差，并且当车轮速度差确定为处于预定水平或以上时，将后轮再生制动中断信号发送至所述车辆控制器。
3.根据权利要求1所述的用于车辆的后轮再生制动控制系统，其中，所述制动器控制器配置为从横摆率检测器接收横摆率检测信号，并且当横摆率信号确定为处于预定水平或以上时，将后轮再生制动中断信号发送至所述车辆控制器。
4.根据权利要求1所述的用于车辆的后轮再生制动控制系统，其中，根据后轮再生制动中断信号，将后轮再生制动性能指令值重置为从当前的后轮再生制动性能值以预定的斜率减少至零的值。
5.根据权利要求1所述的用于车辆的后轮再生制动控制系统，其中，根据后轮再生制动中断信号，将后轮再生制动性能指令值重置为从当前的后轮再生制动性能值逐步减少到零的值。
6.一种用于车辆的后轮再生制动控制方法，所述方法包括：
利用制动器控制器来确定并向车辆控制器发送允许的后轮再生制动性能值，基于从所述车辆控制器接收到的实际的后轮再生制动性能值来确定目标液压制动性能值，并且将所述目标液压制动性能值发送到液压控制器；
利用车辆控制器，基于从所述制动器控制器接收到的允许的后轮再生制动性能值，来确定后轮再生制动性能指令值，将所述后轮再生制动性能指令值发送至电机控制器，并且将从所述电机控制器接收到的实际的后轮再生制动性能值发送到所述制动器控制器；
利用液压控制器，基于从所述制动器控制器接收到的目标液压制动性能值，将液压制动力施加到液压制动器；
利用电机控制器，根据从所述车辆控制器接收到的后轮再生制动性能指令值来控制电机产生后轮再生制动操作，其中，所述方法进一步包括以下步骤：
利用制动器控制器，基于来自车轮速度检测器的检测信号来确定车轮滑移率；当车轮滑移率确定为在预定持续时间或更久内保持在预定水平或以上时，将后轮再生制动中断信号发送至所述车辆控制器；
利用车辆控制器，根据后轮再生制动中断信号，将后轮再生制动性能指令值重置为小于当前的后轮再生制动性能值的值；并且将重置的值发送至所述电机控制器。
7.根据权利要求6所述的用于车辆的后轮再生制动控制方法，其中，所述制动器控制器配置为确定前轮和后轮之间的车轮速度差，并且当车轮速度差确定为处于预定水平或以上时，将后轮再生制动中断信号发送至所述车辆控制器。
8.根据权利要求6所述的用于车辆的后轮再生制动控制方法，其中，所述制动器控制器配置为从横摆率检测器接收横摆率检测信号，并且当横摆率信号确定为处于预定水平或以上时，将后轮再生制动中断信号发送至所述车辆控制器。
9.根据权利要求6所述的用于车辆的后轮再生制动控制方法，其中，根据后轮再生制动中断信号，将后轮再生制动性能指令值重置为从当前的后轮再生制动性能值以预定的斜率减少至零的值。
10.根据权利要求6所述的用于车辆的后轮再生制动控制方法，其中，根据后轮再生制动中断信号，将后轮再生制动性能指令值重置为从当前的后轮再生制动性能值逐步减少到零的值。
11.根据权利要求6所述的用于车辆的后轮再生制动控制方法，其中，所述电机控制器配置为控制电机的再生制动操作，以具有对应于重置的后轮再生制动性能指令值的实际的后轮再生制动性能值，并且同时，将对应于后轮再生制动性能指令值的实际的后轮再生制动性能值发送至制动器控制器。
12.根据权利要求11所述的用于车辆的后轮再生制动控制方法，其中，当所述制动器控制器接收到对应于重置的后轮再生制动性能指令值的实际的后轮再生制动性能值时，所述制动器控制器配置为控制液压制动性能值增加实际的后轮再生制动性能值所减少的量。
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