CN108515964A - Vehicle torsional moment distribution method, apparatus and system - Google Patents
Vehicle torsional moment distribution method, apparatus and system Download PDFInfo
- Publication number
- CN108515964A CN108515964A CN201810243184.2A CN201810243184A CN108515964A CN 108515964 A CN108515964 A CN 108515964A CN 201810243184 A CN201810243184 A CN 201810243184A CN 108515964 A CN108515964 A CN 108515964A
- Authority
- CN
- China
- Prior art keywords
- torque
- vehicle
- recycling
- motor
- target
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—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
- 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
-
- 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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0604—Throttle position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/24—Energy storage means
- B60W2710/242—Energy storage means for electrical energy
Abstract
The present invention provides a kind of vehicle torsional moment distribution method, apparatus and systems, are related to automobile technical field, and this method includes：When brake energy recovery system activates, master cylinder pressure force value, maximum recycling torque and the initial reclamation torque of current vehicle are obtained；The total wheel side torque and braking deceleration of current vehicle are calculated according to master cylinder pressure force value；It is allocated based on initial reclamation torque, maximum recycling torque and braking deceleration to always taking turns side torque, output target recycles torque；Target recycling torque is sent to motor, triggering motor carries out brake energy recycling.Vehicle torsional moment distribution method provided by the invention, apparatus and system, it can ensure under identical brake pedal depth, when recycling function whether there is or not brake energy, the vehicle wheel side moment of resistance is consistent, keep braking deceleration constant, the case where avoiding vehicle deceleration mutation increases the stability of vehicle traveling, and then improves the driving comfort of driver.
Description
Technical field
The present invention relates to automobile technical fields, more particularly, to a kind of vehicle torsional moment distribution method, apparatus and system.
Background technology
With becoming increasingly popular for hybrid vehicle, also increasing, the hybrid power of the owning amount of hybrid vehicle
The energy saving and continuation of the journey problem of automobile is by the very big attention of domestic and international automotive community.For environmental protection and reasonably utilize
Resource must just reduce the resource consumption of hybrid vehicle.The energy lost when in general, hybrid vehicle can brake
It is recycled, to improve the cruising ability of hybrid vehicle.
But existing brake energy recovery system, in activation, energy regenerating torque generally remains constant, appearance
Vehicle deceleration mutation is easily led to, causes vehicle traveling unstable, reduces the comfort level of driver.
Invention content
In view of this, the purpose of the present invention is to provide a kind of vehicle torsional moment distribution method, apparatus and system, it is existing to alleviate
The technical issues of thering is brake energy recovery system to be easy to cause vehicle traveling shakiness, reducing the comfort level of driver.
In a first aspect, an embodiment of the present invention provides a kind of vehicle torsional moment distribution method, this method is applied to hybrid power
The vehicle control device of system, including：When brake energy recovery system activates, master cylinder pressure force value, the maximum of current vehicle are obtained
Recycle torque and initial reclamation torque；The total wheel side torque and braking deceleration of current vehicle are calculated according to master cylinder pressure force value；Base
It is allocated in initial reclamation torque, maximum recycling torque and braking deceleration to always taking turns side torque, output target recycles torque；
Target recycling torque is sent to motor, triggering motor carries out brake energy recycling.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein on
The method of stating includes：Current vehicle when driving, monitor the brake pedal opening amount signal of vehicle；When monitor brake pedal aperture believe
Number when, obtain the master cylinder pressure force value of current vehicle；Judge whether master cylinder pressure force value is more than pre-set pressure threshold；If
It is to activate brake energy recovery system.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiments of first aspect, wherein on
The step of stating the maximum recycling torque and initial reclamation torque for obtaining current vehicle include：Obtain current vehicle driving parameters and
Vehicle attribute information；Wherein, driving parameters include the speed, gear information and brake pedal opening amount signal of current vehicle；Vehicle
Attribute information includes：Motor status, battery status, car weight, vehicle sliding resistance and the engine towing astern moment of resistance；According to traveling
Parameter and vehicle attribute information calculate maximum recycling torque and initial reclamation torque.
Second of possible embodiment with reference to first aspect, an embodiment of the present invention provides the third of first aspect
Possible embodiment, wherein above-mentioned that torque and braking deceleration are recycled to always taking turns side torque based on initial reclamation torque, maximum
It is allocated, exporting the step of target recycles torque includes：When initial reclamation torque is less than maximum recycling torque, will initially return
It receives torque and is arranged to target recycling torque；According to recycling torque priority principle, total wheel side torque is distributed into target and recycles torque,
Distribute to mechanical friction torque in the part that total wheel side torque is recycled into torque beyond target；When initial reclamation torque is more than maximum return
When receiving torque, maximum recycling torque is arranged to target and recycles torque；By part of total wheel side torque beyond maximum recycling torque
Distribute to mechanical friction torque；Wherein, the sum of mechanical friction torque and target recycling torque are total wheel side torque；Target is exported to return
Receive torque and mechanical friction torque.
The third possible embodiment with reference to first aspect, an embodiment of the present invention provides the 4th kind of first aspect
Possible embodiment, wherein the above method further includes：The skidding rate of current vehicle is calculated according to driving parameters；It is deposited in advance
Safety coefficient corresponding with skidding rate is searched in the safety coefficient table of storage；Target recycling torque is multiplied by safety coefficient, is obtained excellent
Change target and recycles torque；Optimization aim recycling torque is sent to motor, triggering motor carries out energy regenerating.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiments of first aspect, wherein on
It states and target recycling torque is sent to motor, triggering the step of motor carries out brake energy recycling includes：Target is recycled into torque
It is sent to motor and carries out torque responsive, rotated, charged the battery with driving motor；When battery charges, energy is monitored in real time
Amount recycling signal, wherein energy regenerating signal includes at least：Electricity, battery temperature and the motor temperature signal of battery；Work as energy
When either signal is more than pre-set signal threshold value in recycling signal, stop the process of brake energy recycling.
Second aspect, the embodiment of the present invention additionally provide a kind of vehicle torsional moment distributor, and it is dynamic which is set to mixing
The vehicle control device of Force system, including：First acquisition module, for when brake energy recovery system activates, obtaining current vehicle
Master cylinder pressure force value, maximum recycling torque and initial reclamation torque；Computing module, it is current for being calculated according to master cylinder pressure force value
The total wheel side torque and braking deceleration of vehicle；Distribution module, for based on initial reclamation torque, maximum recycling torque and braking
Deceleration is allocated to always taking turns side torque, and output target recycles torque；Recycling module, for target recycling torque to be sent to
Motor, triggering motor carry out brake energy recycling.
In conjunction with second aspect, an embodiment of the present invention provides the first possible embodiments of second aspect, wherein on
Stating device further includes：Monitoring modular, for current vehicle when driving, monitor the brake pedal opening amount signal of vehicle；Second obtains
Modulus block, the master cylinder pressure force value for when monitoring brake pedal opening amount signal, obtaining current vehicle；Judgment module is used for
Judge whether master cylinder pressure force value is more than pre-set pressure threshold；Active module is for the judging result when judgment module
When being, brake energy recovery system is activated.
In conjunction with second aspect, an embodiment of the present invention provides the first possible embodiments of second aspect, wherein on
The first acquisition module is stated to be used for：Obtain the driving parameters and vehicle attribute information of current vehicle；Wherein, driving parameters include current
Speed, gear information and the brake pedal opening amount signal of vehicle；Vehicle attribute information includes：Motor status, battery status, vehicle
Weight, vehicle sliding resistance and the engine towing astern moment of resistance；Maximum recycling is calculated according to driving parameters and vehicle attribute information to turn round
Square and initial reclamation torque.
The third aspect, the embodiment of the present invention additionally provide a kind of vehicle torsional moment distribution system, the system include memory with
And processor, memory are used to store the program for supporting that processor executes above-mentioned first aspect the method, processor is configured
For for executing the program stored in the memory.
Fourth aspect, the embodiment of the present invention additionally provide a kind of computer storage media, for being stored as second aspect institute
State the computer software instructions used in device.
The embodiment of the present invention brings following advantageous effect：
A kind of vehicle torsional moment distribution method provided in an embodiment of the present invention, apparatus and system, can recycle in brake energy
When system activates, master cylinder pressure force value, maximum recycling torque and the initial reclamation torque of current vehicle are obtained；According to master cylinder pressure force value
Calculate the total wheel side torque and braking deceleration of current vehicle；And subtracted based on initial reclamation torque, maximum recycling torque and braking
Speed is allocated to always taking turns side torque, and output target recycles torque；And then target recycling torque is sent to motor, triggering electricity
Machine carries out brake energy recycling, to ensure under identical brake pedal depth, when recycling function whether there is or not brake energy, and vehicle wheel
The side moment of resistance is consistent, keeps braking deceleration constant, avoids the case where vehicle deceleration is mutated, and increases the stabilization of vehicle traveling
Property, and then improve the driving comfort of driver.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those skilled in the art, without creative efforts,
Other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of flow chart of vehicle torsional moment distribution method provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another vehicle torsional moment distribution method provided in an embodiment of the present invention；
Fig. 3 is a kind of wheel side moment of resistance of conventional brake energy-recuperation system provided in an embodiment of the present invention in a certain speed
Under with brake pedal change in depth schematic diagram；
Fig. 4 is a kind of wheel side moment of resistance obtained based on vehicle torsional moment distribution method provided in an embodiment of the present invention a certain
With the schematic diagram of brake pedal change in depth under speed；
Fig. 5 is a kind of wheel side moment of resistance of conventional brake energy-recuperation system provided in an embodiment of the present invention in brake pedal
The schematic diagram changed with speed under constant depth；
Fig. 6 is that a kind of wheel side moment of resistance obtained based on vehicle torsional moment distribution method provided in an embodiment of the present invention is being braked
The schematic diagram changed with speed under tread depths are constant；
Fig. 7 is a kind of structural schematic diagram of vehicle torsional moment distributor provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of another vehicle torsional moment distributor provided in an embodiment of the present invention；
Fig. 9 is a kind of structural schematic diagram of vehicle torsional moment distribution system provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those skilled in the art institute without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently, during normal driving driver's accelerator releasing touch on the brake deceleration when, orthodox car pass through engine rotation resistance
The mechanical friction resistance of torque and brake system reaches slowing effect, but in this moderating process vehicle deceleration lost it is dynamic
It can only be fallen by the heat-energy losses that frictional resistance generates, if such drag losses can be returned by certain mode
It receives to utilize and then can reach good oil-saving effect.
But the signals such as speed and throttle and battery motor are based only in existing brake energy recycling function system at present
Determine that the maximum recycling torque of brake energy recycling, the partially recycled electron drag square are reacted on the friction mechanism moment of resistance one
Side is taken turns, so that vehicle is reached slowing effect, but can cause in this way under same brake pedal depth, whether there is or not brake energies to recycle function
When vehicle marginal friction square it is inconsistent, to keep vehicle deceleration inconsistent, the problem of mutation.It is of the invention based on this
Embodiment provides a kind of vehicle torsional moment distribution method, apparatus and system, size (brake master cylinder that can be based on the depth that touches on the brake
Pressure signal) to carry out smart allocation to the vehicle wheel side moment of resistance, it is respectively allocated to mechanical resistance square and the resistance of energy regenerating electronics
Torque, to ensure under identical brake pedal depth, the vehicle wheel side moment of resistance is consistent when recycling function whether there is or not brake energy, makes
Braking deceleration is constant, and then improves the driving comfort of driver.
For ease of understanding the present embodiment, first to a kind of vehicle torsional moment distribution side disclosed in the embodiment of the present invention
Method describes in detail.
Embodiment one：
An embodiment of the present invention provides a kind of vehicle torsional moment distribution method, this method can be applied to hybrid power system
Vehicle control device, the vehicle control device can be based on ESP (Electronic Stability Program, electronic stability journey
Sequence) system vehicle control device, ESP system can by control unit and rotation direction sensor (steering angle of monitoring direction disk),
The wheel detector speed of each wheel (monitor rotation), sideslip sensor (state that monitoring car body is rotated around vertical axis),
The compositions such as lateral acceleration sensor (centrifugal force when monitoring automobile turning), by being travelled to the vehicle transmitted from each sensor
Status information is analyzed, and correction instruction is then sent out, to help vehicle to maintain dynamic equilibrium, so that vehicle is under various conditions
Keep best stability.
A kind of flow chart of vehicle torsional moment distribution method as shown in Figure 1, includes the following steps：
Step S102 obtains the master cylinder pressure force value of current vehicle, maximum recycling is turned round when brake energy recovery system activates
Square and initial reclamation torque；
Step S104 calculates the total wheel side torque and braking deceleration of current vehicle according to master cylinder pressure force value；
Step S106 is divided based on initial reclamation torque, maximum recycling torque and braking deceleration always taking turns side torque
Match, output target recycles torque；
Target recycling torque is sent to motor by step S108, and triggering motor carries out brake energy recycling.
When specific implementation, above-mentioned brake energy recovery system is not to activate in real time, is needed in vehicle sliding, and
And vehicle control device judges whether that entering brake energy recycles operating mode when detecting that driver tramples brake pedal and brakes,
And then judge whether to activate the function of brake energy recycling according to master cylinder pressure force value, therefore, the above method further includes brake energy
The activation of recovery system, specifically, the flow chart of another vehicle torsional moment distribution method as shown in Figure 2, including it is following
Step：
Step S202, current vehicle when driving, monitor the brake pedal opening amount signal of vehicle；
There are many sensors for usual ESP system, to monitor in vehicle travel process in real time, the operating condition of each system,
Above-mentioned brake pedal opening amount signal, so that it may to be obtained by pedal sensor.
Specifically, main signal or parameter may include in the embodiment of the present invention：Speed, engine speed, throttle
Pedal opening signal, brake pedal opening amount signal, battery SOC (State of Charge, remaining capacity) signal, motor and electricity
Pond prediction charge power limit value, gear signal and ESP sliding states signal and wheel side torque etc., specific signal or parameter,
It can be obtained by corresponding sensor according to actual conditions.
Step S204 obtains the master cylinder pressure force value of current vehicle when monitoring brake pedal opening amount signal；
Step S206, judges whether master cylinder pressure force value is more than pre-set pressure threshold；If so, executing step
S208；If not, return to step S202.
In the process of moving in view of hybrid vehicle, it is practised according to the driving of the difference of traffic information or driver
Used difference, it may appear that frequently touch on the brake pedal the case where, and slightly put when touching on the brake pedal, be not appropriate for carrying out energy regenerating.
Therefore, in order to avoid the frequent starting of brake energy recovery system, the method described in the embodiment of the present invention can be to trampling brake
The master cylinder pressure force value obtained when pedal is judged, only when master cylinder pressure force value is more than pre-set threshold value, after just executing
The step S208 in face activates brake energy recovery system, avoids and frequently start the energy waste brought in vain.
Step S208 activates brake energy recovery system；
Step S210 obtains master cylinder pressure force value, maximum recycling torque and the initial reclamation torque of current vehicle；
In view of the car weight of each car recycles torque and initial reclamation torque with attributes difference, above-mentioned maximums such as engines
It is different, therefore, calculate recycle torque when, be normally based on vehicle attribute information and the current driving parameters of vehicle come
It carries out, the specific step that calculates may include：(1) driving parameters and vehicle attribute information of current vehicle are obtained；Wherein, row
Sail the speed, gear information and brake pedal opening amount signal that parameter includes current vehicle；Vehicle attribute information includes：Motor shape
State, battery status, car weight, vehicle sliding resistance and the engine towing astern moment of resistance；(2) believed according to driving parameters and vehicle attribute
Breath calculates maximum recycling torque and initial reclamation torque.
In general, motor and the above-mentioned maximum recycling torque of cell potential calculating, e.g., motor status and battery status can be based on
Deng, wherein it is the limiting value of electron recovery torque in brake energy recovery system that the maximum, which recycles torque,.
Specifically, simulation calculation can be carried out according to vehicle attribute information and driving parameters, simulation calculation process can be with
By the modeling method based on MATLAB/Simulink, the realization of vehicle computer simulation model is established, is carried out according to simulation model
Energy management strategies design, and then driving parameters based on vehicle attribute information and current vehicle, obtain maximum recycling torque and
Allow to recycle torque.Further, above-mentioned simulation model can also be used to the energy expenditure of quantitative analysis vehicle, establish energy expenditure
Model, is used for design energy management strategy, and fast verification energy management strategies reduce unnecessary sample car manufacture and real vehicle examination
It tests, shortens the development cycle, reduce development cost.The modeling method of specific simulation calculation and the method for building up of simulation model can be with
Realize that it is not limited by the embodiments of the present invention with reference to related data in the prior art.
Step S212 calculates the total wheel side torque and braking deceleration of current vehicle according to master cylinder pressure force value；
Specifically, above-mentioned calculating process can be obtained by the method for experimental calibration, when specific implementation, above-mentioned vehicle control
The calibration scale of master cylinder pressure force value and total wheel side torque and braking deceleration can be previously stored in device processed, when getting master cylinder pressure
When force value, corresponding total wheel side torque and braking deceleration, in turn, base can be searched in calibration scale according to the master cylinder pressure force value
It is allocated in above-mentioned initial reclamation torque, maximum recycling torque and braking deceleration to always taking turns side torque, assigning process is such as
Shown in step S214~step S220.
Wherein, the sequencing of the calculating process of above-mentioned steps S210 and step S212 can be carried out according to actual conditions
It calculates, however it is not limited to which the sequence of description of the embodiment of the present invention is specifically subject to actual conditions, and the embodiment of the present invention is without limit
System.
Initial reclamation torque is arranged to target and returned by step S214 when initial reclamation torque is less than maximum recycling torque
Receive torque；
Maximum recycling torque is arranged to target and returned by step S216 when initial reclamation torque is more than maximum recycling torque
Receive torque；
Total wheel side torque is distributed to target and recycles torque, will always take turns side by step S218 according to recycling torque priority principle
Distribute to mechanical friction torque in part of the torque beyond target recycling torque；
Specifically, total wheel side torque that current demand can be calculated based on master cylinder pressure force value is then based on maximum recycling and turned round
Square does the distribution of total wheel side torque, is the vehicle control of hybrid power system due to the vehicle control device in the embodiment of the present invention
Device, therefore, total wheel side torque based on the calculating of master cylinder pressure force value are that the electron recovery torque that motor provides and engine provide
Mechanical friction torque；Wherein, above-mentioned target recycles torque, the electron recovery torque that as motor provides.
In the embodiment of the present invention, according to recycling torque priority principle, it is allocated to always taking turns side torque, preferentially distributes electronics
Torque (target recycling torque) is recycled, the insufficient part of electron recovery torque is reallocated in mechanical friction torque, wherein machinery
That is, in the assignment procedure the sum of friction torque and target recycling torque make mechanical friction torque be returned with target for total wheel side torque
The sum of torque is received to keep constant.
Step S220, output target recycling torque and mechanical friction torque；
Wherein, target recycling torque is the torque of brake energy recycling, and mechanical friction torque is to be carried out by frictional resistance
The torque of deceleration.
Target recycling torque is sent to motor by step S222, and triggering motor carries out brake energy recycling.
Specifically, the realization process of above-mentioned not step S222 includes：Target recycling torque is sent to motor and carries out torque
Response, is rotated with driving motor, is charged the battery；
In view of the safety in utilization of battery, when battery charges, the above method further includes：
Monitoring energy regenerating signal in real time, wherein energy regenerating signal includes at least：The electricity of battery, battery temperature and
Motor temperature signal；When either signal is more than pre-set signal threshold value in energy regenerating signal, stops brake energy and return
The process of receipts.
Further, it is contemplated that vehicle is in the process of moving, it may appear that go out because ground is soft, moist, or because of overload
The phenomenon that now part is skidded, the above method further includes：(1) the skidding rate of current vehicle is calculated according to driving parameters；(2) advance
Safety coefficient corresponding with skidding rate is searched in the safety coefficient table of storage；(3) target recycling torque is multiplied by safety coefficient, obtained
Go out optimization aim recycling torque；(4) optimization aim recycling torque is sent to motor, triggering motor carries out energy regenerating.
Specifically, it is assumed that ground contact point is Va relative to the linear velocity on ground, and the axis speed of wheel is Vx, then skids
Rate is (Va/Vx) * 100%.When specific implementation, above-mentioned skidding rate can be according to vehicle attribute information and current road feelings
Condition is configured, and therefore, the calculating process of above-mentioned skidding rate can also refer to associated materials in the prior art and realize, specifically
It is subject to actual conditions, it is not limited by the embodiments of the present invention.
For the ease of understanding that Fig. 3 and Fig. 4 are shown respectively to vehicle torsional moment distribution method provided in an embodiment of the present invention
In the prior art, conventional brake energy-recuperation system and vehicle torsional moment distribution method based on the embodiment of the present invention
The wheel side moment of resistance obtained is under a certain speed with the schematic diagram of brake pedal change in depth.
From figure 3, it can be seen that the brake machinery resistance (mechanical friction torque) of conventional brake energy-recuperation system and system
The proportional relationship of dynamic tread depths, electronics wheel side resistance keep permanent based on the target recycling torque that brake energy recovery system calculates
Fixed, substantially unrelated with brake pedal depth, therefore, total side moment of resistance of taking turns is not proportional with brake pedal depth, so
Vehicle braking deceleration has mutation, causes vehicle traveling unstable；In Fig. 4, automobile based on the embodiment of the present invention is turned round
Square distribution method carries out wheel side total torque after smart allocation so that wheel side total torque can pass directly proportional to brake pedal depth
System, vehicle make braking deceleration continuously without mutation, increase the stability of vehicle traveling, and then improve the comfort level of driver.
Further, Fig. 5 and Fig. 6 is respectively shown in the prior art, conventional brake energy-recuperation system, and is based on this hair
Under the identical brake pedal depth that the vehicle torsional moment distribution method that bright embodiment provides obtains, different speed variations are to taking turns side resistance
The influence of square.
By the comparison of Fig. 5 and Fig. 6 as can be seen that the wheel side mechanical resistance of conventional brake energy-recuperation system (machinery rubs
Wipe torque) and electron drag (target recycling torque) in brake pedal constant depth, start to reduce and increase with speed
(motor constant power declines when recycling with engine speed, and recycling torque will increase), after speed is less than certain threshold values, brake energy
Amount recovery system exits, and wheel side resistance is substantially reduced, and vehicle deceleration has apparent mutation, and driving is poor；And pass through this hair
After the vehicle torsional moment distribution method that bright embodiment provides carries out torque distribution, wheel side mechanical resistance (mechanical friction torque) and electricity
The sum of sub- resistance (target recycling torque) is constant in brake pedal, is held essentially constant under the conditions of each speed, to protect
It is constant sense of slowing down has been demonstrate,proved.
A kind of vehicle torsional moment distribution method provided in an embodiment of the present invention, can when brake energy recovery system activates,
Obtain master cylinder pressure force value, maximum recycling torque and the initial reclamation torque of current vehicle；Current vehicle is calculated according to master cylinder pressure force value
Total wheel side torque and braking deceleration；And based on initial reclamation torque, maximum recycling torque and braking deceleration to always taking turns
Side torque is allocated, and output target recycles torque；And then target recycling torque is sent to motor, triggering motor brakes
Energy regenerating, to ensure under identical brake pedal depth, when recycling function whether there is or not brake energy, the vehicle wheel side moment of resistance one
The case where causing, keep braking deceleration constant, avoiding vehicle deceleration mutation increases the stability of vehicle traveling, and then improves
The driving comfort of driver.
Embodiment two：
On the basis of the above embodiments, the embodiment of the present invention additionally provides a kind of vehicle torsional moment distributor, the device
It is set to the vehicle control device of hybrid power system, a kind of structural schematic diagram of vehicle torsional moment distributor as shown in Figure 7 should
Device includes：
First acquisition module 70, for when brake energy recovery system activates, obtain current vehicle master cylinder pressure force value,
Maximum recycling torque and initial reclamation torque；
Computing module 72, for calculating total wheel side torque of the current vehicle according to the master cylinder pressure force value and braking subtracts
Speed；
Distribution module 74, for based on the initial reclamation torque, the maximum recycling torque and the braking deceleration
Total wheel side torque is allocated, output target recycles torque；
Recycling module 76 triggers the motor and carries out brake energy for target recycling torque to be sent to motor
Recycling.
Further, the structural schematic diagram of another vehicle torsional moment distributor as shown in Figure 8 removes structure shown in Fig. 7
Outside, above-mentioned apparatus further includes：
Monitoring modular 78, for the current vehicle when driving, monitor the brake pedal opening amount signal of the vehicle；
Second acquisition module 80, for when monitoring the brake pedal opening amount signal, obtaining the current vehicle
Master cylinder pressure force value；
Judgment module 82, for judging whether the master cylinder pressure force value is more than pre-set pressure threshold；
Active module 84, for when the judging result of the judgment module is to be, activating brake energy recovery system.
Further, above-mentioned first acquisition module 70 is used for：Obtain the driving parameters and vehicle attribute letter of the current vehicle
Breath；Wherein, the driving parameters include the speed, gear information and brake pedal opening amount signal of the current vehicle；The vehicle
Attribute information includes：Motor status, battery status, car weight, vehicle sliding resistance and the engine towing astern moment of resistance；According to institute
It states driving parameters and the vehicle attribute information calculates the maximum recycling torque and the initial reclamation torque.
Vehicle torsional moment distributor provided in an embodiment of the present invention, the vehicle torsional moment distribution method provided with above-described embodiment
Technical characteristic having the same reaches identical technique effect so can also solve identical technical problem.
The embodiment of the present invention additionally provides a kind of vehicle torsional moment distribution system, which includes memory and processor,
Memory is used to store the program for supporting that processor executes one the method for above-described embodiment, and processor is configurable for executing
The program stored in the memory.
Further, the embodiment of the present invention additionally provides a kind of computer storage media, for being stored as above-mentioned intelligent power generation
Computer software instructions used in machine control device.
Fig. 9 shows a kind of structural schematic diagram of vehicle torsional moment distribution system, including：Processor 900, memory 901, always
Line 902 and communication interface 903, the processor 900, communication interface 903 and memory 901 are connected by bus 902；Processor
900 for executing the executable module stored in memory 901, such as computer program.
Wherein, memory 901 may include high-speed random access memory (RAM, Random Access Memory),
May further include non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.By extremely
A few communication interface 903 (can be wired or wireless) is realized logical between the system network element and at least one other network element
Letter connection can use internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 902 can be CAN bus, isa bus, pci bus or eisa bus etc..The bus can be divided into address
Bus, data/address bus, controlling bus etc..It for ease of indicating, is only indicated with a four-headed arrow in Fig. 9, it is not intended that only
A piece bus or a type of bus.
Wherein, memory 901 is for storing program, and the processor 900 executes the journey after receiving and executing instruction
Sequence, the method performed by vehicle torsional moment distributor that aforementioned any embodiment of the embodiment of the present invention discloses can be applied to handle
In device 900, or realized by processor 900.
Processor 900 may be a kind of IC chip, the processing capacity with signal.It is above-mentioned during realization
Each step of method can be completed by the integrated logic circuit of the hardware in processor 900 or the instruction of software form.On
The processor 900 stated can be general processor, including central processing unit (Central Processing Unit, abbreviation
CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital
Signal Processing, abbreviation DSP), application-specific integrated circuit (Application Specific Integrated
Circuit, abbreviation ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or
Person other programmable logic device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute sheet
Disclosed each method, step and logic diagram in inventive embodiments.General processor can be microprocessor or the processing
Device can also be any conventional processor etc..Software module can be located at random access memory, and flash memory, read-only memory can be compiled
In the storage medium of this fields such as journey read-only memory or electrically erasable programmable memory, register maturation.The storage is situated between
The step of matter is located at memory 901, and processor 900 reads the information in memory 901, the above method is completed in conjunction with its hardware.
The computer program product of vehicle torsional moment distribution method, apparatus and system that the embodiment of the present invention is provided, including
The computer readable storage medium of program code is stored, the instruction that said program code includes can be used for executing previous methods real
The method described in example is applied, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase
To importance.
Finally it should be noted that：Above example, only specific implementation mode of the invention, to illustrate the skill of the present invention
Art scheme, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to the present invention into
Go detailed description, it should be understood by those skilled in the art that：Any one skilled in the art takes off in the present invention
In the technical scope of dew, it can still modify to the technical solution recorded in previous embodiment or can readily occur in change
Change or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make relevant art
Scheme essence be detached from technical solution of the embodiment of the present invention spirit and scope, should all cover protection scope of the present invention it
It is interior.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of vehicle torsional moment distribution method, which is characterized in that the method is applied to the vehicle control device of hybrid power system,
The method includes：
When brake energy recovery system activates, master cylinder pressure force value, maximum recycling torque and the initial reclamation of current vehicle are obtained
Torque；
The total wheel side torque and braking deceleration of the current vehicle are calculated according to the master cylinder pressure force value；
Total wheel side torque is carried out based on the initial reclamation torque, the maximum recycling torque and the braking deceleration
Distribution, output target recycle torque；
Target recycling torque is sent to motor, the motor is triggered and carries out brake energy recycling.
2. according to the method described in claim 1, it is characterized in that, the method includes：
The current vehicle when driving, monitor the brake pedal opening amount signal of the vehicle；
When monitoring the brake pedal opening amount signal, the master cylinder pressure force value of the current vehicle is obtained；
Judge whether the master cylinder pressure force value is more than pre-set pressure threshold；
If so, activation brake energy recovery system.
3. according to the method described in claim 1, it is characterized in that, obtaining the maximum recycling torque and initial reclamation of current vehicle
The step of torque includes：
Obtain the driving parameters and vehicle attribute information of the current vehicle；
Wherein, the driving parameters include the speed, gear information and brake pedal opening amount signal of the current vehicle；The vehicle
Attribute information includes：Motor status, battery status, car weight, vehicle sliding resistance and the engine towing astern moment of resistance；
The maximum recycling torque and the initial reclamation torque are calculated according to the driving parameters and the vehicle attribute information.
4. according to the method described in claim 3, it is characterized in that, described be based on the initial reclamation torque, the maximum time
It receives torque and the braking deceleration is allocated total wheel side torque, exporting the step of target recycles torque includes：
When the initial reclamation torque is less than the maximum recycling torque, the initial reclamation torque is arranged to target recycling
Torque；
When the initial reclamation torque is more than the maximum recycling torque, the maximum torque that recycles is arranged to target recycling
Torque；
According to recycling torque priority principle, total wheel side torque is distributed into the target and recycles torque, by total wheel side
Distribute to mechanical friction torque in part of the torque beyond target recycling torque；
Wherein, the sum of the mechanical friction torque and target recycling torque are total wheel side torque；
Export the target recycling torque and the mechanical friction torque.
5. according to the method described in claim 4, it is characterized in that, the method further includes：
The skidding rate of current vehicle is calculated according to the driving parameters；
Safety coefficient corresponding with the skidding rate is searched in pre-stored safety coefficient table；
Target recycling torque is multiplied by the safety coefficient, show that optimization aim recycles torque；
Optimization aim recycling torque is sent to motor, the motor is triggered and carries out energy regenerating.
6. according to the method described in claim 1, it is characterized in that, it is described by the target recycling torque be sent to motor, touch
Send out motor described includes the step of carrying out brake energy recycling：
Target recycling torque is sent to the motor and carries out torque responsive, to drive the motor to rotate, to battery into
Row charging；
When the battery charges, energy regenerating signal is monitored in real time, wherein the energy regenerating signal includes at least：It is described
Electricity, battery temperature and the motor temperature signal of battery；
When either signal is more than pre-set signal threshold value in the energy regenerating signal, stop the mistake of brake energy recycling
Journey.
7. a kind of vehicle torsional moment distributor, which is characterized in that described device is set to the vehicle control device of hybrid power system,
Described device includes：
First acquisition module, for when brake energy recovery system activates, obtaining the master cylinder pressure force value of current vehicle, maximum is returned
Receive torque and initial reclamation torque；
Computing module, total wheel side torque and braking deceleration for calculating the current vehicle according to the master cylinder pressure force value；
Distribution module, for recycling torque and the braking deceleration to described based on the initial reclamation torque, the maximum
Total wheel side torque is allocated, and output target recycles torque；
Recycling module triggers the motor and carries out brake energy recycling for target recycling torque to be sent to motor.
8. device according to claim 7, which is characterized in that described device further includes：
Monitoring modular, for the current vehicle when driving, monitor the brake pedal opening amount signal of the vehicle；
Second acquisition module, for when monitoring the brake pedal opening amount signal, obtaining the master cylinder pressure of the current vehicle
Force value；
Judgment module, for judging whether the master cylinder pressure force value is more than pre-set pressure threshold；
Active module, for when the judging result of the judgment module is to be, activating brake energy recovery system.
9. device according to claim 7, which is characterized in that first acquisition module is used for：
Obtain the driving parameters and vehicle attribute information of the current vehicle；
Wherein, the driving parameters include the speed, gear information and brake pedal opening amount signal of the current vehicle；The vehicle
Attribute information includes：Motor status, battery status, car weight, vehicle sliding resistance and the engine towing astern moment of resistance；
The maximum recycling torque and the initial reclamation torque are calculated according to the driving parameters and the vehicle attribute information.
10. a kind of vehicle torsional moment distribution system, which is characterized in that the system comprises memory and processor, the storage
Device is used to store the program for supporting that processor perform claim requires any one of 1 to 6 the method, and the processor is configured as using
The program stored in the execution memory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810243184.2A CN108515964B (en) | 2018-03-22 | 2018-03-22 | Automobile torque distribution method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810243184.2A CN108515964B (en) | 2018-03-22 | 2018-03-22 | Automobile torque distribution method, device and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108515964A true CN108515964A (en) | 2018-09-11 |
| CN108515964B CN108515964B (en) | 2020-09-08 |
Family
ID=63432927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810243184.2A Active CN108515964B (en) | 2018-03-22 | 2018-03-22 | Automobile torque distribution method, device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108515964B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910625A (en) * | 2019-03-04 | 2019-06-21 | 宁波吉利汽车研究开发有限公司 | A kind of hybrid vehicle energy recycling system and recovery method |
| CN111791711A (en) * | 2019-09-24 | 2020-10-20 | 长城汽车股份有限公司 | Energy recovery control method and device, controller and electric automobile |
| CN112373455A (en) * | 2020-11-12 | 2021-02-19 | 安徽江淮汽车集团股份有限公司 | Automobile motor braking method, device, equipment and storage medium |
| CN112622872A (en) * | 2020-12-28 | 2021-04-09 | 潍柴动力股份有限公司 | Energy recovery control method and device |
| CN113400944A (en) * | 2021-07-13 | 2021-09-17 | 奇瑞新能源汽车股份有限公司 | Brake recovery method and device for autonomous vehicle, vehicle and storage medium |
| CN113400946A (en) * | 2021-07-30 | 2021-09-17 | 睿驰电装(大连)电动系统有限公司 | Electric automobile braking energy recovery control method and device and electronic equipment |
| CN113511081A (en) * | 2021-06-03 | 2021-10-19 | 北京车和家信息技术有限公司 | Control method and device for self-adaptive energy recovery of electric automobile |
| CN113619558A (en) * | 2020-05-06 | 2021-11-09 | 上海汽车集团股份有限公司 | Torque distribution method and system for hybrid system vehicle |
| CN113650504A (en) * | 2021-07-16 | 2021-11-16 | 一汽奔腾轿车有限公司 | Method for coordinately controlling braking energy recovery and sliding energy recovery of electric vehicle |
| CN114074556A (en) * | 2020-08-12 | 2022-02-22 | 北京新能源汽车股份有限公司 | Vehicle energy recovery control method and device and control equipment |
| CN114407668A (en) * | 2022-02-23 | 2022-04-29 | 威睿电动汽车技术(宁波)有限公司 | Braking energy recovery method, braking energy recovery device, braking energy recovery apparatus, storage medium, and program product |
| WO2022156508A1 (en) * | 2021-01-25 | 2022-07-28 | 中国第一汽车股份有限公司 | Braking control method and apparatus for hybrid power assembly, and device and storage medium |
| CN115140014A (en) * | 2022-09-02 | 2022-10-04 | 中国重汽集团济南动力有限公司 | Brake energy recovery vehicle control method of hybrid power system |
| CN115158037A (en) * | 2022-09-06 | 2022-10-11 | 中国重汽集团济南动力有限公司 | Torque distribution method and system for four-wheel drive motor of electric vehicle |
| CN115489335A (en) * | 2022-08-31 | 2022-12-20 | 成都赛力斯科技有限公司 | Torque control method, device, equipment and medium based on energy recovery |
| CN116022144A (en) * | 2023-02-06 | 2023-04-28 | 岚图汽车科技有限公司 | New energy automobile constant-speed cruising and decelerating control method and control system |
| CN116587870A (en) * | 2023-05-26 | 2023-08-15 | 广东金霸智能科技股份有限公司 | Braking energy recovery method and system of electric automobile |
| WO2024065592A1 (en) * | 2022-09-30 | 2024-04-04 | 华为技术有限公司 | Vehicle control method and apparatus |
| CN114074556B (en) * | 2020-08-12 | 2024-04-26 | 北京新能源汽车股份有限公司 | Vehicle energy recovery control method, device and control equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101054065A (en) * | 2007-05-25 | 2007-10-17 | 吉林大学 | Regeneration braking and anti-lock integrated control system for mixed power car |
| 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) |
| CN103754212A (en) * | 2014-01-08 | 2014-04-30 | 同济大学 | Method for controlling electric-hydraulic brake system on basis of differential gear train with two degrees of freedom |
| CN104169138A (en) * | 2012-03-14 | 2014-11-26 | 日产自动车株式会社 | Brake control device and control method |
| CN104787035A (en) * | 2014-01-17 | 2015-07-22 | 福特全球技术公司 | Vehicle |
| CN106043256A (en) * | 2016-07-11 | 2016-10-26 | 南京航空航天大学 | Electric-hydraulic composite braking system for electric automobile and optimization method of electric-hydraulic composite braking system |
| CN106427600A (en) * | 2015-08-07 | 2017-02-22 | 舍弗勒技术股份两合公司 | Downhill auxiliary driving device for electrically-driven automobile, and control method |
| JP2017124785A (en) * | 2016-01-15 | 2017-07-20 | 三菱電機株式会社 | Hybrid vehicle control device and brake control method for hybrid vehicle |
-
2018
- 2018-03-22 CN CN201810243184.2A patent/CN108515964B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101054065A (en) * | 2007-05-25 | 2007-10-17 | 吉林大学 | Regeneration braking and anti-lock integrated control system for mixed power car |
| CN104169138A (en) * | 2012-03-14 | 2014-11-26 | 日产自动车株式会社 | Brake control device and 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) |
| CN103754212A (en) * | 2014-01-08 | 2014-04-30 | 同济大学 | Method for controlling electric-hydraulic brake system on basis of differential gear train with two degrees of freedom |
| CN104787035A (en) * | 2014-01-17 | 2015-07-22 | 福特全球技术公司 | Vehicle |
| CN106427600A (en) * | 2015-08-07 | 2017-02-22 | 舍弗勒技术股份两合公司 | Downhill auxiliary driving device for electrically-driven automobile, and control method |
| JP2017124785A (en) * | 2016-01-15 | 2017-07-20 | 三菱電機株式会社 | Hybrid vehicle control device and brake control method for hybrid vehicle |
| CN106043256A (en) * | 2016-07-11 | 2016-10-26 | 南京航空航天大学 | Electric-hydraulic composite braking system for electric automobile and optimization method of electric-hydraulic composite braking system |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910625A (en) * | 2019-03-04 | 2019-06-21 | 宁波吉利汽车研究开发有限公司 | A kind of hybrid vehicle energy recycling system and recovery method |
| CN111791711A (en) * | 2019-09-24 | 2020-10-20 | 长城汽车股份有限公司 | Energy recovery control method and device, controller and electric automobile |
| CN113619558A (en) * | 2020-05-06 | 2021-11-09 | 上海汽车集团股份有限公司 | Torque distribution method and system for hybrid system vehicle |
| CN114074556A (en) * | 2020-08-12 | 2022-02-22 | 北京新能源汽车股份有限公司 | Vehicle energy recovery control method and device and control equipment |
| CN114074556B (en) * | 2020-08-12 | 2024-04-26 | 北京新能源汽车股份有限公司 | Vehicle energy recovery control method, device and control equipment |
| CN112373455A (en) * | 2020-11-12 | 2021-02-19 | 安徽江淮汽车集团股份有限公司 | Automobile motor braking method, device, equipment and storage medium |
| CN112373455B (en) * | 2020-11-12 | 2022-03-29 | 安徽江淮汽车集团股份有限公司 | Automobile motor braking method, device, equipment and storage medium |
| CN112622872A (en) * | 2020-12-28 | 2021-04-09 | 潍柴动力股份有限公司 | Energy recovery control method and device |
| CN112622872B (en) * | 2020-12-28 | 2022-07-15 | 潍柴动力股份有限公司 | Energy recovery control method and device |
| WO2022156508A1 (en) * | 2021-01-25 | 2022-07-28 | 中国第一汽车股份有限公司 | Braking control method and apparatus for hybrid power assembly, and device and storage medium |
| CN113511081A (en) * | 2021-06-03 | 2021-10-19 | 北京车和家信息技术有限公司 | Control method and device for self-adaptive energy recovery of electric automobile |
| CN113511081B (en) * | 2021-06-03 | 2023-10-10 | 北京车和家信息技术有限公司 | Control method and device for self-adaptive energy recovery of electric automobile |
| CN113400944A (en) * | 2021-07-13 | 2021-09-17 | 奇瑞新能源汽车股份有限公司 | Brake recovery method and device for autonomous vehicle, vehicle and storage medium |
| CN113400944B (en) * | 2021-07-13 | 2022-06-03 | 奇瑞新能源汽车股份有限公司 | Brake recovery method and device for autonomous vehicle, vehicle and storage medium |
| CN113650504A (en) * | 2021-07-16 | 2021-11-16 | 一汽奔腾轿车有限公司 | Method for coordinately controlling braking energy recovery and sliding energy recovery of electric vehicle |
| CN113650504B (en) * | 2021-07-16 | 2024-01-19 | 一汽奔腾轿车有限公司 | Method for cooperatively controlling braking energy recovery and sliding energy recovery of electric vehicle |
| CN113400946A (en) * | 2021-07-30 | 2021-09-17 | 睿驰电装(大连)电动系统有限公司 | Electric automobile braking energy recovery control method and device and electronic equipment |
| CN113400946B (en) * | 2021-07-30 | 2023-08-22 | 睿驰电装(大连)电动系统有限公司 | Method and device for controlling braking energy recovery of electric automobile and electronic equipment |
| CN114407668B (en) * | 2022-02-23 | 2024-02-06 | 威睿电动汽车技术(宁波)有限公司 | Braking energy recovery method, device, apparatus, storage medium, and program product |
| CN114407668A (en) * | 2022-02-23 | 2022-04-29 | 威睿电动汽车技术(宁波)有限公司 | Braking energy recovery method, braking energy recovery device, braking energy recovery apparatus, storage medium, and program product |
| CN115489335A (en) * | 2022-08-31 | 2022-12-20 | 成都赛力斯科技有限公司 | Torque control method, device, equipment and medium based on energy recovery |
| CN115489335B (en) * | 2022-08-31 | 2024-04-12 | 重庆赛力斯凤凰智创科技有限公司 | Torque control method, device, equipment and medium based on energy recovery |
| CN115140014A (en) * | 2022-09-02 | 2022-10-04 | 中国重汽集团济南动力有限公司 | Brake energy recovery vehicle control method of hybrid power system |
| CN115158037B (en) * | 2022-09-06 | 2022-12-09 | 中国重汽集团济南动力有限公司 | Torque distribution method and system for four-wheel drive motor of electric vehicle |
| CN115158037A (en) * | 2022-09-06 | 2022-10-11 | 中国重汽集团济南动力有限公司 | Torque distribution method and system for four-wheel drive motor of electric vehicle |
| WO2024065592A1 (en) * | 2022-09-30 | 2024-04-04 | 华为技术有限公司 | Vehicle control method and apparatus |
| CN116022144A (en) * | 2023-02-06 | 2023-04-28 | 岚图汽车科技有限公司 | New energy automobile constant-speed cruising and decelerating control method and control system |
| CN116022144B (en) * | 2023-02-06 | 2024-02-27 | 岚图汽车科技有限公司 | New energy automobile constant-speed cruising and decelerating control method and control system |
| CN116587870A (en) * | 2023-05-26 | 2023-08-15 | 广东金霸智能科技股份有限公司 | Braking energy recovery method and system of electric automobile |
| CN116587870B (en) * | 2023-05-26 | 2024-02-27 | 广东金霸智能科技股份有限公司 | Braking energy recovery method and system of electric automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108515964B (en) | 2020-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108515964A (en) | Vehicle torsional moment distribution method, apparatus and system | |
| CN108515960A (en) | Slide energy reclaiming method, apparatus and system | |
| CN110901561B (en) | Chassis domain controller, system and method for automobile | |
| WO2020211456A1 (en) | Method of measuring remaining range of electric vehicle, electronic device, and storage medium | |
| CN111216557B (en) | Electric automobile energy recovery method and device and automobile | |
| CN103171548B (en) | Method and system for the conversion of control model in hybrid electric vehicle | |
| CN107199893B (en) | Energy reclaiming method and device | |
| CN103176472B (en) | A kind of four-wheel drive pure electric vehicle hardware-in-loop simulation experimental system | |
| CN106314202B (en) | Slide energy recovery method, device and the pure electric automobile of pure electric automobile | |
| CN105015364A (en) | Driving control method and device of four-wheel electric vehicle | |
| CN103129557A (en) | System for inducing economic driving for vehicle | |
| CN112896161B (en) | Electric automobile ecological self-adaptation cruise control system based on reinforcement learning | |
| CN109263619A (en) | Vehicle torque control method, apparatus and system | |
| CN111791892B (en) | Intelligent vehicle control method and device, vehicle and storage medium | |
| CN105774804A (en) | Vehicle following risk assessment method and device and vehicle | |
| CN113246980A (en) | Vehicle speed planning method and device, vehicle and storage medium | |
| CN108791286A (en) | Driving collision avoidance method and apparatus | |
| CN108327632A (en) | Regeneration for motor vehicle braking system and friction horsepower indicator | |
| CN112918443B (en) | Brake control method, device, equipment and storage medium | |
| Wu | Optimization of steering control to improve the energy consumption of internal combustion engine vehicles | |
| CN112579966A (en) | Method and device for calculating ABS reference vehicle speed, electronic equipment and medium | |
| CN108725257A (en) | Electric automobile whole-control system and its control method | |
| Zheng et al. | Evaluation on braking stability of autonomous vehicles running along curved sections based on asphalt pavement adhesion properties | |
| JP6456801B2 (en) | Travel control device, travel control method, and travel control program | |
| CN116039391B (en) | Vehicle braking method and device and automobile |
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 |