CN108621804A - Four-wheel independent electric drive vehicle regenerative brakes stable control method, device and vehicle - Google Patents
Four-wheel independent electric drive vehicle regenerative brakes stable control method, device and vehicle Download PDFInfo
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- CN108621804A CN108621804A CN201810454814.0A CN201810454814A CN108621804A CN 108621804 A CN108621804 A CN 108621804A CN 201810454814 A CN201810454814 A CN 201810454814A CN 108621804 A CN108621804 A CN 108621804A
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- yaw velocity
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- 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
- B60L7/18—Controlling the braking effect
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for 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
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/425—Temperature
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention provides a kind of four-wheel independent electric drive vehicle regenerative braking stable control method, device and vehicles, are related to technical field of vehicle.Four-wheel independent electric drive vehicle regenerative braking stable control method includes the following steps：Receive yaw velocity when vehicle actual travel；Calculate the ideal yaw velocity of vehicle；The wheel that regenerative braking inhibits sideway additional moment and regenerative braking inhibition sideway additional moment is applied to vehicle is obtained according to yaw velocity and ideal yaw velocity.Four-wheel independent electric drive vehicle brakes stable control method when slight unstability ESC system is not yet intervened, by above-mentioned four-wheel independent electric drive vehicle regenerative and much sooner, improves the safety of vehicle to improve regenerative braking stability.
Description
Technical field
The present invention relates to technical field of vehicle, are braked in particular to a kind of four-wheel independent electric drive vehicle regenerative steady
Locking control method, device and vehicle.
Background technology
With the rapid development of automobile industry and stepping up for living standards of the people, China has become automobile production and marketing first
Big country, with and the environmental pressure that comes gradually highlights, based on the multi-aspect demands such as environmental protection, energy security, electric vehicle is Chinese
Prior development direction, be development of automobile main trend.The major reason that electric vehicle can save the energy is its tool
Some regenerative braking capabilities, can be improved capacity usage ratio, reduce the loss and heat fading of the machinery of friction catch.
Each wheel regenerative braking moment of four-wheel independent electric drive vehicle can be adjusted individually, and regenerative braking, regenerative braking are being slided
Coordinate under brake condition with friction catch, according to each wheel regenerative braking moment of the intention reasonable distribution of driver, in vehicle body electricity
It is carried out in the case of slight unstability before sub- stabilitrak (Electronic Speed Controller, ESC) intervention
Yaw moment control is reduced or avoided ESC interventions, reduces vehicle unstability probability of happening, improves and drive safety and comfort.
Regenerative braking the relevant technologies focus on the coordination of regenerative braking and friction catch mostly at present, for four-wheel independent electrical
The stability contorting research of regenerative braking under drive form is less.
In four-wheel independent electric drive vehicle regenerative braking process, in the case of not considering stability contorting, when vehicle unstability
Four-wheel friction braking is coordinated to inhibit vehicle unstability, stability contorting to delay increase by ESC when unstability degree can only be waited for trigger ESC
Vehicle risk degree.
Invention content
One of the objects of the present invention is to provide a kind of four-wheel independent electric drive vehicle regeneratives to brake stable control method,
Regenerative braking stability can be improved, improves safety, much sooner.
Another object of the present invention is to provide a kind of four-wheel independent electric drive vehicle regeneratives to brake stabilization control device,
Regenerative braking stability can be improved, improves safety, much sooner.
Another object of the present invention is to provide a kind of four-wheel independent electric drive vehicle, regenerative braking stabilization can be improved
Property, safety is improved, much sooner.
What the embodiment of the present invention was realized in：
A kind of four-wheel independent electric drive vehicle regenerative braking stable control method, includes the following steps：It is practical to receive vehicle
Yaw velocity when driving；Calculate the ideal yaw velocity of the vehicle；According to the yaw velocity and the ideal
Yaw velocity obtains regenerative braking and inhibits sideway additional moment and be applied to regenerative braking inhibition sideway additional moment
The wheel of the vehicle.
A kind of four-wheel independent electric drive vehicle regenerative braking stabilization control device, including：Receiving module, for receiving vehicle
Yaw velocity when actual travel；Ideal yaw velocity computing module, the ideal yaw angle speed for calculating the vehicle
Degree；Regenerative braking inhibits sideway additional moment to apply module, for according to the yaw velocity and the ideal yaw angle speed
Degree obtains regenerative braking and inhibits sideway additional moment and regenerative braking inhibition sideway additional moment is applied to the vehicle
Wheel.
A kind of four-wheel independent electric drive vehicle, including memory, processor and four-wheel independent electric drive vehicle regenerative system
Dynamic stability control device, the four-wheel independent electric drive vehicle regenerative braking stabilization control device are installed in the memory simultaneously
The software function module executed by the processor including one or more.The four-wheel independent electric drive vehicle regenerative braking is steady
Determining control device includes：Receiving module, for receiving yaw velocity when vehicle actual travel；Ideal yaw velocity calculates
Module, the ideal yaw velocity for calculating the vehicle；Regenerative braking inhibit sideway additional moment apply module, for according to
Regenerative braking, which is obtained, according to the yaw velocity and the ideal yaw velocity inhibits sideway additional moment and by the regeneration
Braking inhibition sideway additional moment is applied to the wheel of the vehicle.
Four-wheel independent electric drive vehicle regenerative provided in an embodiment of the present invention brakes stable control method, device and vehicle
Advantageous effect is：Four-wheel independent electric drive vehicle in the case where sliding regenerative braking, regenerative braking and friction catch coordinating damped condition,
ESC system is not yet intervened when slight unstability, is inhibited by obtaining regenerative braking with ideal yaw velocity according to yaw velocity
Sideway additional moment and the wheel that regenerative braking inhibition sideway additional moment is applied to vehicle, stablize to improve regenerative braking
Property, much sooner, improve the safety of vehicle.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 brakes stable control method and device institute for four-wheel independent electric drive vehicle regenerative provided in an embodiment of the present invention
The structural schematic block diagram of the four-wheel independent electric drive vehicle of application；
Fig. 2 is the stream that the four-wheel independent electric drive vehicle regenerative that first embodiment of the invention provides brakes stable control method
Journey schematic block diagram；
Fig. 3 is the schematic process flow diagram of the sub-step S1011 of step S101 in Fig. 2；
Fig. 4 is the step that the four-wheel independent electric drive vehicle regenerative that another embodiment of the present invention provides brakes stable control method
The schematic process flow diagram of rapid S108；
Fig. 5 is the knot that the four-wheel independent electric drive vehicle regenerative that second embodiment of the invention provides brakes stabilization control device
Structure schematic block diagram；
Fig. 6 is the structural schematic block diagram of the submodule of additional moment computing module in Fig. 5.
Icon：10- four-wheel independent electric drive vehicles；11- memories；12- processors；100- four-wheel independent electric drive vehicles
Regenerative braking stabilization control device；110- receiving modules；120-ABS/ESC enables judgment module；130- regenerative brakings are enabled to be sentenced
Disconnected module；140- ideal yaw velocity computing modules；150- yaw velocity deviation computing modules；160- the first yaw angle speed
Spend deviation judgment module；170- the second yaw velocity deviation judgment modules；180- additional moment computing modules；181- first is attached
Reinforce square computing module；182- the second additional moment computing modules；190- constraints judgment modules；200- distribution modules.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
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 further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is to be understood that, the orientation or position of the instructions such as term "upper", "lower", "inner", "outside"
Set relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when the orientation or position usually put
Set relationship or orientation or positional relationship that those skilled in the art usually understand, be merely for convenience of the description present invention and
Simplify description, does not indicate or imply the indicated equipment or element must have a particular orientation, with specific azimuth configuration
And operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply
Relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, can also be electrical connection；It can be directly connected, can also indirectly connected through an intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned term with concrete condition
Concrete meaning in the present invention.
Referring to Fig. 1, present embodiments provide a kind of four-wheel independent electric drive vehicle regenerative braking stable control method and
Four-wheel independent electric drive vehicle regenerative brakes stabilization control device 100, is applied to four-wheel independent electric drive vehicle 10.The four-wheel is only
Vertical electro-motive vehicle 10 includes that memory 11, processor 12 and four-wheel independent electric drive vehicle regenerative brake stabilization control device
100.Four-wheel independent electric drive vehicle regenerative brakes stable control method and device focuses on the slight mistake for not exciting ESC to intervene
Surely, on the basis of regenerative braking moment is distributed, regenerative braking is applied to a certain wheel and inhibits sideway additional moment, is not changed whole
Inhibit Vehicular yaw under the premise of vehicle regenerative braking moment demand, to improve regenerative braking stability, so much sooner, improves
The safety of vehicle.
Memory 11 and processor 12 are directly or indirectly electrically connected between each other, to realize the transmission or friendship of data
Mutually.It is electrically connected for example, these elements can be realized between each other by one or more communication bus or signal wire.The four-wheel
Independent electric drive vehicle regenerative brake stabilization control device 100 include it is at least one can be with the shape of software or firmware (firmware)
Formula is stored in the memory 11 or is solidificated in the software work(in the operating system (operating system, OS) of server
It can module.The processor 12 is for executing the executable module stored in the memory 11, such as the four-wheel independent electrical
Drive software function module and the computer program etc. included by vehicle regenerative braking stabilization control device 100.
Wherein, the memory 11 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 11 brakes stability contorting program for storing, regenerating, and the processor 12 executes after receiving and executing instruction
The regenerative braking stability contorting program.Further, the regenerative braking stability contorting program by be responsible for regenerative braking processing
Device 12 executes, and ESC, electric machine controller (Moter Control Unit, MCU) or full-vehicle control can be deployed according to actual vehicle model
Device (Vehicle Control Unit, VCU).
Following embodiment brakes stable control method to four-wheel independent electric drive vehicle regenerative and device illustrates.
First embodiment
Referring to Fig. 2, four-wheel independent electric drive vehicle regenerative braking stable control method includes the following steps：
Step S101 calls information of vehicles.
Wherein, information of vehicles may include driver's operation information, power drive system information and car status information, this is driven
The person's of sailing operation information may include steering wheel angle etc., the power drive system information may include motor speed, motor temperature and
Power battery charged state (State of Charge, SOC) etc., the car status information may include speed, yaw angle speed
Degree, ABS/ESC enabled (wherein ABS indicates Anti-locked Braking System, anti-lock braking system), regenerative braking
It enables.
It should be appreciated that step S101 may include sub-step S1011.
Referring to Fig. 3, sub-step S1011, receives yaw velocity when vehicle actual travel.
Please continue to refer to Fig. 2, further, which brakes stable control method can be with
Including：
Step S102 carries out the enabled judgements of ABS/ESC.
When ABS/ESC is enabled, which adjusts without regenerative braking moment；When
When ABS/ESC is not enabled on, step S103 is executed.
Step S103 carries out the enabled judgement of regenerative braking.
When regenerative braking does not enable, which adjusts without regenerative braking moment；When
When regenerative braking enables, step S104 is executed.
Step S104 calculates the ideal yaw velocity of vehicle.
In the present embodiment, ideal yaw velocity is calculated using two degrees of freedom auto model, is calculated by the following formula
To ideal yaw velocity：
Wherein, Yaw_ref is ideal yaw velocity, VxFor the speed of vehicle, δfIt is inputted for the front-wheel steer of vehicle, L is
The wheelbase of vehicle, A are vehicle stabilization sex factor, and m is vehicle mass.
It should be noted that δfFor steering wheel angle and turning rate product.Intact stability factors A can pass through following public affairs
Formula is calculated：
Wherein, wherein Kyr, KyfThe respectively cornering stiffness of front and back wheel, m are vehicle mass, a be front-wheel axle center to barycenter away from
From b is rear axis to centroid distance, the wheelbase L=a+b of vehicle.
It should be noted that ideal yaw velocity can also be obtained using other calculations, in the present embodiment preferably
Ideal yaw velocity is calculated using two degrees of freedom auto model.
Step S200 (figure does not indicate) obtains regenerative braking with ideal yaw velocity according to yaw velocity and inhibits sideway
Additional moment and the wheel that regenerative braking inhibition sideway additional moment is applied to vehicle.Wherein, step S200 may include：
Yaw velocity deviation is calculated according to yaw velocity and ideal yaw velocity in step S105.
In the present embodiment, step S105 may include：
It is calculated by the following formula to obtain yaw velocity deviation according to yaw velocity and ideal yaw velocity：
Yaw_dev=Yaw_ref-Yaw；
Wherein, Yaw_dev is yaw velocity deviation, and Yaw_ref is ideal yaw velocity, and Yaw is yaw velocity.
It should be appreciated that yaw velocity deviation is the difference of yaw velocity and ideal yaw velocity.
Step S106, judges whether yaw velocity deviation is greater than or equal to the first predetermined deviation value.
Wherein, the first predetermined deviation value is preset yaw velocity deviation control threshold, can be indicated with Yaw_thr1.
When yaw velocity deviation is less than the first predetermined deviation value, indicates that stable state is good, do not need yaw moment control, this is again
Raw braking stability contorting EP (end of program).When yaw velocity deviation is greater than or equal to the first predetermined deviation value, i.e. Yaw_dev >=
Yaw_thr1, expression need yaw moment control, in the present embodiment, execute step S107 at this time.
Step S107 judges that yaw velocity is inclined when yaw velocity deviation is greater than or equal to the first predetermined deviation value
Whether difference is less than the second predetermined deviation value.
That is, in the present embodiment, in step s 106, preset partially when yaw velocity deviation is greater than or equal to first
When difference, step S107 is executed.
Wherein, the second predetermined deviation value is another preset yaw velocity deviation control threshold, can be with Yaw_thr2
It indicates.Second predetermined deviation value is more than the first predetermined deviation value.When yaw velocity deviation is greater than or equal to the first predetermined deviation
When being worth and being less than the second predetermined deviation value, i.e. Yaw_thr1≤Yaw_dev ＜ Yaw_thr2 indicate that stable state time is good, execute
Step S1081.When yaw velocity deviation is greater than or equal to the second predetermined deviation value, i.e. Yaw_dev >=Yaw_thr2 is indicated
Stable state is bad, executes step S1082.
Step S1081, when yaw velocity deviation is greater than or equal to the first predetermined deviation value and is less than the second predetermined deviation
When value, regenerative braking inhibition sideway is calculated according to yaw velocity with ideal yaw velocity and using the first calculation
Additional moment.
Step S1082, when yaw velocity deviation be greater than or equal to the second predetermined deviation value when, according to yaw velocity with
Simultaneously regenerative braking inhibition sideway additional moment is calculated using the second calculation in ideal yaw velocity.
Wherein, the second calculation can use same formula with the first calculation, but different calculating is taken to join
Number；Second calculation can also use different formula from the first calculation.
In the present embodiment, for the second calculation with the first calculation using same formula, that be all made of is PI
Controller.Since calculation is similar, step S1081 and step S1082 is combined introduce below.
Step S1081 and step S1082 is calculated regenerative braking using PI controllers and inhibits sideway additional moment,
In,
The input of PI controllers：E (i)=Yaw_ref (i)-Yaw (i)；
PI controllers export：
△ M_yaw=Kp△e(n)+Kie(n)；
Wherein, △ M_yaw are regenerative braking inhibition sideway additional moment, and Yaw_ref is ideal yaw velocity, and Yaw is
Yaw velocity, KpAnd KiIt is the scalar quantity of PI controllers.It should be appreciated that △ e (n)=e (n)-e (n-1).
Step S1081 and step S1082 is directed to two kinds of differences difference lies in the value difference of the Kp and Ki when calculating
Stable state demarcate different control parameters, the robustness of PI controllers can be improved in this way.As Yaw_thr1≤Yaw_dev
When ＜ Yaw_thr2, yaw velocity deviation is relatively small, pays attention to the comfort of braking at this time, and regenerative braking is made to inhibit sideway
Additional moment is relatively small, slightly can slowly be braked relatively, and comfort higher is braked.As Yaw_dev >=Yaw_thr2,
Yaw velocity deviation is relatively large, and vehicle risk is paid attention to inhibit sideway quickly at this time, make regenerative braking with respect to bigger
Inhibit sideway additional moment relatively large, to which neutralizing is dangerous rapidly.
Regenerative braking inhibits sideway additional moment other modes can also be used to calculate, and the present embodiment preferably uses PI to control
Device.
It should be noted that referring to Fig. 4, in other embodiments of the invention, after step s 106, working as yaw angle
When velocity deviation is greater than or equal to the first predetermined deviation value, following steps S108 can be executed：When yaw velocity deviation is more than
Or when equal to the first predetermined deviation value, regenerative braking is calculated with ideal yaw velocity according to yaw velocity and inhibits sideway
Additional moment.In step S108, PI controllers similarly may be used, regenerative braking inhibition sideway additional moment is calculated.
Specifically refer to the introduction of step S1081 and step S1082.Step S109 can be executed after step S108 or directly executes step
Rapid S110.
Please continue to refer to Fig. 2, optionally, after step S1081 and step S1082, the four-wheel independent electric drive vehicle
Regenerative braking stable control method can also include step S109.
Step S109, judges whether power drive system information meets constraints.
Wherein, power drive system information may include motor temperature and power battery SOC, be respectively arranged with related threshold
Value.When motor temperature and/or power battery SOC are higher than set threshold value, as meet constraints, at this time not to regeneration
Braking inhibits sideway additional moment to be allocated, the regenerative braking stability contorting EP (end of program).When motor temperature and power battery
When SOC is not higher than set threshold value, do not meet constraints as, executes step S110 at this time.
Step S110 inhibits sideway additional according to the steering operation of driver and the sideway state assignment regenerative braking of vehicle
Torque is applied to the wheel of vehicle.
Wherein, the wheel that regenerative braking inhibits sideway additional moment is not applied on vehicle, braking moment remains unchanged.
Regenerative braking inhibits sideway additional moment to be applied to a certain wheel, and different vehicles pair is applied under different operating modes
The influence that Vehicular yaw generates is different, and outer front-wheel and inner rear wheel are to influence highest two wheels of efficiency.In the present embodiment, according to
According to the steering operation of driver and the sideway state of vehicle, negative regenerative braking is generated to the outer front wheel brake of vehicle and inhibits sideway
Additional moment generates positive regenerative braking to the inner rear wheel braking of vehicle and inhibits sideway additional moment.
Further, when vehicle turns left and yaw velocity is less than 0, the outer front-wheel application braking in the right side of vehicle is generated negative
Regenerative braking inhibit sideway additional moment.
When vehicle turns left and yaw velocity is more than 0, braking is applied to the left inside rear front-wheel of vehicle and generates positive regeneration
Braking inhibits sideway additional moment.
When vehicle is turned right and yaw velocity is less than 0, braking is applied to the left outside front-wheel of vehicle and generates negative regeneration system
It is dynamic to inhibit sideway additional moment.
When vehicle is turned right and yaw velocity is more than 0, braking is applied to the right inner rear wheel of vehicle and generates positive regeneration system
It is dynamic to inhibit sideway additional moment.
It should be appreciated that its outboard wheels is right wheel when vehicle turns left, inboard wheel is revolver；When vehicle is turned right, outside
Wheel is revolver, and inboard wheel is right wheel.
Turn left or turn right in addition, vehicle can refer to vehicle the case where straight trip, is executed in the present embodiment with reference to turning right.
It is that single-wheel increases the controlled wheel selection table of regenerative braking inhibition sideway additional moment below：
| Yaw_dev ＜ 0 | Yaw_dev ＞ 0 | Without sideway | |
| Turn left | FR | RL | / |
| It turns right | FL | RR | / |
| Straight trip | FL | RR | / |
Wherein, FL is the near front wheel, and FR is off-front wheel, and RL is left rear wheel, RR off hind wheels.
It is selected according to upper table and preferably applies brake wheel, increasing regenerative braking to the wheel inhibits sideway additional force
Square, remaining wheel braking force moment preserving.
In conclusion four-wheel independent electric drive vehicle 10 is sliding regenerative braking, regenerative braking and friction catch coordination system
It starts building under condition, ESC system is not yet intervened when slight unstability, is calculated by the yaw velocity and ideal yaw velocity of vehicle
Regenerative braking is calculated when yaw velocity deviation is greater than or equal to the first predetermined deviation value to yaw velocity deviation
Inhibit sideway additional moment, can also judge whether yaw velocity deviation is less than the second predetermined deviation value, then corresponding calculating again
It obtains regenerative braking and inhibits sideway additional moment.And according to the steering operation of driver and the sideway state assignment of vehicle regeneration system
The dynamic wheel for inhibiting sideway additional moment to be applied to vehicle much sooner, reduces triggering to improve regenerative braking stability
The probability of ESC promotes vehicle ride comfort, improves the safety of vehicle.
Second embodiment
Referring to Fig. 5, present embodiments providing a kind of four-wheel independent electric drive vehicle regenerative braking stabilization control device
100, four-wheel independent electric drive vehicle regenerative braking stabilization control device 100, which includes receiving module 110, ABS/ESC is enabled sentences
Disconnected module 120, regenerative braking enable judgment module 130, ideal yaw velocity computing module 140 and regenerative braking and inhibit sideway
Additional moment applies module (not shown).
Receiving module 110, for receiving information of vehicles.For example, for receiving yaw velocity when vehicle actual travel.
In the embodiment of the present invention, step S101 and sub-step S1011 can be executed by receiving module 110.
ABS/ESC enables judgment module 120, and for carrying out, ABS/ESC is enabled to be judged.
In the embodiment of the present invention, step S102 can be enabled judgment module 120 by ABS/ESC and be executed.
Regenerative braking enables judgment module 130, and for carrying out, regenerative braking is enabled to be judged.
In the embodiment of the present invention, step S103 can be enabled judgment module 130 by regenerative braking and be executed.
Ideal yaw velocity computing module 140, the ideal yaw velocity for calculating vehicle.
In the present embodiment, ideal yaw velocity computing module 140 is additionally operable to be calculated by the following formula to obtain ideal cross
Pivot angle speed：
Wherein, Yaw_ref is ideal yaw velocity, VxFor the speed of vehicle, δfIt is inputted for the front-wheel steer of vehicle, L is
The wheelbase of vehicle, A are vehicle stabilization sex factor, and m is vehicle mass.
In the embodiment of the present invention, step S104 can be executed by ideal yaw velocity computing module 140.
Regenerative braking inhibits sideway additional moment to apply module, for being obtained according to yaw velocity and ideal yaw velocity
Inhibit sideway additional moment to regenerative braking and regenerative braking inhibition sideway additional moment is applied to the wheel of vehicle.
In the embodiment of the present invention, step S200 can be inhibited sideway additional moment to apply module execution by regenerative braking.
It may include yaw velocity deviation computing module 150, that regenerative braking, which inhibits sideway additional moment to apply module,
One yaw velocity deviation judgment module 160, the second yaw velocity deviation judgment module 170, additional moment computing module
180, constraints judgment module 190 and distribution module 200.
Yaw velocity deviation computing module 150, for being calculated according to yaw velocity and ideal yaw velocity
Yaw velocity deviation.
In the present embodiment, yaw velocity deviation computing module 150 is additionally operable to according to yaw velocity and ideal yaw angle
Speed is calculated by the following formula to obtain yaw velocity deviation：
Yaw_dev=Yaw_ref-Yaw；
Wherein, Yaw_dev is yaw velocity deviation, and Yaw_ref is ideal yaw velocity, and Yaw is yaw velocity.
In the embodiment of the present invention, step S105 can be executed by yaw velocity deviation computing module 150.
First yaw velocity deviation judgment module 160, for judging whether yaw velocity deviation is greater than or equal to the
One predetermined deviation value.
In the embodiment of the present invention, step S106 can be executed by the first yaw velocity deviation judgment module 160.
Second yaw velocity deviation judgment module 170, for being preset when yaw velocity deviation is greater than or equal to first
When deviation, judge whether yaw velocity deviation is less than the second predetermined deviation value.
In the embodiment of the present invention, step S107 can be executed by the second yaw velocity deviation judgment module 170.
Additional moment computing module 180 is used for when yaw velocity deviation is greater than or equal to the first predetermined deviation value, according to
Regenerative braking is calculated with ideal yaw velocity according to yaw velocity and inhibits sideway additional moment.
Additional moment computing module 180 is additionally operable to when yaw velocity deviation is greater than or equal to the first predetermined deviation value,
Regenerative braking inhibition sideway additional moment is calculated according to yaw velocity with ideal yaw velocity and using PI controllers,
Wherein,
The input of PI controllers：E (i)=Yaw_ref (i)-Yaw (i)；
PI controllers export：
△ M_yaw=Kp△e(n)+Kie(n)；
Wherein, △ M_yaw are regenerative braking inhibition sideway additional moment, and Yaw_ref is ideal yaw velocity, and Yaw is
Yaw velocity, KpAnd KiIt is the scalar quantity of PI controllers.
In the embodiment of the present invention, step S108 can be executed by additional moment computing module 180.
Referring to Fig. 6, additional moment computing module 180 includes the first additional moment computing module 181 and the second additional force
Square computing module 182.
First additional moment computing module 181, for being greater than or equal to the first predetermined deviation value when yaw velocity deviation
And when less than the second predetermined deviation value, calculated according to yaw velocity with ideal yaw velocity and using the first calculation
Inhibit sideway additional moment to regenerative braking.
In the embodiment of the present invention, step S1081 can be executed by the first additional moment computing module 181.
Second additional moment computing module 182, for being greater than or equal to the second predetermined deviation value when yaw velocity deviation
When, it is attached that regenerative braking inhibition sideway is calculated according to yaw velocity with ideal yaw velocity and using the second calculation
Reinforce square.
In the embodiment of the present invention, step S1082 can be executed by the second additional moment computing module 182.
Please continue to refer to Fig. 5, constraints judgment module 190, for judging whether power drive system information meets constraint
Condition.
In the embodiment of the present invention, step S109 can be executed by constraints judgment module 190.
Distribution module 200, the sideway state assignment regenerative braking for steering operation and vehicle according to driver inhibit
Sideway additional moment is applied to the wheel of vehicle
In the embodiment of the present invention, step S110 can be executed by distribution module 200.
In conclusion four-wheel independent electric drive vehicle regenerative braking stabilization control device 100 can improve regenerative braking
Stability improves the safety of vehicle much sooner.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
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.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of four-wheel independent electric drive vehicle regenerative brakes stable control method, which is characterized in that including：
Receive yaw velocity when vehicle actual travel；
Calculate the ideal yaw velocity of the vehicle；
Regenerative braking, which is obtained, according to the yaw velocity and the ideal yaw velocity inhibits sideway additional moment and by institute
State the wheel that regenerative braking inhibits sideway additional moment to be applied to the vehicle.
2. four-wheel independent electric drive vehicle regenerative according to claim 1 brakes stable control method, which is characterized in that institute
It states and obtains regenerative braking according to the yaw velocity and the ideal yaw velocity and inhibit sideway additional moment and will be described
Regenerative braking inhibits sideway additional moment the step of being applied to the wheel of the vehicle to include：
Yaw velocity deviation is calculated according to the yaw velocity and the ideal yaw velocity；
When the yaw velocity deviation is greater than or equal to the first predetermined deviation value, according to the yaw velocity and the reason
Think that yaw velocity is calculated regenerative braking and inhibits sideway additional moment；
Inhibit sideway additional moment according to regenerative braking described in the steering operation of driver and the sideway state assignment of the vehicle
It is applied to the wheel of the vehicle.
3. four-wheel independent electric drive vehicle regenerative according to claim 2 brakes stable control method, which is characterized in that institute
It states when the yaw velocity deviation is greater than or equal to the first predetermined deviation value, according to the yaw velocity and the ideal
Yaw velocity be calculated regenerative braking inhibit sideway additional moment the step of include：
When the yaw velocity deviation is greater than or equal to the first predetermined deviation value, judge whether yaw velocity deviation is less than
Second predetermined deviation value, wherein the second predetermined deviation value is more than the first predetermined deviation value；
When yaw velocity deviation is greater than or equal to the first predetermined deviation value and is less than the second predetermined deviation value, according to yaw angle
Regenerative braking inhibition sideway additional moment is calculated with ideal yaw velocity and using the first calculation for speed.
4. four-wheel independent electric drive vehicle regenerative according to claim 3 brakes stable control method, which is characterized in that
When yaw velocity deviation is greater than or equal to the second predetermined deviation value, according to yaw velocity and ideal yaw velocity
And regenerative braking is calculated using the second calculation and inhibits sideway additional moment.
5. four-wheel independent electric drive vehicle regenerative according to claim 4 brakes stable control method, which is characterized in that institute
It includes that the regenerative braking is calculated using PI controllers to inhibit horizontal to state the first calculation and/or second calculation
Put additional moment, wherein
The input of PI controllers：E (i)=Yaw_ref (i)-Yaw (i)；
PI controllers export：
△ M_yaw=Kp△e(n)+Kie(n)；
Wherein, △ M_yaw are regenerative braking inhibition sideway additional moment, and Yaw_ref is ideal yaw velocity, and Yaw is sideway
Angular speed, KpAnd KiIt is the scalar quantity of PI controllers.
6. four-wheel independent electric drive vehicle regenerative according to claim 2 brakes stable control method, which is characterized in that institute
Stating the step of yaw velocity deviation is calculated according to the yaw velocity and the ideal yaw velocity includes：
It is calculated by the following formula to obtain the yaw velocity according to the yaw velocity and the ideal yaw velocity
Deviation：
Yaw_dev=Yaw_ref-Yaw；
Wherein, Yaw_dev is yaw velocity deviation, and Yaw_ref is ideal yaw velocity, and Yaw is yaw velocity.
7. four-wheel independent electric drive vehicle regenerative according to claim 2 brakes stable control method, which is characterized in that institute
It states and inhibits sideway additional moment to apply according to regenerative braking described in the steering operation of driver and the sideway state assignment of the vehicle
Add to the wheel of the vehicle includes：
According to the steering operation of driver and the sideway state of the vehicle, the outer front wheel brake of the vehicle is generated and is born again
Raw braking inhibits sideway additional moment, and generating positive regenerative braking to the inner rear wheel braking of the vehicle inhibits sideway additional force
Square.
8. four-wheel independent electric drive vehicle regenerative according to claim 7 brakes stable control method, which is characterized in that institute
It states according to the steering operation of driver and the sideway state of the vehicle, negative regeneration is generated to the outer front wheel brake of the vehicle
Braking inhibits sideway additional moment, and generating positive regenerative braking to the inner rear wheel braking of the vehicle inhibits sideway additional moment
Step includes：
When the vehicle turns left and yaw velocity is less than 0, the outer front-wheel in the right side of the vehicle is applied to brake to generate and is born again
Raw braking inhibits sideway additional moment；
When the vehicle turns left and yaw velocity is more than 0, the left inside rear front-wheel application braking of the vehicle is generated positive
Regenerative braking inhibits sideway additional moment；
When the vehicle is turned right and yaw velocity is less than 0, it is negative again that braking generation is applied to the left outside front-wheel of the vehicle
Raw braking inhibits sideway additional moment；
When the vehicle is turned right and yaw velocity is more than 0, it is positive again that braking generation is applied to the right inner rear wheel of the vehicle
Raw braking inhibits sideway additional moment.
9. a kind of four-wheel independent electric drive vehicle regenerative brakes stabilization control device, which is characterized in that including：
Receiving module, for receiving yaw velocity when vehicle actual travel；
Ideal yaw velocity computing module, the ideal yaw velocity for calculating the vehicle；
Regenerative braking inhibits sideway additional moment to apply module, for according to the yaw velocity and the ideal yaw angle speed
Degree obtains regenerative braking and inhibits sideway additional moment and regenerative braking inhibition sideway additional moment is applied to the vehicle
Wheel.
10. a kind of four-wheel independent electric drive vehicle, which is characterized in that including：
Memory；
Processor；And
Four-wheel independent electric drive vehicle regenerative as claimed in claim 9 brakes stabilization control device, and the four-wheel independent electrical drives
Motor-car regenerative braking stabilization control device is installed in the memory and includes that one or more is executed by the processor
Software function module.
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| CN201810454814.0A CN108621804B (en) | 2018-05-14 | 2018-05-14 | Regenerative braking stability control method and device for four-wheel independent electric drive vehicle and vehicle |
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| CN201810454814.0A CN108621804B (en) | 2018-05-14 | 2018-05-14 | Regenerative braking stability control method and device for four-wheel independent electric drive vehicle and vehicle |
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| CN110606075A (en) * | 2019-08-28 | 2019-12-24 | 中国第一汽车股份有限公司 | Torque distribution control method and system of distributed four-wheel-drive electric vehicle and vehicle |
| CN112660108A (en) * | 2020-12-25 | 2021-04-16 | 浙江吉利控股集团有限公司 | Four-wheel drive torque pre-control method and device |
| CN117087628A (en) * | 2023-10-18 | 2023-11-21 | 江苏智能无人装备产业创新中心有限公司 | Double-side independent electric drive unmanned tracked vehicle braking deviation prevention control method |
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| WO2012108001A1 (en) * | 2011-02-08 | 2012-08-16 | トヨタ自動車株式会社 | Drive control device for front and rear wheel drive vehicle |
| CN105741637A (en) * | 2016-02-01 | 2016-07-06 | 辽宁工业大学 | Four-wheel hub motor electric automobile intelligent steering control method |
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| CN2602978Y (en) * | 2002-08-14 | 2004-02-11 | 同济大学新能源汽车工程中心 | Electronic stabilizing control system for car |
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| CN112660108A (en) * | 2020-12-25 | 2021-04-16 | 浙江吉利控股集团有限公司 | Four-wheel drive torque pre-control method and device |
| CN117087628A (en) * | 2023-10-18 | 2023-11-21 | 江苏智能无人装备产业创新中心有限公司 | Double-side independent electric drive unmanned tracked vehicle braking deviation prevention control method |
| CN117087628B (en) * | 2023-10-18 | 2023-12-22 | 江苏智能无人装备产业创新中心有限公司 | Double-side independent electric drive unmanned tracked vehicle braking deviation prevention control method |
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