CN108621804B - Regenerative braking stability control method and device for four-wheel independent electric drive vehicle and vehicle - Google Patents

Regenerative braking stability control method and device for four-wheel independent electric drive vehicle and vehicle Download PDF

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CN108621804B
CN108621804B CN201810454814.0A CN201810454814A CN108621804B CN 108621804 B CN108621804 B CN 108621804B CN 201810454814 A CN201810454814 A CN 201810454814A CN 108621804 B CN108621804 B CN 108621804B
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yaw
vehicle
regenerative braking
yaw rate
wheel
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CN108621804A (en
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魏顺成
郭立书
尹小燕
胡红星
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely New Energy Commercial Vehicle Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely New Energy Commercial Vehicle Co Ltd
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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
    • 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
    • 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

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  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a regenerative braking stability control method and device for a four-wheel independent electrically-driven vehicle and the vehicle, and relates to the technical field of vehicles. The regenerative braking stability control method of the four-wheel independent electric drive vehicle comprises the following steps: receiving a yaw rate when the vehicle actually runs; calculating an ideal yaw rate of the vehicle; a regenerative-braking-suppression yaw additional moment is obtained from the yaw rate and the ideal yaw rate and applied to the wheels of the vehicle. When the slight instability ESC system of the four-wheel independent electrically driven vehicle is not intervened, the regenerative braking stability control method of the four-wheel independent electrically driven vehicle is adopted, so that the regenerative braking stability is improved, the timeliness is realized, and the safety of the vehicle is improved.

Description

Regenerative braking stability control method and device for four-wheel independent electric drive vehicle and vehicle
Technical Field
The invention relates to the technical field of vehicles, in particular to a regenerative braking stability control method and device for a four-wheel independent electrically-driven vehicle and the vehicle.
Background
With the rapid development of the automobile industry and the gradual improvement of the living standard of people, China has become the first major country of automobile production and sale, and with the coming obvious environmental pressure, electric automobiles are the key development direction of China and are the mainstream trend of automobile development based on the multi-directional requirements of environmental protection, energy safety and the like. One important reason that electric vehicles can conserve energy is their regenerative braking function, which increases energy utilization and reduces mechanical losses and heat decay of friction braking.
The regenerative braking torque of each wheel of the four-wheel independent electrically-driven vehicle can be adjusted independently, under the condition of the coordinated braking of the sliding regenerative braking, the regenerative braking and the friction braking, the regenerative braking torque of each wheel is reasonably distributed according to the intention of a driver, and the yaw moment control is carried out under the condition of slight instability before the intervention of an Electronic Stability Control (ESC) of a vehicle body, so that the intervention of the ESC is reduced or avoided, the occurrence probability of vehicle instability is reduced, and the driving safety and the comfort are improved.
Currently, most of the related art of regenerative braking focuses on the coordination of regenerative braking and friction braking, and the research on the stable control of regenerative braking in the form of four-wheel independent electric driving is less.
In the regenerative braking process of the four-wheel independent electric drive vehicle, under the condition of not considering the stable control, when the vehicle is unstable, the ESC can only wait for the unstable degree to trigger the ESC, and the ESC coordinates the four-wheel friction braking to inhibit the vehicle from being unstable, so that the dangerous degree of the vehicle is increased after the stable control is delayed.
Disclosure of Invention
One of the objectives of the present invention is to provide a method for controlling the regenerative braking stability of a four-wheel independent electrically driven vehicle, which can improve the regenerative braking stability, improve the safety, and be more timely.
Another object of the present invention is to provide a regenerative braking stability control apparatus for a four-wheel independent electrically driven vehicle, which can improve the regenerative braking stability, improve the safety, and be more timely.
It is still another object of the present invention to provide a four-wheel independent electric drive vehicle which can improve regenerative braking stability, improve safety, and be more timely.
The embodiment of the invention is realized by the following steps:
a regenerative braking stability control method for a four-wheel independent electric drive vehicle comprises the following steps: receiving a yaw rate when the vehicle actually runs; calculating an ideal yaw rate of the vehicle; a regenerative braking suppression yaw add-on moment is derived from the yaw rate and the ideal yaw rate and applied to the wheels of the vehicle.
A regenerative braking stability control apparatus for a four-wheel independently electrically driven vehicle, comprising: the receiving module is used for receiving the yaw velocity when the vehicle actually runs; an ideal yaw rate calculation module for calculating an ideal yaw rate of the vehicle; and a regenerative braking suppression yaw additional moment application module for obtaining a regenerative braking suppression yaw additional moment according to the yaw rate and the ideal yaw rate and applying the regenerative braking suppression yaw additional moment to the wheels of the vehicle.
A four-wheel independently electrically driven vehicle comprising a memory, a processor and a four-wheel independently electrically driven vehicle regenerative braking stability control device mounted in said memory and comprising one or more software functional modules executed by said processor. The regenerative braking stability control device for the four-wheel independent electric drive vehicle comprises: the receiving module is used for receiving the yaw velocity when the vehicle actually runs; an ideal yaw rate calculation module for calculating an ideal yaw rate of the vehicle; and a regenerative braking suppression yaw additional moment application module for obtaining a regenerative braking suppression yaw additional moment according to the yaw rate and the ideal yaw rate and applying the regenerative braking suppression yaw additional moment to the wheels of the vehicle.
The method, the device and the vehicle for controlling the regenerative braking stability of the four-wheel independent electric drive vehicle have the advantages that: under the working condition of sliding regenerative braking, regenerative braking and friction braking coordinated braking, the ESC system is not involved in slight instability, and the regenerative braking restraining yaw moment is obtained according to the yaw velocity and the ideal yaw velocity and is applied to the wheels of the vehicle, so that the regenerative braking stability is improved, the timeliness is realized, and the safety of the vehicle is improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a block diagram schematically illustrating the structure of a four-wheel independent electrically driven vehicle to which the regenerative braking stability control method and apparatus for a four-wheel independent electrically driven vehicle according to an embodiment of the present invention is applied;
FIG. 2 is a schematic block diagram of a regenerative braking stability control method for a four-wheel independent electrically driven vehicle according to a first embodiment of the present invention;
FIG. 3 is a block diagram illustrating the flow of substep S1011 of step S101 of FIG. 2;
FIG. 4 is a block diagram illustrating the flowchart of step S108 of the regenerative braking stability control method for a four-wheel independent electrically driven vehicle according to another embodiment of the present invention;
FIG. 5 is a block diagram schematically illustrating the construction of a regenerative braking stability control apparatus for a four-wheel independent electrically-driven vehicle according to a second embodiment of the present invention;
FIG. 6 is a block diagram showing the sub-modules of the additional moment calculation module of FIG. 5.
Icon: 10-four-wheel independently electrically driven vehicle; 11-a memory; 12-a processor; 100-four-wheel independent electric drive vehicle regenerative braking stability control device; 110-a receiving module; 120-ABS/ESC enable judging module; 130-regenerative braking enable determination module; 140-an ideal yaw rate calculation module; 150-yaw-rate deviation calculation module; 160-a first yaw rate deviation judgment module; 170-a second yaw rate deviation judgment module; 180-an additional moment calculation module; 181-a first parasitic torque calculation module; 182-a second parasitic torque calculation module; 190-a constraint condition judgment module; 200-a distribution module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "inside", "outside", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the present invention are conventionally placed in use, or the orientations or positional relationships that are conventionally understood by those skilled in the art, and are used for the purpose of facilitating the description and simplifying the description, but do not indicate or imply that the equipment or the elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the present embodiment provides a regenerative braking stability control method and a regenerative braking stability control device 100 for a four-wheel independent electrically driven vehicle, which are applied to a four-wheel independent electrically driven vehicle 10. The four-wheel independent electrically driven vehicle 10 includes a memory 11, a processor 12, and a four-wheel independent electrically driven vehicle regenerative braking stability control device 100. The method and the device for controlling the regenerative braking stability of the four-wheel independent electric drive vehicle pay attention to slight instability without triggering ESC intervention, apply the additional moment for suppressing the yaw of the regenerative braking to a certain wheel on the basis of the distribution of the regenerative braking moment, and suppress the yaw of the vehicle on the premise of not changing the demand of the regenerative braking moment of the whole vehicle so as to improve the stability of the regenerative braking, thereby being more timely and improving the safety of the vehicle.
The memory 11 and the processor 12 are electrically connected to each other directly or indirectly to enable data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The regenerative braking stability control device 100 for four-wheel independent electric drive vehicles includes at least one software function module which may be stored in the memory 11 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of a server. The processor 12 is used for executing executable modules stored in the memory 11, such as software functional modules and computer programs included in the four-wheel independent electric drive vehicle regenerative braking stability control device 100.
The Memory 11 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 11 is configured to store a regenerative braking stability control program, and the processor 12 executes the regenerative braking stability control program after receiving an execution instruction. Further, the regenerative braking stability Control program is executed by the processor 12 in charge of regenerative braking, and may be deployed in an ESC, a Motor Controller (MCU) or a Vehicle Control Unit (VCU) according to an actual Vehicle model.
The following embodiments specifically describe a method and apparatus for controlling the regenerative braking stability of a four-wheel independent electrically driven vehicle.
First embodiment
Referring to fig. 2, the regenerative braking stability control method for the four-wheel independent electrically driven vehicle includes the steps of:
step S101, vehicle information is called.
The vehicle information may include driver operation information, which may include a steering wheel angle, an electric drive System information, which may include a motor rotation speed, a motor temperature, a State of Charge (SOC), and the like, and vehicle State information, which may include a vehicle speed, a yaw rate, ABS/ESC enable (where ABS represents Anti-locked Braking System), regenerative Braking enable, and the like.
It should be understood that step S101 may include sub-step S1011.
Referring to fig. 3, in sub-step S1011, the yaw rate of the vehicle during actual running is received.
With continued reference to fig. 2, the method for controlling the regenerative braking stability of the four-wheel independent electric drive vehicle may further include:
and step S102, ABS/ESC enabling judgment is carried out.
When the ABS/ESC is enabled, the regenerative braking stability control program is ended, and the regenerative braking torque is not adjusted; when the ABS/ESC is not enabled, step S103 is executed.
In step S103, a regenerative braking enable determination is performed.
When the regenerative braking is not enabled, the regenerative braking stability control program is ended, and the regenerative braking torque is not adjusted; when the regenerative braking is enabled, step S104 is performed.
In step S104, an ideal yaw rate of the vehicle is calculated.
In this embodiment, a two-degree-of-freedom vehicle model is used to calculate an ideal yaw rate, and the ideal yaw rate is calculated by the following formula:
Figure BDA0001659375290000071
wherein, Yaw _ ref is an ideal Yaw rate, VxIs the speed of the vehicle and is,fis the front wheel steering input of the vehicle, L is the wheelbase of the vehicle, a is the vehicle stability factor, and m is the vehicle mass.
It should be noted that, in the following description,fis the product of the steering wheel angle and the steering ratio. The vehicle stability factor a may be calculated by the following equation:
Figure BDA0001659375290000072
wherein K isyr，KyfThe lateral deflection rigidity of the front wheel and the lateral deflection rigidity of the rear wheel are respectively, m is the mass of the vehicle, a is the distance from the axle center of the front wheel to the center of mass, b is the distance from the axle center of the rear wheel to the center of mass, and the axle distance L of the vehicle is equal to a + b.
The ideal yaw rate may be obtained by other calculation methods, and in the present embodiment, it is preferable to calculate the ideal yaw rate by using a two-degree-of-freedom vehicle model.
Step S200 (not shown) of obtaining a regenerative-braking-suppression yaw additional moment from the yaw rate and the ideal yaw rate and applying the regenerative-braking-suppression yaw additional moment to the wheels of the vehicle. Wherein, step S200 may include:
and step S105, calculating to obtain the yaw rate deviation according to the yaw rate and the ideal yaw rate.
In this embodiment, step S105 may include:
calculating the yaw rate deviation according to the yaw rate and the ideal yaw rate through the following formula:
Yaw_dev＝Yaw_ref–Yaw；
here, Yaw _ dev is the Yaw rate deviation, Yaw _ ref is the ideal Yaw rate, and Yaw rate. It should be understood that the yaw-rate deviation is the difference between the yaw-rate and the ideal yaw-rate.
And step S106, judging whether the yaw rate deviation is greater than or equal to a first preset deviation value.
The first preset deviation value is a preset Yaw-rate deviation control threshold value, and may be represented by Yaw _ thr 1. When the yaw-rate deviation is smaller than the first preset deviation value, it indicates that the steady state is good, the yaw moment control is not required, and this regenerative braking steady control routine is ended. When the Yaw rate deviation is greater than or equal to the first preset deviation value, i.e., Yaw _ dev ≧ Yaw _ thr1, it indicates that Yaw moment control is required, in the present embodiment, step S107 is executed at this time.
And step S107, when the yaw rate deviation is greater than or equal to the first preset deviation value, judging whether the yaw rate deviation is less than the second preset deviation value.
That is, in the present embodiment, in step S106, when the yaw-rate deviation is greater than or equal to the first preset deviation value, step S107 is executed.
The second preset deviation value is another preset Yaw-rate deviation control threshold, and may be represented by Yaw _ thr 2. The second preset deviation value is larger than the first preset deviation value. When the Yaw rate deviation is greater than or equal to the first preset deviation value and less than the second preset deviation value, that is, Yaw _ thr1 is not greater than Yaw _ dev < Yaw _ thr2, it indicates that the steady state is the second best, and step S1081 is executed. When the Yaw rate deviation is greater than or equal to the second preset deviation value, i.e., Yaw _ dev ≧ Yaw _ thr2, indicating that the steady state is not good, step S1082 is performed.
And step S1081, when the deviation of the yaw rate is greater than or equal to the first preset deviation value and smaller than the second preset deviation value, calculating to obtain the additional moment of the regenerative braking restraining yaw according to the yaw rate and the ideal yaw rate by adopting a first calculation mode.
And step S1082, when the deviation of the yaw rate is greater than or equal to a second preset deviation value, calculating to obtain the additional moment of the regenerative braking suppression yaw according to the yaw rate and the ideal yaw rate by adopting a second calculation mode.
The second calculation mode can adopt the same formula as the first calculation mode, but takes different calculation parameters; the second calculation method may use a different formula from the first calculation method.
In this embodiment, the second calculation method and the first calculation method use the same formula, and both use PI controllers. Since the calculation manner is similar, step S1081 and step S1082 will be described in combination.
Step S1081 and step S1082 calculate a regenerative braking suppression yaw additional moment using a PI controller, wherein,
input of the PI controller: e (i) Yaw _ ref (i) -Yaw (i);
the PI controller outputs:
Figure BDA0001659375290000091
Figure BDA0001659375290000092
△M_yaw＝Kp△e(n)+Kie(n)；
where Δ M _ Yaw is the regenerative braking suppression Yaw additional moment, Yaw _ ref is the ideal Yaw rate, KpAnd KiAre the calibration quantities of the PI controller. It should be understood that Δ e (n) ═ e (n) -e (n-1).
The difference between step S1081 and step S1082 is that values of Kp and Ki are different during calculation, i.e., different control parameters are calibrated for two different stable states, which can improve the robustness of the PI controller. When the Yaw _ thr1 is not less than the Yaw _ dev < Yaw _ thr2, the Yaw velocity deviation is relatively small, the comfort of braking is emphasized at the moment, the additional moment of suppressing the Yaw by the regenerative braking is relatively small, the braking can be performed relatively slowly, and the braking comfort is higher. When the Yaw rate deviation is relatively large and the vehicle risk is relatively large when the Yaw _ dev is larger than or equal to the Yaw _ thr2, the attention is paid to quickly restraining the Yaw, the additional moment of restraining the Yaw by the regenerative braking is relatively large, and the risk is rapidly solved.
The regenerative braking suppression yaw add-on moment can also be calculated in other ways, and the present embodiment preferably employs a PI controller.
It should be noted that, referring to fig. 4, in another embodiment of the present invention, after step S106, when the yaw-rate deviation is greater than or equal to the first preset deviation value, the following step S108 may be performed: and when the yaw rate deviation is greater than or equal to the first preset deviation value, calculating to obtain the regenerative braking restraining yaw additional moment according to the yaw rate and the ideal yaw rate. In step S108, the regenerative braking suppression yaw additional moment may be calculated by using the PI controller. Specifically, refer to the descriptions of step S1081 and step S1082. Step S108 may be followed by step S109 or step S110 may be performed directly.
With continued reference to fig. 2, optionally, after steps S1081 and S1082, the four-wheel independent electrically-driven vehicle regenerative braking stability control method may further include step S109.
Step S109, determining whether the electric drive system information satisfies the constraint condition.
The electric drive system information may include a motor temperature and a power battery SOC, which are respectively set with relevant threshold values. When the motor temperature and/or the power battery SOC are higher than the set threshold values, that is, when the constraint condition is satisfied, the regenerative braking suppression yaw additional moment is not allocated, and the regenerative braking stability control routine ends. And when the motor temperature and the power battery SOC are not higher than the set threshold values, namely the constraint condition is not met, executing the step S110.
In step S110, the regenerative-braking restraining yaw additional moment is applied to the wheels of the vehicle in accordance with the steering operation of the driver and the yaw state of the vehicle.
The braking torque of the wheels on the vehicle, on which the regenerative braking suppression yaw additional moment is not applied, remains unchanged.
The regenerative braking restrains the yaw additional moment from being applied to a certain wheel, the influence of the yaw on the vehicle is different when the regenerative braking is applied to different vehicles under different working conditions, and the outer front wheel and the inner rear wheel are two wheels with the highest influence efficiency. In the present embodiment, a negative regenerative-braking-suppression yaw additional moment is generated for the outer front-wheel brake of the vehicle and a positive regenerative-braking-suppression yaw additional moment is generated for the inner rear-wheel brake of the vehicle, depending on the steering operation by the driver and the yaw state of the vehicle.
Further, when the vehicle is turning left and the yaw rate is less than 0, applying the brakes to the right outer front wheels of the vehicle generates a negative regenerative braking inhibiting yaw add-on moment.
When the vehicle is turning left and the yaw rate is greater than 0, applying the brakes to the left inner rear front wheel of the vehicle generates a positive regenerative braking suppression yaw add-on moment.
When the vehicle is turning to the right and the yaw rate is less than 0, applying the brakes to the left outer front wheel of the vehicle generates a negative regenerative braking inhibiting yaw add-on moment.
When the vehicle is turning right and the yaw rate is greater than 0, applying the brakes to the right inner rear wheels of the vehicle generates a positive regenerative braking suppression yaw add-on moment.
It should be understood that when the vehicle turns left, the outside wheel is the right wheel and the inside wheel is the left wheel; when the vehicle turns right, the outer wheel is the left wheel, and the inner wheel is the right wheel.
In addition, the case where the vehicle is running straight may refer to the vehicle turning left or right, which is performed in the present embodiment with reference to the right turn.
The following controlled wheel selection table for the single-wheel added regenerative braking suppression yaw add-on moment:
Yaw_dev＜0 Yaw_dev＞0 without horizontal swing
Left turn FR RL /
Right turn FL RR /
Straight going FL RR /
Wherein FL is the front left wheel, FR is the front right wheel, RL is the rear left wheel, and RR is the rear right wheel.
And selecting a better braking wheel to be applied according to the table, adding the regenerative braking to the wheel to restrain the yaw additional moment, and keeping the braking moment of the rest wheels unchanged.
In summary, under the working condition of the sliding regenerative braking, the regenerative braking and the friction braking coordinated braking, the ESC system is not involved yet when the four-wheel independent electric drive vehicle 10 is slightly unstable, the yaw rate deviation is calculated through the yaw rate of the vehicle and the ideal yaw rate, when the yaw rate deviation is greater than or equal to the first preset deviation value, the regenerative braking restraining yaw additional moment is calculated, and whether the yaw rate deviation is less than the second preset deviation value or not can be judged, and the regenerative braking restraining yaw additional moment is calculated accordingly. And the regenerative braking is distributed according to the steering operation of the driver and the yaw state of the vehicle to inhibit the yaw additional moment from being applied to the wheels of the vehicle, so that the stability of the regenerative braking is improved, the ESC triggering probability is reduced more timely, the driving comfort of the vehicle is improved, and the safety of the vehicle is improved.
Second embodiment
Referring to fig. 5, the present embodiment provides a four-wheel independent electrically-driven vehicle regenerative braking stability control apparatus 100, where the four-wheel independent electrically-driven vehicle regenerative braking stability control apparatus 100 includes a receiving module 110, an ABS/ESC enabling determination module 120, a regenerative braking enabling determination module 130, an ideal yaw rate calculation module 140, and a regenerative braking suppression yaw additional moment application module (not shown).
The receiving module 110 is configured to receive vehicle information. For example, for receiving the yaw rate at the time of actual travel of the vehicle.
In the embodiment of the present invention, step S101 and step S1011 may be executed by the receiving module 110.
And an ABS/ESC enable determination module 120 for making an ABS/ESC enable determination.
In this embodiment of the present invention, step S102 may be executed by the ABS/ESC enabling determination module 120.
And a regenerative braking enable determination module 130 configured to perform a regenerative braking enable determination.
In the embodiment of the present invention, step S103 may be executed by the regenerative braking enable determination module 130.
And an ideal yaw rate calculation module 140 for calculating an ideal yaw rate of the vehicle.
In this embodiment, the ideal yaw rate calculating module 140 is further configured to calculate the ideal yaw rate according to the following formula:
Figure BDA0001659375290000131
wherein, Yaw _ ref is an ideal Yaw rate, VxIs the speed of the vehicle and is,fis the front wheel steering input of the vehicle, L is the wheelbase of the vehicle, a is the vehicle stability factor, and m is the vehicle mass.
In the embodiment of the present invention, step S104 may be performed by the ideal yaw rate calculation module 140.
And a regenerative braking suppression yaw additional moment application module for obtaining a regenerative braking suppression yaw additional moment according to the yaw rate and the ideal yaw rate and applying the regenerative braking suppression yaw additional moment to the wheels of the vehicle.
In an embodiment of the present invention, step S200 may be performed by the regenerative braking suppression yaw additional moment application module.
The regenerative braking suppression yaw additional moment application module may include a yaw-rate deviation calculation module 150, a first yaw-rate deviation determination module 160, a second yaw-rate deviation determination module 170, an additional moment calculation module 180, a constraint condition determination module 190, and a distribution module 200.
And the yaw rate deviation calculation module 150 is configured to calculate a yaw rate deviation according to the yaw rate and the ideal yaw rate.
In this embodiment, the yaw rate deviation calculating module 150 is further configured to calculate the yaw rate deviation according to the yaw rate and the ideal yaw rate through the following formula:
Yaw_dev＝Yaw_ref–Yaw；
here, Yaw _ dev is the Yaw rate deviation, Yaw _ ref is the ideal Yaw rate, and Yaw rate.
In the embodiment of the present invention, step S105 may be performed by the yaw-rate deviation calculation module 150.
And a first yaw-rate deviation determination module 160, configured to determine whether the yaw-rate deviation is greater than or equal to a first preset deviation value.
In the embodiment of the present invention, step S106 may be performed by the first yaw-rate deviation determination module 160.
And a second yaw-rate deviation determination module 170 for determining whether the yaw-rate deviation is less than a second preset deviation value when the yaw-rate deviation is greater than or equal to the first preset deviation value.
In the embodiment of the present invention, step S107 may be performed by the second yaw-rate deviation determination module 170.
And the additional moment calculation module 180 is used for calculating to obtain a regenerative braking suppression yaw additional moment according to the yaw rate and the ideal yaw rate when the yaw rate deviation is greater than or equal to the first preset deviation value.
The additional moment calculation module 180 is further configured to calculate a regenerative braking suppression yaw additional moment according to the yaw rate and the ideal yaw rate and using a PI controller when the yaw rate deviation is greater than or equal to a first preset deviation value, wherein,
input of the PI controller: e (i) Yaw _ ref (i) -Yaw (i);
the PI controller outputs:
Figure BDA0001659375290000141
Figure BDA0001659375290000142
△M_yaw＝Kp△e(n)+Kie(n)；
where Δ M _ Yaw is the regenerative braking suppression Yaw additional moment, Yaw _ ref is the ideal Yaw rate, KpAnd KiAre the calibration quantities of the PI controller.
In the embodiment of the present invention, step S108 may be executed by the additional moment calculating module 180.
Referring to fig. 6, the parasitic torque calculation module 180 includes a first parasitic torque calculation module 181 and a second parasitic torque calculation module 182.
And the first additional moment calculating module 181 is configured to calculate the regenerative braking suppression yaw additional moment according to the yaw rate and the ideal yaw rate by using a first calculation method when the yaw rate deviation is greater than or equal to the first preset deviation value and less than the second preset deviation value.
In this embodiment of the present invention, step S1081 may be executed by the first additional torque calculating module 181.
And a second additional moment calculation module 182, configured to calculate a regenerative braking suppression yaw additional moment according to the yaw rate and the ideal yaw rate by using a second calculation method when the yaw rate deviation is greater than or equal to a second preset deviation value.
In this embodiment of the present invention, step S1082 may be executed by the second additional moment calculating module 182.
Referring to fig. 5, the constraint condition determining module 190 is configured to determine whether the electric drive system information satisfies the constraint condition.
In this embodiment of the present invention, step S109 may be executed by the constraint condition determining module 190.
An allocation module 200 for allocating a regenerative braking suppression yaw additional moment to be applied to wheels of the vehicle according to a driver's steering operation and a yaw state of the vehicle
In this embodiment of the present invention, step S110 may be executed by the allocating module 200.
In summary, the regenerative braking stability control device 100 for the four-wheel independent electrically driven vehicle can improve the regenerative braking stability, and improve the safety of the vehicle in more time.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A regenerative braking stability control method for a four-wheel independent electric drive vehicle, characterized by comprising:
receiving a yaw rate when the vehicle actually runs;
calculating an ideal yaw rate of the vehicle;
calculating to obtain yaw velocity deviation according to the yaw velocity and the ideal yaw velocity;
when the yaw rate deviation is greater than or equal to a first preset deviation value, calculating to obtain a regenerative braking suppression yaw additional moment according to the yaw rate and the ideal yaw rate;
judging whether electric drive system information meets constraint conditions or not, wherein the electric drive system information comprises motor temperature and power battery SOC, and relevant threshold values are respectively set;
when neither the motor temperature nor the power battery SOC is higher than the set threshold value, the regenerative-braking-restraining yaw addition moment is allocated to be applied to the wheels of the vehicle in accordance with the driver's steering operation and the yaw state of the vehicle.
2. The regenerative-braking stability control method of a four-wheel independently electrically-driven vehicle according to claim 1, wherein the step of calculating a regenerative-braking-suppressing yaw additional moment from the yaw rate and the ideal yaw rate when the yaw-rate deviation is greater than or equal to a first preset deviation value comprises:
when the yaw rate deviation is greater than or equal to a first preset deviation value, judging whether the yaw rate deviation is smaller than a second preset deviation value, wherein the second preset deviation value is greater than the first preset deviation value;
and when the deviation of the yaw rate is greater than or equal to the first preset deviation value and less than the second preset deviation value, calculating to obtain the regenerative braking restraining yaw additional moment by adopting a first calculation mode according to the yaw rate and the ideal yaw rate.
3. The regenerative braking stability control method of a four-wheel independent electric drive vehicle according to claim 2,
and when the deviation of the yaw rate is greater than or equal to a second preset deviation value, calculating to obtain the regenerative braking restraining yaw additional moment by adopting a second calculation mode according to the yaw rate and the ideal yaw rate.
4. A four-wheel independently electrically driven vehicle regenerative braking stability control method according to claim 3, wherein said first calculation means and/or said second calculation means includes calculating said regenerative braking suppression yaw additional moment using a PI controller, wherein,
input of the PI controller: e (i) Yaw _ ref (i) -Yaw (i);
the PI controller outputs:
Figure FDA0002692853220000021
Figure FDA0002692853220000022
△M_yaw＝Kp△e(n)+Kie(n)；
where Δ M _ Yaw is the regenerative braking suppression Yaw additional moment, Yaw _ ref is the ideal Yaw rate, KpAnd KiThe values are the calibration values of the PI controller, Δ e (n) is the change rate of the yaw rate difference, and i, j and n are the ordinal numbers used for counting.
5. A four-wheel independently electrically driven vehicle regenerative braking stability control method as set forth in claim 1, wherein said step of calculating a yaw rate deviation from said yaw rate and said desired yaw rate comprises:
calculating the yaw rate deviation according to the yaw rate and the ideal yaw rate through the following formula:
Yaw_dev＝Yaw_ref–Yaw；
here, Yaw _ dev is the Yaw rate deviation, Yaw _ ref is the ideal Yaw rate, and Yaw rate.
6. A four-wheel independently electrically driven vehicle regenerative braking stability control method as defined in claim 1, wherein said dividing the regenerative braking restraining yaw additional moment to be applied to the wheels of the vehicle in accordance with the driver's steering operation and the yaw state of the vehicle comprises:
in accordance with the steering operation of the driver and the yaw state of the vehicle, a negative regenerative-braking-suppression yaw additional moment is generated for the outer front-wheel brake of the vehicle, and a positive regenerative-braking-suppression yaw additional moment is generated for the inner rear-wheel brake of the vehicle.
7. A four-wheel independently electrically driven vehicle regenerative braking stability control method as set forth in claim 6, wherein said step of generating a negative regenerative braking suppression yaw additional moment to the outer front wheel brake of said vehicle in accordance with the driver's steering operation and the yaw state of said vehicle, and generating a positive regenerative braking suppression yaw additional moment to the inner rear wheel brake of said vehicle comprises:
when the vehicle is turning left and the yaw rate is less than 0, applying braking to the right outer front wheel of the vehicle generates a negative regenerative braking suppression yaw additional moment;
when the vehicle turns left and the yaw rate is greater than 0, applying braking to the left inner rear front wheel of the vehicle generates a positive regenerative braking suppression yaw additional moment;
when the vehicle is turning right and the yaw rate is less than 0, applying braking to the left outer front wheel of the vehicle generates a negative regenerative braking inhibiting yaw additional moment;
when the vehicle is turning right and the yaw rate is greater than 0, applying the brakes to the right inner rear wheels of the vehicle generates a positive regenerative braking suppression yaw add-on moment.
8. A regenerative braking stability control apparatus for a four-wheel independently electrically driven vehicle, comprising:
the receiving module is used for receiving the yaw velocity when the vehicle actually runs;
an ideal yaw rate calculation module for calculating an ideal yaw rate of the vehicle;
the regenerative braking suppression yaw additional moment applying module comprises a yaw velocity deviation calculating module, an additional moment calculating module, a constraint condition judging module and an allocating module, wherein the yaw velocity deviation calculating module is used for calculating a yaw velocity deviation according to the yaw velocity and the ideal yaw velocity, the additional moment calculating module is used for calculating a regenerative braking suppression yaw additional moment according to the yaw velocity and the ideal yaw velocity when the yaw velocity deviation is greater than or equal to a first preset deviation value, the constraint condition judging module is used for judging whether electric driving system information meets constraint conditions or not, the electric driving system information comprises a motor temperature and a power battery SOC which are respectively provided with relevant threshold values, and the allocating module is used for judging whether the motor temperature and the power battery SOC are not higher than the set threshold values or not, the regenerative-braking-restraining yaw addition moment is allocated to be applied to the wheels of the vehicle in accordance with the steering operation of the driver and the yaw state of the vehicle.
9. A four-wheel independently electrically driven vehicle, comprising:
a memory;
a processor; and
a four wheel electric drive independent vehicle regenerative brake stability control apparatus as defined in claim 8, said four wheel electric drive independent vehicle regenerative brake stability control apparatus being installed in said memory and comprising one or more software functional modules executed by said processor.
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