CN108860111B - Hydraulic brake fade compensation control method and device and automobile - Google Patents

Hydraulic brake fade compensation control method and device and automobile Download PDF

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Publication number
CN108860111B
CN108860111B CN201810688375.XA CN201810688375A CN108860111B CN 108860111 B CN108860111 B CN 108860111B CN 201810688375 A CN201810688375 A CN 201810688375A CN 108860111 B CN108860111 B CN 108860111B
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Prior art keywords
brake
compensation
braking
vehicle
condition
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CN108860111A (en
Inventor
张嵩
安振
周炳峰
张兆龙
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices

Abstract

The invention discloses a hydraulic brake fade compensation control method, a device and an automobile, wherein the hydraulic brake fade compensation control method is applied to a motor controller and comprises the following steps: detecting whether the state of the whole vehicle meets the brake fade compensation enabling condition; when the whole vehicle state meets the brake fade compensation enabling condition, detecting the brake fade compensation requirement of the vehicle; and controlling the driving motor to output energy recovery torque according to the braking recession compensation requirement. According to the embodiment of the invention, when the whole vehicle state meets the brake fade compensation enabling condition, according to the brake fade compensation requirement of the vehicle sent by the anti-lock brake system, the brake energy recovery torque output by the driving motor is controlled by combining the whole vehicle running state, the fade torque of the hydraulic brake system is compensated, the reliability and the stability of the whole vehicle brake performance under the hydraulic brake fade working condition are ensured, and the driving safety is ensured.

Description

Hydraulic brake fade compensation control method and device and automobile
Technical Field
The invention relates to the field of electric automobiles, in particular to a hydraulic braking recession compensation control method and device and an automobile.
Background
With the support of national policies and the progress of electric vehicle technologies, electric vehicles are gradually popularized, and more people begin to select electric vehicles as travel tools. One of the characteristics of an electric vehicle is as follows: the driving motor has the characteristic of energy recovery, provides certain braking torque to help the vehicle to decelerate under the working condition that a driver demands braking deceleration, and converts the kinetic energy of the vehicle into electric energy to be stored in the power battery.
The traditional braking system adopts hydraulic braking, and converts the kinetic energy of a vehicle into heat energy by means of the friction torque between a brake disc and a brake pad, so as to achieve the purpose of speed reduction. The traditional hydraulic braking has the following defects: firstly, continuously braking for a long time on a downward long slope, wherein the braking performance is reduced and the braking distance is lengthened due to overheating of a brake disc; and secondly, the friction coefficient of a brake friction contact surface is reduced and the brake performance is reduced due to some reasons or working conditions.
Disclosure of Invention
In order to solve the technical problems, the invention provides a hydraulic brake recession compensation control method, a hydraulic brake recession compensation control device and an automobile, and solves the problem of hydraulic brake recession caused by brake disc overheating or reduction of friction coefficient of a brake contact surface.
According to one aspect of the invention, a hydraulic brake fade compensation control method is provided, which is applied to a motor controller and comprises the following steps:
detecting whether the state of the whole vehicle meets the brake fade compensation enabling condition;
when the whole vehicle state meets the brake fade compensation enabling condition, detecting the brake fade compensation requirement of the vehicle;
and controlling the driving motor to output energy recovery torque according to the braking recession compensation requirement.
Optionally, the step of detecting whether the vehicle state meets the brake fade compensation enabling condition includes:
detecting whether the vehicle is in a high-voltage power-on state;
when a vehicle is in a high-voltage power-on state, detecting the fault states of a driving motor, a power battery and an Anti-lock Braking System (ABS for short) of the vehicle;
if the driving motor, the power battery and the ABS have no faults, detecting the gear, the speed and the State of the remaining electric quantity (SOC) of the vehicle;
and if the gear meets the requirements of being in a D gear, an E gear or an S gear, the vehicle speed is not less than the calibrated vehicle speed, and the SOC is not more than the calibrated electric quantity, sending a brake fade compensation enabling signal to the ABS.
Optionally, the step of detecting whether the vehicle state meets the brake fade compensation enabling condition further includes:
and if at least one of the driving motor, the power battery and the ABS has faults, sending a brake fade compensation fault signal to the combination instrument.
Optionally, when the vehicle state satisfies the brake fade enabling condition, the step of detecting the brake fade compensation requirement of the vehicle includes:
when the whole vehicle state meets the brake fade compensation enabling condition, detecting whether a brake pedal of the vehicle is stepped on;
and if the brake pedal is stepped on, acquiring a brake fade compensation demand signal sent by an ABS (anti-lock brake system).
Optionally, the step of controlling the driving motor to output the energy recovery torque according to the braking recession compensation requirement comprises:
receiving a brake compensation torque sent by an anti-lock brake system (ABS) when the brake fade compensation demand indicates that there is a demand;
according to the formula: t ═ T1+T2Calculating the energy recovery torque output by the driving motor;
wherein T is the energy recovery torque output by the driving motor; t is1For recovering torque from braking energy, T1The current rotating speed of the motor is a calibration value corresponding to the current rotating speed of the motor; t is2Compensating the torque for braking;
and controlling the driving motor to output the energy recovery torque.
According to another aspect of the present invention, there is provided a hydraulic brake fade compensation control method applied to an anti-lock brake system, including:
when the whole vehicle is electrified at high voltage, detecting the self fault state and the activation state;
if the fault state indicates no fault and the activation state indicates that the brake system is not activated, acquiring the running condition of the brake system;
and identifying the braking decline compensation requirement of the vehicle according to the running condition of the braking system.
Optionally, if the fault status indicates no fault and the active status indicates not active, the step of obtaining the operating condition of the brake system includes:
if the fault state indicates no fault and the activation state indicates no activation, detecting whether a brake fade compensation function is enabled according to a brake fade compensation enabling signal sent by a Motor Controller (MCU);
after the brake fade compensation function is confirmed to be enabled, the brake disc overheating condition and the brake disc friction coefficient reduction condition of the brake system are detected.
Optionally, the step of identifying a braking fade compensation requirement for the vehicle based on the operating condition of the braking system comprises:
if the overheating condition of the brake disc reaches the calibration heat degree and the brake pedal is stepped down, confirming that the braking recession compensation of the vehicle is required, and sending a braking recession compensation requirement signal to a motor controller MCU (microprogrammed control Unit);
if the overheating condition of the brake disc is smaller than the calibration heat degree, detecting the friction coefficient reduction condition of the brake disc;
and if the friction coefficient of the brake disc is reduced and the brake pedal is stepped down, confirming that the braking recession compensation of the vehicle is required, and sending a braking recession compensation requirement signal to the motor controller MCU.
Optionally, the step of identifying a braking degradation compensation requirement of the vehicle according to the operation condition of the braking system further comprises:
calculating brake compensation torque according to the current speed of the vehicle, the overheating condition of the brake disc and the reduction condition of the friction coefficient of the brake disc;
and sending the braking compensation torque to a motor controller MCU.
According to another aspect of the present invention, there is provided a hydraulic brake fade compensation control device including:
the first detection module is used for detecting whether the state of the whole vehicle meets the brake fade compensation enabling condition or not;
the second detection module is used for detecting the braking recession compensation requirement of the vehicle when the whole vehicle state meets the braking recession compensation enabling condition;
and the control module is used for controlling the driving motor to output energy recovery torque according to the braking recession compensation requirement.
Optionally, the first detection module includes:
the first detection unit is used for detecting whether the vehicle is in a high-voltage power-on state or not;
the second detection unit is used for detecting the fault states of a driving motor, a power battery and an anti-lock brake system (ABS) of the vehicle when the vehicle is in a high-voltage power-on state;
the third detection unit is used for detecting the gear, the speed and the SOC (state of charge) of the vehicle if the driving motor, the power battery and the ABS have no faults;
and the first sending unit is used for sending a brake fade compensation enabling signal to the ABS if the gear meets the requirements of being in a D gear, an E gear or an S gear, the vehicle speed is not less than the calibrated vehicle speed, and the SOC is not more than the calibrated electric quantity.
Optionally, the first detection module further includes:
and the second sending unit is used for sending a brake fade compensation fault signal to the combination meter if at least one of the driving motor, the power battery and the ABS has faults.
Optionally, the second detection module includes:
the fourth detection unit is used for detecting whether a brake pedal of the vehicle is stepped down or not when the whole vehicle state meets the brake fade compensation enabling condition;
the first obtaining unit is used for obtaining a brake fade compensation demand signal sent by an anti-lock brake system (ABS) if the brake pedal is stepped on.
Optionally, the control module comprises:
the receiving unit is used for receiving the brake compensation torque sent by an anti-lock brake system (ABS) when the brake fading compensation requirement indicates that the requirement exists;
a first calculation unit for, according to the formula: t ═ T1+T2Calculating the energy recovery torque output by the driving motor;
wherein T is the energy recovery torque output by the driving motor; t is1For recovering braking energyMoment, T1The current rotating speed of the motor is a calibration value corresponding to the current rotating speed of the motor; t is2Compensating the torque for braking;
and the control unit is used for controlling the driving motor to output the energy recovery torque.
According to another aspect of the present invention, there is also provided a hydraulic brake fade compensation control device including:
the third detection module is used for detecting the self fault state and the activation state when the whole vehicle is electrified at high voltage;
the obtaining module is used for obtaining the running condition of the brake system if the fault state indicates no fault and the activation state indicates that the brake system is not activated;
and the identification module is used for identifying the braking recession compensation requirement of the vehicle according to the running condition of the braking system.
Optionally, the obtaining module includes:
the fifth detection unit is used for detecting whether the brake fade compensation function is enabled or not according to a brake fade compensation enabling signal sent by the motor controller MCU if the fault state indicates no fault and the activation state indicates non-activation;
and the sixth detection unit is used for detecting the brake disc overheating condition and the brake disc friction coefficient reduction condition of the brake system after confirming the brake fade compensation function is enabled.
Optionally, the identification module comprises:
the third sending unit is used for confirming that the braking recession compensation of the vehicle is required if the overheating condition of the brake disc reaches the calibration heat degree and the brake pedal is stepped down, and sending a braking recession compensation requirement signal to the motor controller MCU;
the seventh detection unit is used for detecting the friction coefficient reduction condition of the brake disc if the overheating condition of the brake disc is smaller than the calibration heat degree;
and the fourth sending unit is used for confirming that the braking recession compensation of the vehicle is required if the friction coefficient of the brake disc is reduced and the brake pedal is stepped down, and sending a braking recession compensation requirement signal to the motor controller MCU.
Optionally, the identification module further comprises:
the second calculation unit is used for calculating the braking compensation torque according to the current vehicle speed of the vehicle, the overheating condition of the brake disc and the reduction condition of the friction coefficient of the brake disc;
and the fifth transmitting unit is used for transmitting the braking compensation torque to a motor controller MCU.
According to still another aspect of the present invention, there is also provided a vehicle including the hydraulic brake fade compensation control apparatus described above.
The embodiment of the invention has the beneficial effects that:
according to the scheme, when the whole vehicle state meets the brake fade compensation enabling condition, according to the brake fade compensation requirement of the vehicle sent by the anti-lock brake system, the brake energy recovery torque output by the driving motor is controlled by combining the whole vehicle running state, the fade torque of the hydraulic brake system is compensated, the reliability and the stability of the whole vehicle brake performance under the hydraulic brake fade working condition are ensured, and the driving safety is ensured.
Drawings
FIG. 1 is a flow chart illustrating a hydraulic brake fade compensation control method applied to a motor controller according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control system architecture of a hydraulic brake fade compensation control method according to an embodiment of the invention;
FIG. 3 is a schematic flow chart illustrating a hydraulic brake fade compensation control method applied to a motor controller according to an embodiment of the present invention;
fig. 4 shows one of the structural block diagrams of the hydraulic brake fade compensation control device according to the embodiment of the invention;
fig. 5 shows a second block diagram of the hydraulic brake fade compensation control device according to the embodiment of the present invention;
FIG. 6 is a flowchart illustrating a hydraulic brake fade compensation control method applied to an anti-lock brake system according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating a hydraulic brake fade compensation control method applied to an anti-lock brake system according to an embodiment of the present invention;
fig. 8 is a third block diagram showing the configuration of a hydraulic brake fade compensation control apparatus according to the embodiment of the present invention;
fig. 9 is a block diagram showing a fourth configuration of the hydraulic brake fade compensation control device according to the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a hydraulic brake fade compensation control method, applied to a motor controller, including:
step 11, detecting whether the state of the whole vehicle meets the brake fade compensation enabling condition;
in this embodiment, as shown in fig. 2, the motor controller MCU is connected to an accelerator pedal, a brake pedal, a shift knob, an anti-lock brake System ABS, a Battery Management System (BMS), a driving motor, and a combination meter of the vehicle. The anti-lock braking system ABS is used for detecting braking recession and outputting a braking compensation torque instruction to the motor controller MCU, the motor controller MCU detects the whole vehicle state according to states and signals of an accelerator pedal, a brake pedal, a gear knob, the anti-lock braking system ABS, a battery management system BMS and a driving motor, and sends a fault signal to the combination instrument when the whole vehicle state does not meet braking recession compensation enabling conditions, and the combination instrument prompts fault information through characters or sound. Specifically, the brake fade compensation enabling conditions that the vehicle state should meet are as follows: the whole vehicle is in a high-voltage power-on state, a driving motor has no fault, a power battery has no charging prohibition fault, and an anti-lock braking system (ABS) has no fault, and the vehicle state simultaneously meets the condition that a gear is in a D gear, an E gear or an S gear, the vehicle speed is not less than a calibrated vehicle speed, and the remaining power SOC is not more than the calibrated power, and when the whole vehicle state simultaneously meets the above conditions, the whole vehicle state is considered to meet the brake fade compensation enabling conditions.
Step 12, when the whole vehicle state meets the brake fade compensation enabling condition, detecting the brake fade compensation requirement of the vehicle;
specifically, the motor controller MCU is connected with an anti-lock brake system ABS, the anti-lock brake system ABS detects brake recession when the anti-lock brake system ABS has no fault, judges the brake recession compensation requirement of the vehicle according to the overheating condition of the brake disc and the reduction condition of the friction coefficient of the brake disc, and sends the brake recession compensation requirement to the motor controller MCU. In addition, the ABS also calculates the brake compensation torque corresponding to the brake disc overheating condition or the brake disc friction coefficient reduction condition by looking up a table according to the vehicle speed, the brake disc overheating condition or the brake disc friction coefficient reduction condition, and sends a brake compensation torque instruction to the motor controller MCU.
And step 13, controlling the driving motor to output energy recovery torque according to the braking recession compensation requirement.
In this embodiment, the motor controller MCU receives a braking recession compensation demand and a braking compensation torque instruction sent by the ABS, calculates a braking energy recovery torque corresponding to the current rotation speed of the driving motor according to a look-up table, and controls the driving motor to output an energy recovery torque, where the energy recovery torque is the sum of the braking compensation torque and the braking energy recovery torque.
In the scheme, the motor controller MCU detects the fault states of the driving motor, the power battery and the ABS, and enables the brake fade compensation function by combining the running state (gear/vehicle speed/SOC) of the vehicle. The braking recession compensation requirement and the braking compensation torque instruction output by the ABS are detected, the braking recession compensation function of the vehicle is activated, the driving motor is controlled to output extra braking compensation torque, the braking of a hydraulic system is assisted, the braking performance of the vehicle is improved, the accident rate is reduced, and the possible injury to a driver is reduced. This embodiment truns into the kinetic energy of vehicle into electric energy storage to power battery, has improved energy utilization for whole car is under various operating modes, and driver's braking impression is unanimous, promotes customer experience, promotes the security level and the science and technology of electric motor car and feels, strengthens the competitiveness of electric motor car.
Specifically, as shown in fig. 3, the step 11 includes:
111, detecting whether the vehicle is in a high-voltage power-on state;
112, detecting fault states of a driving motor, a power battery and an anti-lock braking system ABS of the vehicle when the vehicle is in a high-voltage power-on state;
in the embodiment, after the whole vehicle is powered on, the MCU detects whether the vehicle is in a high-voltage power-on state, and if the vehicle is powered on at a high voltage, the MCU detects whether the vehicle meets the conditions that the driving motor has no fault, the power battery has no charging prohibition fault and the ABS has no fault according to information interaction with the ABS, the BMS and the driving motor. If at least one of the brake failure compensation signals has a failure, the whole vehicle cannot enable the brake failure compensation function, the MCU sends a brake failure compensation failure signal to the combination instrument, and the combination instrument prompts the failure information of a driver through characters or voice.
Step 113, if the driving motor, the power battery and the ABS have no faults, detecting the gear, the speed and the SOC state of the residual electric quantity of the vehicle;
and step 114, if the gear is in a D gear, an E gear or an S gear, the vehicle speed is not less than the calibrated vehicle speed, and the SOC is not more than the calibrated electric quantity, sending a brake fade compensation enabling signal to the ABS.
In this embodiment, the MCU detects whether the vehicle state satisfies the following conditions according to the accelerator pedal opening of the accelerator pedal, the gear signal of the gear knob, and the state of remaining battery SOC sent by the battery management system BMS: the gear is in the D gear, the gear is in the E gear or the gear is in the S gear, the SOC is less than or equal to the calibration electric quantity, and the vehicle speed is greater than or equal to the calibration vehicle speed. When the vehicle gear is in the D gear, the E gear or the S gear, the vehicle may have a braking demand; the calibration electric quantity can be calibrated according to vehicles of different models, and preferably, the calibration electric quantity can be 90%; the calibrated vehicle speed can be calibrated according to the requirements of users, and preferably, the calibrated vehicle speed can be 20 kph. Namely, after the vehicle is electrified at high voltage, the following conditions are satisfied: the method comprises the steps that a driving motor has no fault, a power battery has no charging prohibition fault and an ABS has no fault, the gears are in a D gear, an E gear or an S gear, the vehicle speed is more than or equal to 20kph, and when the SOC is less than or equal to 90%, the whole vehicle state is considered to meet the brake fade compensation enabling condition, and a brake fade compensation enabling signal is sent to the ABS.
Specifically, the step 11 further includes:
and step 115, if at least one of the driving motor, the power battery and the ABS has faults, sending a brake fade compensation fault signal to the combination meter.
In this embodiment, if at least one of the driving motor, the power battery and the ABS has a fault, the MCU sends a brake fade compensation fault signal to the combination meter, and the combination meter displays a prompt message "brake fade compensation is unavailable" through the display screen after detecting that the brake fade compensation fault signal indicates a fault. If the brake fade compensation fault signal detected by the combination instrument does not represent the fault, the brake fade compensation activation signal is continuously detected, and when the brake fade compensation function is detected to be activated, prompt information of 'activation of the brake fade compensation function' can be displayed on the display screen. The combination meter continuously detects fault information and activation status information and alerts the driver.
As shown in fig. 3, the step 12 includes:
step 121, when the whole vehicle state meets the brake fade compensation enabling condition, detecting whether a brake pedal of the vehicle is stepped on;
and step 122, if the brake pedal is stepped on, acquiring a brake fade compensation demand signal sent by an ABS (anti-lock brake system).
In this embodiment, when the vehicle state meets the brake fade compensation enabling condition, and the MCU detects that the brake pedal is pressed according to the brake signal of the brake pedal, it indicates that the vehicle is braking, and the braking energy can be recovered, and at this time, if the brake fade compensation demand signal sent by the ABS is received, and the signal indicates that there is a brake fade compensation demand, it indicates that there is a fade condition in the hydraulic brake system, and it is necessary to compensate for the fade torque of the hydraulic brake system.
In the above embodiment of the present invention, the step 13 includes:
step 131, when the brake fade compensation requirement shows that a requirement exists, receiving a brake compensation torque sent by an anti-lock brake system (ABS);
in this embodiment, the braking compensation torque is calculated by looking up a table according to the current vehicle speed, the overheating condition of the brake disc, or the reduction condition of the friction coefficient of the brake disc by the ABS, and the braking compensation torque and the overheating condition of the brake disc or the reduction condition of the friction coefficient of the brake disc have a pre-calibrated corresponding relationship.
Step 132, according to the formula: t ═ T1+T2Calculating the energy recovery torque output by the driving motor;
wherein T is the energy recovery torque output by the driving motor; t is1For recovering torque from braking energy, T1The current rotating speed of the motor is a calibration value corresponding to the current rotating speed of the motor; t is2Compensating the torque for braking;
and step 133, controlling the driving motor to output the energy recovery torque.
In this embodiment, after receiving the braking compensation torque sent by the ABS, the MCU calculates, by looking up a table, a braking energy recovery torque corresponding to the current rotation speed of the driving motor, so as to control the driving motor to output the energy recovery torque, where the energy recovery torque is the sum of the braking compensation torque and the braking energy recovery torque.
In the scheme, the MCU detects the fault states of the driving motor, the power battery and the ABS, and enables the brake fade compensation function by combining the running state (gear/vehicle speed/SOC) of the vehicle. The braking recession compensation requirement and the braking compensation torque instruction output by the ABS are detected, the braking recession compensation function is activated, the driving motor is controlled to output extra braking compensation torque, braking of a hydraulic system is assisted, the braking performance of a vehicle is improved, the accident rate is reduced, and possible injury to a driver is relieved.
As shown in fig. 4, an embodiment of the present invention provides a hydraulic brake fade compensation control device including:
the first detection module 41 is used for detecting whether the state of the whole vehicle meets the brake fade compensation enabling condition;
in this embodiment, as shown in fig. 2, the motor controller MCU is connected to an accelerator pedal, a brake pedal, a shift knob, an antilock brake system ABS, a battery management system BMS, a driving motor, and a cluster of the automobile. The anti-lock braking system ABS is used for detecting braking recession and outputting a braking compensation torque instruction to the motor controller MCU, the motor controller MCU detects the whole vehicle state according to states and signals of an accelerator pedal, a brake pedal, a gear knob, the anti-lock braking system ABS, a battery management system BMS and a driving motor, and sends a fault signal to the combination instrument when the whole vehicle state does not meet braking recession compensation enabling conditions, and the combination instrument prompts fault information through characters or sound. Specifically, the brake fade compensation enabling conditions that the vehicle state should meet are as follows: the whole vehicle is in a high-voltage power-on state, a driving motor has no fault, a power battery has no charging prohibition fault, and an anti-lock braking system (ABS) has no fault, and the vehicle state simultaneously meets the condition that a gear is in a D gear, an E gear or an S gear, the vehicle speed is not less than a calibrated vehicle speed, and the remaining power SOC is not more than the calibrated power, and when the whole vehicle state simultaneously meets the above conditions, the whole vehicle state is considered to meet the brake fade compensation enabling conditions.
The second detection module 42 is configured to detect a braking recession compensation requirement of the vehicle when the vehicle state satisfies the braking recession compensation enabling condition;
specifically, the motor controller MCU is connected with an anti-lock brake system ABS, the anti-lock brake system ABS detects brake recession when the anti-lock brake system ABS has no fault, judges the brake recession compensation requirement of the vehicle according to the overheating condition of the brake disc and the reduction condition of the friction coefficient of the brake disc, and sends the brake recession compensation requirement to the motor controller MCU. In addition, the ABS also calculates the brake compensation torque corresponding to the brake disc overheating condition or the brake disc friction coefficient reduction condition by looking up a table according to the vehicle speed, the brake disc overheating condition or the brake disc friction coefficient reduction condition, and sends a brake compensation torque instruction to the motor controller MCU.
And the control module 43 is used for controlling the driving motor to output energy recovery torque according to the braking recession compensation requirement.
In this embodiment, the motor controller MCU receives a braking recession compensation demand and a braking compensation torque instruction sent by the ABS, calculates a braking energy recovery torque corresponding to the current rotation speed of the driving motor according to a look-up table, and controls the driving motor to output an energy recovery torque, where the energy recovery torque is the sum of the braking compensation torque and the braking energy recovery torque.
In the scheme, the motor controller MCU detects the fault states of the driving motor, the power battery and the ABS, and enables the brake fade compensation function by combining the running state (gear/vehicle speed/SOC) of the vehicle. The braking recession compensation requirement and the braking compensation torque instruction output by the ABS are detected, the braking recession compensation function of the vehicle is activated, the driving motor is controlled to output extra braking compensation torque, the braking of a hydraulic system is assisted, the braking performance of the vehicle is improved, the accident rate is reduced, and the possible injury to a driver is reduced. This embodiment truns into the kinetic energy of vehicle into electric energy storage to power battery, has improved energy utilization for whole car is under various operating modes, and driver's braking impression is unanimous, promotes customer experience, promotes the security level and the science and technology of electric motor car and feels, strengthens the competitiveness of electric motor car.
It should be noted that the device is a device corresponding to the method applied to the motor controller recommended by the above individual, and all the implementation manners in the above method embodiment are applicable to the embodiment of the device, and the same technical effect can be achieved.
As shown in fig. 5, the first detection module 41 includes:
a first detecting unit 411, configured to detect whether the vehicle is in a high-voltage power-on state;
the second detection unit 412 is used for detecting the fault states of a driving motor, a power battery and an anti-lock brake system ABS of the vehicle when the vehicle is in a high-voltage power-on state;
in the embodiment, after the whole vehicle is powered on, the MCU detects whether the vehicle is in a high-voltage power-on state, and if the vehicle is powered on at a high voltage, the MCU detects whether the vehicle meets the conditions that the driving motor has no fault, the power battery has no charging prohibition fault and the ABS has no fault according to information interaction with the ABS, the BMS and the driving motor. If at least one of the brake failure compensation signals has a failure, the whole vehicle cannot enable the brake failure compensation function, the MCU sends a brake failure compensation failure signal to the combination instrument, and the combination instrument prompts the failure information of a driver through characters or voice.
A third detecting unit 413, configured to detect a gear, a vehicle speed, and a state of remaining charge SOC of the vehicle if the driving motor, the power battery, and the ABS are all failure-free;
and a first sending unit 414, configured to send a brake fade compensation enable signal to the ABS if the gear satisfies D gear, E gear, or S gear, the vehicle speed is not less than the calibrated vehicle speed, and the remaining power SOC is not greater than the calibrated power.
In this embodiment, the MCU detects whether the vehicle state satisfies the following conditions according to the accelerator pedal opening of the accelerator pedal, the gear signal of the gear knob, and the state of remaining battery SOC sent by the battery management system BMS: the gear is in the D gear, the gear is in the E gear or the gear is in the S gear, the SOC is less than or equal to the calibration electric quantity, and the vehicle speed is greater than or equal to the calibration vehicle speed. When the vehicle gear is in the D gear, the E gear or the S gear, the vehicle may have a braking demand; the calibration electric quantity can be calibrated according to vehicles of different models, and preferably, the calibration electric quantity can be 90%; the calibrated vehicle speed can be calibrated according to the requirements of users, and preferably, the calibrated vehicle speed can be 20 kph. Namely, after the vehicle is electrified at high voltage, the following conditions are satisfied: the method comprises the steps that a driving motor has no fault, a power battery has no charging prohibition fault and an ABS has no fault, the gears are in a D gear, an E gear or an S gear, the vehicle speed is more than or equal to 20kph, and when the SOC is less than or equal to 90%, the whole vehicle state is considered to meet the brake fade compensation enabling condition, and a brake fade compensation enabling signal is sent to the ABS.
In the above embodiment of the present invention, the first detecting module 41 further includes:
and a second sending unit 415, configured to send a brake fade compensation fault signal to the combination meter if at least one of the driving motor, the power battery, and the ABS is faulty.
In this embodiment, if at least one of the driving motor, the power battery and the ABS has a fault, the MCU sends a brake fade compensation fault signal to the combination meter, and the combination meter displays a prompt message "brake fade compensation is unavailable" through the display screen after detecting that the brake fade compensation fault signal indicates a fault. If the brake fade compensation fault signal detected by the combination instrument does not represent the fault, the brake fade compensation activation signal is continuously detected, and when the brake fade compensation function is detected to be activated, prompt information of 'activation of the brake fade compensation function' can be displayed on the display screen. The combination meter continuously detects fault information and activation status information and alerts the driver.
In the above embodiment of the present invention, the second detecting module 42 includes:
the fourth detecting unit 421 is configured to detect whether a brake pedal of the vehicle is pressed down when the vehicle state satisfies the brake fade compensation enabling condition;
the first obtaining unit 422 is configured to obtain a brake fade compensation demand signal sent by the ABS if the brake pedal is pressed.
In this embodiment, when the vehicle state meets the brake fade compensation enabling condition, and the MCU detects that the brake pedal is pressed according to the brake signal of the brake pedal, it indicates that the vehicle is braking, and the braking energy can be recovered, and at this time, if the brake fade compensation demand signal sent by the ABS is received, and the signal indicates that there is a brake fade compensation demand, it indicates that there is a fade condition in the hydraulic brake system, and it is necessary to compensate for the fade torque of the hydraulic brake system.
In the above embodiment of the present invention, the control module 43 includes:
a receiving unit 431, configured to receive a brake compensation torque sent by an anti-lock brake system ABS when the brake fade compensation demand indicates a demand;
in this embodiment, the braking compensation torque is calculated by looking up a table according to the current vehicle speed, the overheating condition of the brake disc, or the reduction condition of the friction coefficient of the brake disc by the ABS, and the braking compensation torque and the overheating condition of the brake disc or the reduction condition of the friction coefficient of the brake disc have a pre-calibrated corresponding relationship.
A first calculating unit 432, configured to: t ═ T1+T2Calculating the energy recovery torque output by the driving motor;
wherein T is the energy recovery torque output by the driving motor; t is1For recovering torque from braking energy, T1The current rotating speed of the motor is a calibration value corresponding to the current rotating speed of the motor; t is2Compensating the torque for braking;
and the control unit 433 is used for controlling the driving motor to output the energy recovery torque.
In this embodiment, after receiving the braking compensation torque sent by the ABS, the MCU calculates, by looking up a table, a braking energy recovery torque corresponding to the current rotation speed of the driving motor, so as to control the driving motor to output the energy recovery torque, where the energy recovery torque is the sum of the braking compensation torque and the braking energy recovery torque.
In the scheme, the MCU detects the fault states of the driving motor, the power battery and the ABS, and enables the brake fade compensation function by combining the running state (gear/vehicle speed/SOC) of the vehicle. The braking recession compensation requirement and the braking compensation torque instruction output by the ABS are detected, the braking recession compensation function is activated, the driving motor is controlled to output extra braking compensation torque, braking of a hydraulic system is assisted, the braking performance of a vehicle is improved, the accident rate is reduced, and possible injury to a driver is relieved.
As shown in fig. 6, an embodiment of the present invention further provides a hydraulic brake fade compensation control method applied to an anti-lock brake system, including:
step 61, detecting a self fault state and an activation state when the whole vehicle is electrified at high voltage;
in the embodiment, after the whole vehicle is powered on, the ABS detects the self fault state and the activation state. Specifically, after the whole vehicle is powered on, the ABS detects whether the vehicle is in a high-voltage power-on state, if the vehicle is powered on at high voltage, the ABS detects whether the vehicle is in a fault state, if the ABS has a fault, the brake fade compensation is considered as not required, if the ABS has no fault, the ABS continues to detect whether the ABS is activated, and if the ABS is activated, the brake fade compensation is considered as not required.
Step 62, if the fault state indicates no fault and the activation state indicates no activation, acquiring the running condition of the brake system;
in this embodiment, if the ABS detects that the ABS is not faulty and not activated, and considers that the braking recession compensation requirement is a requirement, the operation status of the braking system is obtained, where the operation status of the braking system includes a brake disk overheating condition, a brake disk friction coefficient reduction condition, and whether the brake pedal is pressed down.
And 63, identifying the braking recession compensation requirement of the vehicle according to the running condition of the braking system.
In this embodiment, the ABS identifies the braking fade compensation requirement of the vehicle based on the detected brake disc overheating condition, the brake disc friction coefficient reduction condition, and whether the brake pedal is depressed. When the braking recession compensation requirement is identified as a requirement, the braking compensation torque is calculated by looking up a table according to the current speed of the vehicle, the overheating condition of the brake disc or the friction coefficient reduction condition of the brake disc, and a braking compensation torque instruction is sent to the motor controller MCU, so that the MCU controls the driving motor to output extra braking compensation torque on the basis of the original braking energy recovery torque, the braking of a hydraulic system is assisted, the braking performance of the vehicle is improved, the accident rate is reduced, and the injury possibly suffered by a driver is reduced.
Specifically, as shown in fig. 7, the step 62 includes:
step 621, if the fault state indicates no fault and the activation state indicates no activation, detecting whether the brake fade compensation function is enabled according to a brake fade compensation enable signal sent by the motor controller MCU;
and step 622, after the brake fade compensation function is enabled, detecting the brake disc overheating condition and the brake disc friction coefficient reduction condition of the brake system.
In the embodiment, when the ABS detects that the ABS has no fault and is not activated, whether the brake fade compensation function is enabled or not is detected according to the brake fade compensation enable signal sent by the MCU, and after the brake fade compensation function is confirmed to be enabled, the brake disc overheating condition and the brake disc friction coefficient reduction condition of the brake system are detected. The overheating condition of the brake disc is compared with a preset calibration heat, and the brake performance is possibly reduced when the calibration heat is reached; the reduction in the friction coefficient of the brake disk should be compared with the friction coefficient of the brake disk when the braking performance is normal, and if the reduction in the friction coefficient of the brake disk is detected, it is considered that the braking performance may be reduced.
In the above embodiment of the present invention, the step 63 includes:
step 631, if the overheating condition of the brake disc reaches the calibration heat degree and the brake pedal is stepped down, confirming that the braking recession compensation of the vehicle is required, and sending a braking recession compensation requirement signal to the motor controller MCU;
in the embodiment, if the overheating condition of the brake disc reaches the calibration heat degree, whether the brake pedal is pressed is judged by detecting the brake signal of the brake pedal, the pressing of the brake pedal indicates that the vehicle is braking, and the braking recession compensation of the vehicle needs, and a braking recession compensation demand signal indicating that the demand exists is sent to the MCU.
Step 632, detecting the friction coefficient reduction condition of the brake disc if the overheating condition of the brake disc is less than the calibration heat degree;
step 633, if the friction coefficient of the brake disc is reduced and the brake pedal is stepped down, confirming that the braking recession compensation of the vehicle is required, and sending a braking recession compensation requirement signal to the motor controller MCU.
In this embodiment, if the brake disc overheating condition is smaller than the calibration heat, it is determined that the brake performance will not be reduced due to the brake disc overheating condition at this time, the brake disc friction coefficient reduction condition is continuously detected, if the brake disc friction coefficient is reduced, whether the brake pedal is pressed is judged by detecting a brake signal of the brake pedal, the brake pedal is pressed to indicate that the vehicle is braking, the braking fade compensation of the vehicle is in demand, and a braking fade compensation demand signal indicating that the demand exists is sent to the MCU.
In the above embodiment of the present invention, step 63 further includes:
step 634, calculating brake compensation torque according to the current speed of the vehicle, the overheating condition of the brake disc and the friction coefficient reduction condition of the brake disc;
step 635, sending the brake compensation torque to a motor controller MCU.
In the embodiment, after the requirement of brake fade compensation is confirmed, if the overheating condition of the brake disc reaches the calibration heat degree and the brake pedal is stepped, the ABS calculates the brake compensation torque according to the current speed of the vehicle and the overheating degree of the brake disc by looking up a table; the vehicle speed, the overheating degree of the brake disc and the brake compensation torque are in a corresponding relation, and the specific corresponding relation is calibrated by a user in advance.
After confirming that the braking recession compensation is needed, if the friction coefficient of the brake disc is reduced and the brake pedal is stepped down, the ABS calculates the braking compensation torque according to the current speed of the vehicle and the reduction degree of the friction coefficient of the brake disc by looking up a table; the vehicle speed, the degree of reduction of the friction coefficient of the brake disc and the brake compensation torque are in a corresponding relation, and the specific corresponding relation is calibrated in advance by a user.
The ABS calculates the braking compensation torque according to the vehicle speed, the overheating condition of the brake disc or the friction coefficient reduction condition of the brake disc, and then sends the braking compensation torque to the motor controller MCU, so that the MCU controls the driving motor to output extra braking compensation torque on the basis of the original braking energy recovery torque, the hydraulic system is assisted to brake, the vehicle braking performance is improved, the accident rate is reduced, and the injury possibly suffered by a driver is reduced.
According to the scheme, the ABS monitors the self fault state and the activation state, receives relevant information, combines the running state of a braking system, identifies the overheating condition and the friction coefficient reduction condition of a brake disc, calculates and outputs a braking compensation torque instruction according to the overheating degree or the friction coefficient reduction degree, utilizes the energy recovery torque of a driving motor to make up for the deficiency of the hydraulic braking torque, ensures the reliability of the braking performance of the whole vehicle, improves the driving safety of the vehicle under the working condition, and reduces the accident occurrence probability. Make whole car under various operating modes, driver's braking impression is unanimous, promotes customer experience, promotes the security level and the science and technology of electric motor car and feels, strengthens the competitiveness of electric motor car.
As shown in fig. 8, an embodiment of the present invention also provides a hydraulic brake fade compensation control device including:
the third detection module 81 is used for detecting a self fault state and an activation state when the whole vehicle is electrified at high voltage;
in the embodiment, after the whole vehicle is powered on, the ABS detects the self fault state and the activation state of the vehicle. Specifically, after the whole vehicle is powered on, the ABS detects whether the vehicle is in a high-voltage power-on state, if the vehicle is powered on at high voltage, the ABS detects whether the vehicle is in a fault state, if the ABS has a fault, the brake fade compensation is considered as not required, if the ABS has no fault, the ABS continues to detect whether the ABS is activated, and if the ABS is activated, the brake fade compensation is considered as not required.
An obtaining module 82, configured to obtain an operating condition of the brake system if the fault state indicates no fault and the activation state indicates no activation;
in this embodiment, if the ABS detects that the ABS is not faulty and not activated, and considers that the braking recession compensation requirement is a requirement, the operation status of the braking system is obtained, where the operation status of the braking system includes a brake disk overheating condition, a brake disk friction coefficient reduction condition, and whether the brake pedal is pressed down.
An identification module 83 is configured to identify a braking degradation compensation requirement of the vehicle based on the operating condition of the braking system.
In this embodiment, the ABS identifies the braking fade compensation requirement of the vehicle based on the detected brake disc overheating condition, the brake disc friction coefficient reduction condition, and whether the brake pedal is depressed. When the braking recession compensation requirement is identified as a requirement, the braking compensation torque is calculated by looking up a table according to the current speed of the vehicle, the overheating condition of the brake disc or the friction coefficient reduction condition of the brake disc, and a braking compensation torque instruction is sent to the motor controller MCU, so that the MCU controls the driving motor to output extra braking compensation torque on the basis of the original braking energy recovery torque, the braking of a hydraulic system is assisted, the braking performance of the vehicle is improved, the accident rate is reduced, and the injury possibly suffered by a driver is reduced.
It should be noted that the device is a device corresponding to the method for applying to the anti-lock brake system recommended by the above individual, and all the implementations in the above method embodiment are applicable to the embodiment of the device, and the same technical effects can be achieved.
Specifically, as shown in fig. 9, the obtaining module 82 includes:
a fifth detecting unit 821, configured to detect whether the brake fade compensation function is enabled according to a brake fade compensation enable signal sent by the motor controller MCU if the fault state indicates no fault and the active state indicates no activation;
and a sixth detecting unit 822 for detecting an overheating condition of the brake disc and a friction coefficient reduction condition of the brake disc of the brake system after confirming the brake fade compensation function is enabled.
In the embodiment, when the ABS detects that the ABS has no fault and is not activated, whether the brake fade compensation function is enabled or not is detected according to the brake fade compensation enable signal sent by the MCU, and after the brake fade compensation function is confirmed to be enabled, the brake disc overheating condition and the brake disc friction coefficient reduction condition of the brake system are detected. The overheating condition of the brake disc is compared with a preset calibration heat, and the brake performance is possibly reduced when the calibration heat is reached; the reduction in the friction coefficient of the brake disk should be compared with the friction coefficient of the brake disk when the braking performance is normal, and if the reduction in the friction coefficient of the brake disk is detected, it is considered that the braking performance may be reduced.
In the above embodiment of the present invention, the identification module 83 includes:
a third transmitting unit 831, configured to determine that there is a demand for brake fade compensation of the vehicle if the brake disc overheating condition reaches the calibration heat level and the brake pedal is stepped on, and transmit a brake fade compensation demand signal to the motor controller MCU;
in the embodiment, if the overheating condition of the brake disc reaches the calibration heat degree, whether the brake pedal is pressed is judged by detecting the brake signal of the brake pedal, the pressing of the brake pedal indicates that the vehicle is braking, and the braking recession compensation of the vehicle needs, and a braking recession compensation demand signal indicating that the demand exists is sent to the MCU.
A seventh detecting unit 832, configured to detect a brake disc friction coefficient decrease condition if the brake disc overheating condition is less than the calibration heat degree;
and a fourth sending unit 833, configured to determine that braking recession compensation of the vehicle is required if the friction coefficient of the brake disc is reduced and the brake pedal is pressed, and send a braking recession compensation required signal to the motor controller MCU.
In this embodiment, if the brake disc overheating condition is smaller than the calibration heat, it is determined that the brake performance will not be reduced due to the brake disc overheating condition at this time, the brake disc friction coefficient reduction condition is continuously detected, if the brake disc friction coefficient is reduced, whether the brake pedal is pressed is judged by detecting a brake signal of the brake pedal, the brake pedal is pressed to indicate that the vehicle is braking, the braking fade compensation of the vehicle is in demand, and a braking fade compensation demand signal indicating that the demand exists is sent to the MCU.
In the above embodiment of the present invention, the identification module 83 further includes:
a second calculating unit 834 for calculating a braking compensation torque according to a current vehicle speed of the vehicle, a brake disc overheating condition and a brake disc friction coefficient decreasing condition;
a fifth transmitting unit 835 for transmitting the brake compensation torque to a motor controller MCU.
In the embodiment, after the requirement of brake fade compensation is confirmed, if the overheating condition of the brake disc reaches the calibration heat degree and the brake pedal is stepped, the ABS calculates the brake compensation torque according to the current speed of the vehicle and the overheating degree of the brake disc by looking up a table; the vehicle speed, the overheating degree of the brake disc and the brake compensation torque are in a corresponding relation, and the specific corresponding relation is calibrated by a user in advance.
After confirming that the braking recession compensation is needed, if the friction coefficient of the brake disc is reduced and the brake pedal is stepped down, the ABS calculates the braking compensation torque according to the current speed of the vehicle and the reduction degree of the friction coefficient of the brake disc by looking up a table; the vehicle speed, the degree of reduction of the friction coefficient of the brake disc and the brake compensation torque are in a corresponding relation, and the specific corresponding relation is calibrated in advance by a user.
The ABS calculates the braking compensation torque according to the vehicle speed, the overheating condition of the brake disc or the friction coefficient reduction condition of the brake disc, and then sends the braking compensation torque to the motor controller MCU, so that the MCU controls the driving motor to output extra braking compensation torque on the basis of the original braking energy recovery torque, the hydraulic system is assisted to brake, the vehicle braking performance is improved, the accident rate is reduced, and the injury possibly suffered by a driver is reduced.
According to the scheme, the ABS monitors the self fault state and the activation state, receives relevant information, combines the running state of a braking system, identifies the overheating condition and the friction coefficient reduction condition of a brake disc, calculates and outputs a braking compensation torque instruction according to the overheating degree or the friction coefficient reduction degree, utilizes the energy recovery torque of a driving motor to make up for the deficiency of the hydraulic braking torque, ensures the reliability of the braking performance of the whole vehicle, improves the driving safety of the vehicle under the working condition, and reduces the accident occurrence probability. Make whole car under various operating modes, driver's braking impression is unanimous, promotes customer experience, promotes the security level and the science and technology of electric motor car and feels, strengthens the competitiveness of electric motor car.
The embodiment of the invention also provides an automobile which comprises the hydraulic brake fade compensation control device.
According to the embodiment of the invention, the motor controller MCU detects the fault states of the driving motor, the power battery and the ABS, and enables the brake fade compensation function by combining the running state (gear/vehicle speed/SOC) of the vehicle. The braking recession compensation requirement and the braking compensation torque instruction output by the ABS are detected, the braking recession compensation function of the vehicle is activated, the driving motor is controlled to output extra braking compensation torque, the braking of a hydraulic system is assisted, the braking performance of the vehicle is improved, the accident rate is reduced, and the possible injury to a driver is reduced. This embodiment truns into the kinetic energy of vehicle into electric energy storage to power battery, has improved energy utilization for whole car is under various operating modes, and driver's braking impression is unanimous, promotes customer experience, promotes the security level and the science and technology of electric motor car and feels, strengthens the competitiveness of electric motor car.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.

Claims (19)

1. A hydraulic brake fade compensation control method is applied to a motor controller and is characterized by comprising the following steps:
detecting whether the state of the whole vehicle meets the brake fade compensation enabling condition;
when the whole vehicle state meets the brake fade compensation enabling condition, detecting the brake fade compensation requirement of the vehicle;
controlling a driving motor to output energy recovery torque according to the braking recession compensation requirement; the motor controller receives a braking compensation torque instruction sent by an anti-lock braking system, calculates a braking energy recovery torque corresponding to the current rotating speed of the driving motor, and controls the driving motor to output the energy recovery torque.
2. The hydraulic brake fade compensation control method according to claim 1, wherein the step of detecting whether the state of the entire vehicle satisfies the brake fade compensation enabling condition comprises:
detecting whether the vehicle is in a high-voltage power-on state;
when the vehicle is in a high-voltage power-on state, detecting fault states of a driving motor, a power battery and an anti-lock brake system (ABS) of the vehicle;
if the driving motor, the power battery and the ABS have no faults, detecting the gear, the speed and the SOC state of the residual electric quantity of the vehicle;
and if the gear meets the requirements of being in a D gear, an E gear or an S gear, the vehicle speed is not less than the calibrated vehicle speed, and the SOC is not more than the calibrated electric quantity, sending a brake fade compensation enabling signal to the ABS.
3. The hydraulic brake fade compensation control method according to claim 2, wherein the step of detecting whether the vehicle state satisfies the brake fade compensation enabling condition further comprises:
and if at least one of the driving motor, the power battery and the ABS has faults, sending a brake fade compensation fault signal to the combination instrument.
4. The hydraulic brake fade compensation control method according to claim 1, wherein the step of detecting the brake fade compensation requirement of the vehicle when the vehicle state satisfies the brake fade enabling condition comprises:
when the whole vehicle state meets the brake fade compensation enabling condition, detecting whether a brake pedal of the vehicle is stepped on;
and if the brake pedal is stepped on, acquiring a brake fade compensation demand signal sent by an ABS (anti-lock brake system).
5. The hydraulic brake fade compensation control method according to claim 1, wherein the step of controlling a drive motor to output an energy recovery torque according to the brake fade compensation demand comprises:
receiving a brake compensation torque sent by an anti-lock brake system (ABS) when the brake fade compensation demand indicates that there is a demand;
according to the formula: t ═ T1+T2Calculating the energy recovery torque output by the driving motor;
wherein T is the energy recovery torque output by the driving motor; t is1For recovering torque from braking energy, T1The current rotating speed of the motor is a calibration value corresponding to the current rotating speed of the motor; t is2Compensating the torque for braking;
and controlling the driving motor to output the energy recovery torque.
6. A hydraulic brake fade compensation control method is applied to an anti-lock brake system and is characterized by comprising the following steps:
when the whole vehicle is electrified at high voltage, the anti-lock braking system detects the self fault state and the activation state;
if the fault state indicates no fault and the activation state indicates that the brake system is not activated, acquiring the running condition of the brake system;
identifying a braking recession compensation requirement of the vehicle according to the running condition of the braking system;
when the braking recession compensation requirement is identified as a requirement, the braking compensation torque is calculated according to the current speed of the vehicle, the overheating condition of the brake disc or the friction coefficient reduction condition of the brake disc, and a braking compensation torque instruction is sent to the motor controller MCU, so that the MCU controls the driving motor to output extra braking compensation torque on the basis of the original braking energy recovery torque.
7. The hydraulic brake fade compensation control method of claim 6 wherein, if the fault condition indicates no fault and the active condition indicates no activation, the step of obtaining brake system operating conditions comprises:
if the fault state indicates no fault and the activation state indicates no activation, detecting whether a brake fade compensation function is enabled according to a brake fade compensation enable signal sent by a motor controller MCU;
after the brake fade compensation function is confirmed to be enabled, the brake disc overheating condition and the brake disc friction coefficient reduction condition of the brake system are detected.
8. The hydraulic brake fade compensation control method of claim 7 wherein the step of identifying a brake fade compensation requirement for the vehicle based on the brake system operating conditions comprises:
if the overheating condition of the brake disc reaches the calibration heat degree and the brake pedal is stepped down, confirming that the braking recession compensation of the vehicle is required, and sending a braking recession compensation requirement signal to a motor controller MCU (microprogrammed control Unit);
if the overheating condition of the brake disc is smaller than the calibration heat degree, detecting the friction coefficient reduction condition of the brake disc;
and if the friction coefficient of the brake disc is reduced and the brake pedal is stepped down, confirming that the braking recession compensation of the vehicle is required, and sending a braking recession compensation requirement signal to the motor controller MCU.
9. The hydraulic brake fade compensation control method of claim 8 wherein the step of identifying a brake fade compensation requirement for the vehicle based on the brake system operating conditions further comprises:
calculating brake compensation torque according to the current speed of the vehicle, the overheating condition of the brake disc and the reduction condition of the friction coefficient of the brake disc;
and sending the braking compensation torque to a motor controller MCU.
10. A hydraulic brake fade compensation control device, comprising:
the first detection module is used for detecting whether the state of the whole vehicle meets the brake fade compensation enabling condition or not;
the second detection module is used for detecting the braking recession compensation requirement of the vehicle when the whole vehicle state meets the braking recession compensation enabling condition;
the control module is used for controlling the driving motor to output energy recovery torque according to the braking recession compensation requirement;
the motor controller receives a braking compensation torque instruction sent by an anti-lock braking system, calculates a braking energy recovery torque corresponding to the current rotating speed of the driving motor, and controls the driving motor to output the energy recovery torque.
11. The hydraulic brake fade compensation control device according to claim 10, wherein the first detection module comprises:
the first detection unit is used for detecting whether the vehicle is in a high-voltage power-on state or not;
the second detection unit is used for detecting the fault states of a driving motor, a power battery and an anti-lock brake system (ABS) of the vehicle when the vehicle is in a high-voltage power-on state;
the third detection unit is used for detecting the gear, the speed and the SOC (state of charge) of the vehicle if the driving motor, the power battery and the ABS have no faults;
and the first sending unit is used for sending a brake fade compensation enabling signal to the ABS if the gear meets the requirements of being in a D gear, an E gear or an S gear, the vehicle speed is not less than the calibrated vehicle speed, and the SOC is not more than the calibrated electric quantity.
12. The hydraulic brake fade compensation control device of claim 11, wherein the first detection module further comprises:
and the second sending unit is used for sending a brake fade compensation fault signal to the combination meter if at least one of the driving motor, the power battery and the ABS has faults.
13. The hydraulic brake fade compensation control device according to claim 10, wherein the second detection module comprises:
the fourth detection unit is used for detecting whether a brake pedal of the vehicle is stepped down or not when the whole vehicle state meets the brake fade compensation enabling condition;
the first obtaining unit is used for obtaining a brake fade compensation demand signal sent by an anti-lock brake system (ABS) if the brake pedal is stepped on.
14. The hydraulic brake fade compensation control device of claim 10, wherein the control module comprises:
the receiving unit is used for receiving the brake compensation torque sent by an anti-lock brake system (ABS) when the brake fading compensation requirement indicates that the requirement exists;
a first calculation unit for, according to the formula: t ═ T1+T2Calculating the energy recovery torque output by the driving motor;
wherein T is the energy recovery torque output by the driving motor; t is1For recovering torque from braking energy, T1The current rotating speed of the motor is a calibration value corresponding to the current rotating speed of the motor; t is2Compensating the torque for braking;
and the control unit is used for controlling the driving motor to output the energy recovery torque.
15. A hydraulic brake fade compensation control device, comprising:
the third detection module is used for detecting the self fault state and the activation state of the anti-lock brake system when the whole vehicle is electrified at high voltage;
the obtaining module is used for obtaining the running condition of the brake system if the fault state indicates no fault and the activation state indicates that the brake system is not activated;
the identification module is used for identifying the braking recession compensation requirement of the vehicle according to the running condition of the braking system; when the braking recession compensation requirement is identified as a requirement, the braking compensation torque is calculated according to the current speed of the vehicle, the overheating condition of the brake disc or the friction coefficient reduction condition of the brake disc, and a braking compensation torque instruction is sent to the motor controller MCU, so that the MCU controls the driving motor to output extra braking compensation torque on the basis of the original braking energy recovery torque.
16. The hydraulic brake fade compensation control device of claim 15, wherein the acquisition module comprises:
the fifth detection unit is used for detecting whether the brake fade compensation function is enabled or not according to a brake fade compensation enabling signal sent by the motor controller MCU if the fault state indicates no fault and the activation state indicates non-activation;
and the sixth detection unit is used for detecting the brake disc overheating condition and the brake disc friction coefficient reduction condition of the brake system after confirming the brake fade compensation function is enabled.
17. The hydraulic brake fade compensation control device of claim 16, wherein the identification module comprises:
the third sending unit is used for confirming that the braking recession compensation of the vehicle is required if the overheating condition of the brake disc reaches the calibration heat degree and the brake pedal is stepped down, and sending a braking recession compensation requirement signal to the motor controller MCU;
the seventh detection unit is used for detecting the friction coefficient reduction condition of the brake disc if the overheating condition of the brake disc is smaller than the calibration heat degree;
and the fourth sending unit is used for confirming that the braking recession compensation of the vehicle is required if the friction coefficient of the brake disc is reduced and the brake pedal is stepped down, and sending a braking recession compensation requirement signal to the motor controller MCU.
18. The hydraulic brake fade compensation control device of claim 17, wherein the identification module further comprises:
the second calculation unit is used for calculating the braking compensation torque according to the current vehicle speed of the vehicle, the overheating condition of the brake disc and the reduction condition of the friction coefficient of the brake disc;
and the fifth transmitting unit is used for transmitting the braking compensation torque to a motor controller MCU.
19. A vehicle comprising the hydraulic brake fade compensation control device according to any one of claims 10 to 18.
CN201810688375.XA 2018-06-28 2018-06-28 Hydraulic brake fade compensation control method and device and automobile Active CN108860111B (en)

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CN111959471A (en) * 2020-08-21 2020-11-20 上海拿森汽车电子有限公司 Braking force compensation method and device based on decoupling type electronic booster
CN112158187B (en) * 2020-09-17 2021-12-14 中国第一汽车股份有限公司 Deceleration control method under brake disc heat fading working condition
CN114670649A (en) * 2020-12-24 2022-06-28 威马智慧出行科技(上海)股份有限公司 Electric automobile energy recovery method and electronic equipment
CN114715100B (en) * 2022-05-16 2023-04-25 安徽江淮汽车集团股份有限公司 Compensation control method for hydraulic braking of vehicle

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