CN109591608B - Electric automobile brake control method, whole automobile control device and system - Google Patents
Electric automobile brake control method, whole automobile control device and system Download PDFInfo
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- CN109591608B CN109591608B CN201811465649.5A CN201811465649A CN109591608B CN 109591608 B CN109591608 B CN 109591608B CN 201811465649 A CN201811465649 A CN 201811465649A CN 109591608 B CN109591608 B CN 109591608B
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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
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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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
Abstract
The invention provides a brake control method of an electric automobile, a control device of the whole automobile and a system, wherein the method comprises the following steps: when the electric automobile brakes, the opening information of the brake pedal is collected. And calculating a difference value between the total braking torque of the vehicle provided by the electric automobile and the total braking torque required by the vehicle, wherein the total braking torque required by the vehicle is calculated and obtained on the basis of the opening information. And judging whether the difference value is out of a preset threshold range. If so, calculating the compensation braking torque based on the difference value when the electric automobile is abnormally braked. And performing braking compensation on the total braking torque of the vehicle based on the compensation braking torque. According to the scheme provided by the invention, when the electric automobile brakes, the opening information of the brake pedal is collected, the difference value between the total braking torque of the vehicle provided by the electric automobile and the total required braking torque of the vehicle is calculated, and when the difference value is out of the preset threshold range, the electric automobile brakes abnormally. And calculating a compensation torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle. The safety performance and the reliability of the electric automobile are improved.
Description
Technical Field
The invention relates to the technical field of electric automobile brake control, in particular to an electric automobile brake control method, a whole automobile control device and a whole automobile control system.
Background
With the development of science and technology, electric vehicles gradually become vehicles used by people for going out. When using an electric vehicle, the safety problem of the electric vehicle becomes the most concerned problem, wherein the braking system of the electric vehicle is an important factor for showing the safety performance of the electric vehicle.
The braking system of the electric automobile is divided into two parts, namely brake braking and motor energy recovery braking. The conventional electric automobile braking system calculates the required total braking torque by acquiring the opening degree of a brake pedal, and then distributes the required total braking torque to a brake and a motor according to a certain rule for braking. However, the prior art only distributes the required total braking torque to the brake and the motor for braking, and does not consider the abnormal situation that the braking torque provided by the brake and the motor cannot meet or greatly exceeds the required total braking torque. The safety performance and the reliability of the electric automobile are low in the driving process.
Therefore, the prior art has the problem that the safety performance and the reliability of the electric automobile are lower in the driving process.
Disclosure of Invention
In view of this, embodiments of the present invention provide a brake control method, a vehicle control device and a system for an electric vehicle, so as to solve the problem in the prior art that the safety performance and reliability of the electric vehicle are low during the driving process.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
the first aspect of the embodiment of the invention provides a brake control method for an electric vehicle, which comprises the following steps:
when the electric automobile brakes, acquiring opening information of a brake pedal of the electric automobile;
calculating a difference value between a total vehicle braking torque provided by the electric automobile and a total vehicle required braking torque, wherein the total vehicle required braking torque is obtained by calculation based on the opening information;
judging whether the difference value is out of a preset threshold range;
if yes, calculating a compensation braking torque based on the difference value when the electric automobile is abnormal in braking;
and performing braking compensation on the total braking torque of the vehicle based on the compensation braking torque.
Optionally, the performing braking compensation on the total braking torque of the vehicle based on the compensated braking torque includes:
calculating a torque difference value of a motor energy recovery braking torque of the electric automobile and a braking torque required by motor energy recovery;
if the torque difference value is out of a preset threshold range;
if the motor energy recovery braking of the electric automobile is abnormal, the compensation braking torque is added into the braking torque required by the brake;
and the total braking torque of the vehicle consists of the motor energy recovery braking torque and the brake braking torque.
Optionally, the performing braking compensation on the total braking torque of the vehicle based on the compensated braking torque includes:
calculating a torque difference value of a motor energy recovery braking torque of the electric automobile and a braking torque required by motor energy recovery;
if the torque difference value is within a preset threshold range;
if the brake of the electric automobile is abnormal, the compensation braking torque is added into the braking torque required by motor energy recovery;
and the total braking torque of the vehicle consists of the motor energy recovery braking torque and the brake braking torque.
Optionally, the calculating process of the total braking torque of the vehicle includes:
when the electric automobile brakes, based on Newton's second law, utilizing
Calculating to obtain the total braking torque T of the vehiclebWherein alpha is a road slope angle, r is a wheel radius, f is a rolling resistance coefficient, CDIs the coefficient of air resistance, A is the frontal area, is the coefficient of conversion of the rotating mass of the vehicle, a1Is the acceleration of the vehicle during braking, V is the vehicle speed, G is the vehicle gravity, and m is the utilization during acceleration of the electric vehicle
Calculated total vehicle mass, TMFor motor drive torque, i is the gear ratio, a2Is the acceleration of the vehicle when accelerating.
Optionally, the method further includes:
and if the difference value is out of the preset threshold range, displaying preset information indicating that the electric automobile is abnormally braked on an instrument panel or a central control screen of the electric automobile.
The second aspect of the embodiment of the present invention discloses a vehicle control device, including:
the braking torque monitoring unit is used for acquiring opening information of a braking pedal of the electric automobile when the electric automobile brakes, calculating a difference value between total braking torque of the electric automobile and total braking torque required by the electric automobile, judging whether the difference value is out of a preset threshold range, if so, braking the electric automobile abnormally, and executing the braking torque compensation unit, wherein the total braking torque required by the electric automobile is obtained by calculation based on the opening information; and the braking torque compensation unit is used for calculating a compensation braking torque based on the difference value and carrying out braking compensation on the total braking torque of the vehicle based on the compensation braking torque.
Optionally, the braking torque compensation unit includes:
the calculation module is used for calculating a torque difference value of a motor energy recovery braking torque of the electric automobile and a motor energy recovery demand braking torque;
the judgment module is used for judging that the torque difference value is out of a preset threshold range, if so, the motor energy recovery braking of the electric automobile is abnormal, and the brake compensation module is executed, otherwise, the brake braking of the electric automobile is abnormal, and the motor compensation module is executed;
a brake compensation module for adding the compensated braking torque to a brake demand braking torque;
the motor compensation module is used for adding the compensation braking torque into the braking torque required by motor energy recovery;
and the total braking torque of the vehicle consists of the motor energy recovery braking torque and the brake braking torque.
Optionally, the braking torque monitoring unit includes:
a total braking torque calculation module for utilizing Newton's second law when the electric vehicle brakes
Calculating to obtain the total braking torque T of the vehiclebWherein alpha is a road slope angle, r is a wheel radius, f is a rolling resistance coefficient, CDIs the coefficient of air resistance, A is the frontal area, is the coefficient of conversion of the rotating mass of the vehicle, a1Is the acceleration of the vehicle during braking, V is the vehicle speed, G is the vehicle gravity, and m is the utilization during acceleration of the electric vehicle
Calculated total vehicle mass, TMFor motor drive torque, i is the gear ratio, a2Is the acceleration of the vehicle when accelerating;
and the judging module is used for judging whether the difference value is out of a preset threshold range.
Optionally, the apparatus further comprises:
and the display unit is used for displaying preset information indicating that the electric automobile is abnormally braked on an instrument panel or a central control screen of the electric automobile when the difference value is not in a preset threshold range.
The third aspect of the embodiment of the invention discloses a brake control system of an electric automobile, which comprises: a motor control device, a brake control device, and a vehicle control device disclosed in the second aspect of the embodiment of the present invention;
the whole vehicle control device is used for acquiring the opening information of a brake pedal of an electric vehicle when the electric vehicle brakes, calculating the difference value between the total braking torque of the vehicle provided by the electric vehicle and the total braking torque of the vehicle, judging whether the difference value is out of a preset threshold range, if so, determining that the electric vehicle brakes abnormally, calculating a compensation braking torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle based on the compensation braking torque;
the motor control device is used for carrying out braking compensation on the total braking torque of the vehicle when receiving the compensation braking torque;
a brake control device for performing brake compensation on the total brake torque of the vehicle when receiving the compensation brake torque
Based on the above-mentioned electric automobile brake control method, the whole automobile control device and the system provided by the embodiment of the invention, the method comprises the following steps: when the electric automobile brakes, the opening information of the brake pedal of the electric automobile is collected. And calculating a difference value between the total braking torque of the vehicle provided by the electric automobile and the total braking torque required by the vehicle, wherein the total braking torque required by the vehicle is calculated and obtained on the basis of the opening information. And judging whether the difference value is out of a preset threshold range. If so, calculating the compensation braking torque based on the difference value when the electric automobile is abnormally braked. And performing braking compensation on the total braking torque of the vehicle based on the compensation braking torque. According to the scheme provided by the invention, when the electric automobile brakes, the difference value between the total braking torque of the vehicle provided by the electric automobile and the total required braking torque of the vehicle is calculated by acquiring the opening information of the brake pedal, and when the difference value is out of the preset threshold range, the electric automobile brakes abnormally. And calculating a compensation torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle. The safety performance and the reliability of the electric automobile are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a braking control method for an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of brake compensation for a total braking torque of a vehicle according to an embodiment of the present invention;
fig. 3 is a block diagram of a vehicle control device according to an embodiment of the present invention;
fig. 4 is a block diagram of a vehicle control device according to an embodiment of the present invention;
fig. 5 is a block diagram of a vehicle control device according to an embodiment of the present invention;
fig. 6 is a block diagram of a vehicle control device according to an embodiment of the present invention;
fig. 7 is a block diagram of a brake control system of an electric vehicle according to an embodiment of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In this application, 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 background art shows that the conventional electric automobile braking system calculates the required total braking torque by acquiring the opening degree of a brake pedal, and then distributes the required total braking torque to a brake and a motor according to a certain rule for braking. However, the prior art only distributes the required total braking torque to the brake and the motor for braking, and does not consider the abnormal situation that the braking torque provided by the brake and the motor cannot meet or greatly exceeds the required total braking torque. The safety performance and the reliability of the electric automobile are low in the driving process.
Therefore, the embodiment of the invention provides a braking control scheme for an electric automobile, in the scheme provided by the invention, when the electric automobile brakes, the difference value between the total braking torque of the vehicle provided by the electric automobile and the total required braking torque of the vehicle is calculated by acquiring the opening degree information of a brake pedal, and when the difference value is out of the preset threshold range, the electric automobile brakes abnormally. And calculating a compensation torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle. The safety performance and the reliability of the electric automobile are improved.
Referring to fig. 1, a method for controlling braking of an electric vehicle according to an embodiment of the present invention is shown, and the method includes the following steps:
step S101: when the electric automobile brakes, the opening information of a brake pedal of the electric automobile is collected.
Step S102: and calculating the difference value of the total braking torque of the vehicle provided by the electric vehicle and the total braking torque required by the vehicle.
In the step S102, the total required braking torque of the vehicle is calculated based on the opening degree information.
The total braking torque provided by the electric automobile consists of motor energy recovery braking torque and brake braking torque. The specific calculation process is as follows:
when the electric automobile is braked, the total braking torque T of the vehicle is calculated and obtained by utilizing a formula (1) based on Newton's second lawb。
The formula (1) is:
wherein alpha is a road slope angle, r is a wheel radius, f is a rolling resistance coefficient, CDIs the coefficient of air resistance, A is the frontal area, is the coefficient of conversion of the rotating mass of the vehicle, a1The acceleration of the vehicle during braking, V is the vehicle speed, G is the vehicle gravity, and m is the total vehicle mass calculated by using the formula (2) during acceleration of the electric vehicle.
The formula (2) is:
wherein, TMFor motor drive torque, i is the gear ratio, a2Is the acceleration of the vehicle when accelerating.
It should be noted that α is obtained by a gradient sensor and sent to a vehicle Controller through a Controller Area Network (CAN) message, V is obtained by converting a motor rotation speed, acceleration is obtained by deriving a vehicle speed, and T is obtained by calculating a vehicle speedMAnd the motor controller sends the signals to the vehicle control unit through CAN messages.
Step S103: and judging whether the difference value is out of a preset threshold range, if so, executing the step S104, and if not, braking the electric automobile normally.
In the process of specifically implementing step S103, a threshold range is preset, and whether braking of the electric vehicle is normal is determined by determining whether the difference is outside the preset threshold range.
The braking abnormality of the electric vehicle includes, but is not limited to, the following two cases:
one is that the total braking torque of the vehicle provided by the electric automobile exceeds the preset threshold value of the total braking torque required by the vehicle, and the other is that the total braking torque of the vehicle provided by the electric automobile is lower than the preset threshold value of the total braking torque required by the vehicle.
Preferably, if the difference is outside a preset threshold range, displaying preset information indicating that the electric vehicle is abnormally braked on an instrument panel or a central control screen of the electric vehicle. For example, whether the braking of the electric vehicle is abnormal is indicated through an indicator light on an instrument panel of the electric vehicle, or the following information is displayed on a central control screen: the text message of 'abnormal braking of the automobile' reminds the driver.
Step S104: and when the electric automobile is abnormal in braking, calculating a compensation braking torque based on the difference value.
In the process of implementing step S104, the compensation braking torque is equal to the difference.
Step S105: and performing braking compensation on the total braking torque of the vehicle based on the compensation braking torque.
In the embodiment of the invention, the difference value between the total braking torque of the vehicle provided by the electric vehicle and the total braking torque required by the vehicle is calculated by collecting the opening information of the braking pedal of the electric vehicle, and when the difference value is out of the preset threshold range, the braking of the electric vehicle is abnormal. And calculating a compensation torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle. The safety performance and the reliability of the electric automobile are improved, and further, the safety risk caused by brake failure is reduced.
Referring to fig. 2, the process of performing braking compensation on the total braking torque of the vehicle related to step S105 disclosed in fig. 1 is shown as a flowchart of performing braking compensation on the total braking torque of the vehicle according to an embodiment of the present invention, and includes the following steps:
step S201: and calculating the torque difference value of the motor energy recovery braking torque of the electric automobile and the braking torque required by the motor energy recovery.
In the process of implementing step S201 specifically, when the electric vehicle brakes, the total braking torque of the vehicle provided by the electric vehicle is composed of the motor energy recovery braking torque and the brake braking torque. When the electric automobile is abnormally braked, whether the electric automobile is abnormally braked or not can be judged by calculating the torque difference value of the motor energy recovery braking torque and the motor energy recovery demand braking torque.
It should be noted that the principle of providing the braking torque by the motor of the electric vehicle is as follows: the reverse torque request is sent to the motor, the motor is driven to generate reverse torque, and the reverse torque is transmitted to wheels through a transmission system, so that braking torque is generated.
Step S202: and judging whether the torque difference value is out of a preset threshold range, if so, executing step S203, and if not, executing step S204.
In the process of specifically implementing the step S202, by presetting a threshold range, when the torque difference is within the threshold range, it is determined that the motor energy recovery braking of the electric vehicle is normal, and otherwise, it is determined that the motor energy recovery braking of the electric vehicle is abnormal. Such as: the preset threshold range is a-b, the moment difference value is c, and a, b and c are real numbers. And when a < c < b, determining that the motor energy recovery braking of the electric automobile is normal, and when c < a or c > b, determining that the motor energy recovery braking of the electric automobile is abnormal.
Step S203: determining that the motor energy recovery braking of the electric automobile is abnormal, and adding the compensation braking torque into the braking torque required by the brake.
In the process of specifically implementing the step S203, determining that the motor energy recovery braking of the electric vehicle is abnormal, and ensuring the driving safety of the electric vehicle by adding the compensation braking torque to the brake demand braking torque.
Step S204: determining that the brake of the electric automobile is abnormal, and adding the compensation brake torque to the motor energy recovery demand brake torque.
In the process of specifically implementing the step S204, determining that the brake of the electric automobile is abnormal, and ensuring the running safety of the electric automobile by adding the compensation brake torque to the motor energy recovery demand brake torque.
In the embodiment of the invention, the difference value between the total braking torque of the vehicle provided by the electric vehicle and the total braking torque required by the vehicle is calculated by collecting the opening information of the braking pedal of the electric vehicle, and when the difference value is out of the preset threshold range, the braking of the electric vehicle is abnormal. And calculating a compensation torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle. The safety performance and the reliability of the electric automobile are improved, and further, the safety risk caused by brake failure is reduced.
Corresponding to the method for controlling braking of an electric vehicle provided in the embodiment of the present invention, referring to fig. 3, the embodiment of the present invention further provides a structural block diagram of a vehicle control device, where the vehicle control device includes: a brake torque monitoring unit 301 and a brake torque compensating unit 302.
The braking torque monitoring unit 301 is configured to collect opening information of a braking pedal of the electric vehicle when the electric vehicle brakes, calculate a difference between a total braking torque of the vehicle provided by the electric vehicle and a total braking torque required by the vehicle, and determine whether the difference is outside a preset threshold range, if so, execute the braking torque compensation unit 302 if the electric vehicle brakes abnormally.
Wherein the total vehicle demand braking torque is calculated based on the opening degree information. For specific contents, refer to the contents corresponding to steps S101-S103 disclosed in fig. 1 of the above embodiment of the present invention.
And a braking torque compensation unit 302, configured to calculate a compensation braking torque based on the difference, and perform braking compensation on the total braking torque of the vehicle based on the compensation braking torque.
In the embodiment of the invention, the braking function safety control function related to the invention is integrated in the whole vehicle control unit, and the used braking torque monitoring function and the braking torque compensation control function can effectively ensure the whole vehicle safety when the braking function is abnormal. The method comprises the steps of calculating the difference value of the total braking torque of the vehicle and the total braking torque required by the vehicle, which are provided by the electric vehicle, by acquiring the opening information of a braking pedal of the electric vehicle, and when the difference value is out of a preset threshold range, braking of the electric vehicle is abnormal. And calculating a compensation torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle. The safety performance and the reliability of the electric automobile are improved, and further, the safety risk caused by brake failure is reduced.
Referring to fig. 4, which shows a structural block diagram of a vehicle control device provided in an embodiment of the present invention, the braking torque compensation unit 302 includes: a calculation module 3021, a determination module 3022, a brake compensation module 3023, and a motor compensation module 3024.
The calculating module 3021 is configured to calculate a torque difference between a motor energy recovery braking torque of the electric vehicle and a motor energy recovery demand braking torque. For specific content, refer to the content corresponding to step S201 disclosed in fig. 2 of the embodiment of the present invention.
A determining module 3022, configured to determine that the torque difference is outside a preset threshold range, if the torque difference is outside the preset threshold range, execute the brake compensating module 3023 when the motor energy recovery braking of the electric vehicle is abnormal, otherwise execute the motor compensating module 3024 when the brake of the electric vehicle is abnormal. For specific content, refer to the content corresponding to step S202 disclosed in fig. 2 of the embodiment of the present invention.
A brake compensation module 3023 for adding the compensated brake torque to the brake demand brake torque. For specific content, refer to the content corresponding to step S203 disclosed in fig. 2 of the embodiment of the present invention.
A motor compensation module 3024 for adding the compensated brake torque to the motor energy recovery demand brake torque. For specific content, refer to the content corresponding to step S204 disclosed in fig. 2 of the embodiment of the present invention.
And the total braking torque of the vehicle consists of the motor energy recovery braking torque and the brake braking torque.
In the embodiment of the invention, the difference value between the total braking torque of the vehicle provided by the electric vehicle and the total braking torque required by the vehicle is calculated by collecting the opening information of the braking pedal of the electric vehicle, and when the difference value is out of the preset threshold range, the braking of the electric vehicle is abnormal. And calculating a compensation torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle. The safety performance and the reliability of the electric automobile are improved, and further, the safety risk caused by brake failure is reduced.
Referring to fig. 5, which shows a structural block diagram of a vehicle control device provided in an embodiment of the present invention, the brake monitoring unit 301 includes:
a total braking torque calculation module 3011, configured to calculate, based on newton's second law, a total braking torque T of the vehicle according to the formula (1) and the formula (2) when the electric vehicle brakesb。
And the judging module 3012 is configured to judge whether the difference is outside a preset threshold range.
In the embodiment of the invention, the difference value between the total braking torque of the vehicle provided by the electric vehicle and the total braking torque required by the vehicle is calculated by collecting the opening information of the braking pedal of the electric vehicle, and when the difference value is out of the preset threshold range, the braking of the electric vehicle is abnormal. And calculating a compensation torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle. The safety performance and the reliability of the electric automobile are improved, and further, the safety risk caused by brake failure is reduced.
Referring to fig. 6 in combination with fig. 3, a block diagram of a structure of a vehicle control device according to an embodiment of the present invention is shown, where the vehicle control device further includes:
a display unit 303, configured to display preset information indicating that the electric vehicle is abnormally braked on an instrument panel or a central control screen of the electric vehicle when the difference is outside a preset threshold range.
In the embodiment of the invention, the difference value between the total braking torque of the vehicle provided by the electric vehicle and the total braking torque required by the vehicle is calculated by collecting the opening information of the braking pedal of the electric vehicle, and when the difference value is out of the preset threshold range, the braking of the electric vehicle is abnormal. And calculating a compensation torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle. The safety performance and the reliability of the electric automobile are improved, and further, the safety risk caused by brake failure is reduced.
Corresponding to the above-mentioned electric vehicle brake control method and vehicle control device provided by the embodiment of the present invention, referring to fig. 7, the embodiment of the present invention further provides a structural block diagram of an electric vehicle brake control system, where the system includes: the vehicle control device 701, the motor control device 702, and the brake control device 703 shown in fig. 3 to 6 are described above.
Whole car controlling means 701 for when electric automobile brakies, gather electric automobile's brake pedal's aperture information, calculate the difference of the total braking torque of vehicle that electric automobile provided and the total demand braking torque of vehicle judges whether the difference is outside predetermined threshold value scope, if, confirms electric automobile braking is unusual, based on the difference calculates compensation braking torque, based on compensation braking torque, it is right the total braking torque of vehicle carries out the braking compensation.
And the motor control device 702 is used for carrying out braking compensation on the total braking torque of the vehicle when receiving the compensation braking torque. And when receiving the compensation braking torque, adding the compensation braking torque to the motor energy recovery demand braking torque.
And the brake control device 703 is configured to perform brake compensation on the total vehicle brake torque when receiving the compensated brake torque. Upon receipt of the compensating braking torque, adding the compensating braking torque to the brake demand braking torque.
In summary, the present invention provides a brake control method, a vehicle control device and a system for an electric vehicle, the method includes: when the electric automobile brakes, the opening information of the brake pedal of the electric automobile is collected. And calculating a difference value between the total braking torque of the vehicle provided by the electric automobile and the total braking torque required by the vehicle, wherein the total braking torque required by the vehicle is calculated and obtained on the basis of the opening information. And judging whether the difference value is out of a preset threshold range. If so, calculating the compensation braking torque based on the difference value when the electric automobile is abnormally braked. And performing braking compensation on the total braking torque of the vehicle based on the compensation braking torque. According to the scheme provided by the invention, when the electric automobile brakes, the difference value between the total braking torque of the vehicle provided by the electric automobile and the total required braking torque of the vehicle is calculated by acquiring the opening information of the brake pedal, and when the difference value is out of the preset threshold range, the electric automobile brakes abnormally. And calculating a compensation torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle. The safety performance and the reliability of the electric automobile are improved, and further, the safety risk caused by brake failure is reduced.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A brake control method for an electric vehicle, the method comprising:
when the electric automobile brakes, acquiring opening information of a brake pedal of the electric automobile;
calculating a difference value between a total vehicle braking torque provided by the electric automobile and a total vehicle required braking torque, wherein the total vehicle required braking torque is obtained by calculation based on the opening information;
judging whether the difference value is out of a preset threshold range;
if yes, calculating a compensation braking torque based on the difference value when the electric automobile is abnormal in braking;
and performing braking compensation on the total braking torque of the vehicle based on the compensation braking torque.
2. The method of claim 1, wherein brake compensating the vehicle total braking torque based on the compensating braking torque comprises:
calculating a torque difference value of a motor energy recovery braking torque of the electric automobile and a braking torque required by motor energy recovery;
if the torque difference value is out of a preset threshold range;
if the motor energy recovery braking of the electric automobile is abnormal, the compensation braking torque is added into the braking torque required by the brake;
and the total braking torque of the vehicle consists of the motor energy recovery braking torque and the brake braking torque.
3. The method of claim 1, wherein brake compensating the vehicle total braking torque based on the compensating braking torque comprises:
calculating a torque difference value of a motor energy recovery braking torque of the electric automobile and a braking torque required by motor energy recovery;
if the torque difference value is within a preset threshold range;
if the brake of the electric automobile is abnormal, the compensation braking torque is added into the braking torque required by motor energy recovery;
and the total braking torque of the vehicle consists of the motor energy recovery braking torque and the brake braking torque.
4. The method of claim 1, wherein the calculating of the total vehicle braking torque comprises:
when the electric vehicle brakes, based onNewton's second law using
Calculating to obtain the total braking torque T of the vehiclebWherein alpha is a road slope angle, r is a wheel radius, f is a rolling resistance coefficient, CDIs the coefficient of air resistance, A is the frontal area, is the coefficient of conversion of the rotating mass of the vehicle, a1Is the acceleration of the vehicle during braking, V is the vehicle speed, G is the vehicle gravity, and m is the utilization during acceleration of the electric vehicle
Calculated total vehicle mass, TMFor motor drive torque, i is the gear ratio, a2Is the acceleration of the vehicle when accelerating.
5. The method of claim 1, further comprising:
and if the difference value is out of the preset threshold range, displaying preset information indicating that the electric automobile is abnormally braked on an instrument panel or a central control screen of the electric automobile.
6. The utility model provides a whole car controlling means which characterized in that, whole car controlling means includes:
the braking torque monitoring unit is used for acquiring opening information of a braking pedal of the electric automobile when the electric automobile brakes, calculating a difference value between total braking torque of the electric automobile and total braking torque required by the electric automobile, judging whether the difference value is out of a preset threshold range, if so, braking the electric automobile abnormally, and executing the braking torque compensation unit, wherein the total braking torque required by the electric automobile is obtained by calculation based on the opening information; and the braking torque compensation unit is used for calculating a compensation braking torque based on the difference value and carrying out braking compensation on the total braking torque of the vehicle based on the compensation braking torque.
7. The vehicle control apparatus according to claim 6, wherein the braking torque compensation unit includes:
the calculation module is used for calculating a torque difference value of a motor energy recovery braking torque of the electric automobile and a motor energy recovery demand braking torque;
the judgment module is used for judging that the torque difference value is out of a preset threshold range, if so, the motor energy recovery braking of the electric automobile is abnormal, and the brake compensation module is executed, otherwise, the brake braking of the electric automobile is abnormal, and the motor compensation module is executed;
a brake compensation module for adding the compensated braking torque to a brake demand braking torque;
the motor compensation module is used for adding the compensation braking torque into the braking torque required by motor energy recovery;
and the total braking torque of the vehicle consists of the motor energy recovery braking torque and the brake braking torque.
8. The vehicle control apparatus according to claim 6, wherein the braking torque monitoring unit includes:
a total braking torque calculation module for utilizing Newton's second law when the electric vehicle brakes
Calculating to obtain the total braking torque T of the vehiclebWherein alpha is a road slope angle, r is a wheel radius, f is a rolling resistance coefficient, CDIs the coefficient of air resistance, A is the frontal area, is the coefficient of conversion of the rotating mass of the vehicle, a1Is the acceleration of the vehicle during braking, V is the vehicle speed, G is the vehicle gravity, and m is the utilization during acceleration of the electric vehicle
Calculated total vehicle mass, TMFor motor drive torque, i is the gear ratio, a2For vehicles during accelerationAcceleration of (2);
and the judging module is used for judging whether the difference value is out of a preset threshold range.
9. The vehicle control apparatus according to claim 6, further comprising:
and the display unit is used for displaying preset information indicating that the electric automobile is abnormally braked on an instrument panel or a central control screen of the electric automobile when the difference value is not in a preset threshold range.
10. An electric vehicle brake control system, the system comprising: motor control means, brake control means and a vehicle control device according to any of claims 6 to 9;
the whole vehicle control device is used for acquiring the opening information of a brake pedal of an electric vehicle when the electric vehicle brakes, calculating the difference value between the total braking torque of the vehicle provided by the electric vehicle and the total braking torque of the vehicle, judging whether the difference value is out of a preset threshold range, if so, determining that the electric vehicle brakes abnormally, calculating a compensation braking torque based on the difference value, and performing braking compensation on the total braking torque of the vehicle based on the compensation braking torque;
the motor control device is used for carrying out braking compensation on the total braking torque of the vehicle when receiving the compensation braking torque;
and the brake control device is used for carrying out brake compensation on the total brake torque of the vehicle when receiving the compensation brake torque.
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