CN111775714B - Vehicle energy recovery control method based on braking comfort - Google Patents
Vehicle energy recovery control method based on braking comfort Download PDFInfo
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- CN111775714B CN111775714B CN202010762947.1A CN202010762947A CN111775714B CN 111775714 B CN111775714 B CN 111775714B CN 202010762947 A CN202010762947 A CN 202010762947A CN 111775714 B CN111775714 B CN 111775714B
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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
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a vehicle energy recovery control method based on braking comfort, which comprises the following steps: and I, obtaining the opening B (%) of a brake pedal and the rotating speed r of a motor in the braking process of the vehicle. Analyzing and generating a motor braking torque command, wherein the motor braking torque is
. And III, sending the motor braking torque command generated in the step II to a motor controller through CAN communication, and controlling the motor to output corresponding torque by the motor controller. The invention passes the torque coefficient
Realize the braking torque of the motor
The motor braking torque is adjusted, and different parameter b values are taken when the motor rotating speed r corresponds to a constant torque area and a constant power area, so that the motor braking torque is closer to the expectation of a vehicle driver, and the braking comfort is improved.
Description
Technical Field
The invention relates to the field of motor braking of electric or hybrid vehicles, in particular to a vehicle energy recovery control method based on braking comfort.
Background
When the pure electric or hybrid electric vehicle is braked, the traditional mechanical braking is realized, the braking force can be provided by outputting negative torque through the motor, and meanwhile, the kinetic energy of the running vehicle is partially recovered, so that the total energy consumption of the running vehicle is reduced. When a vehicle driver steps on a brake pedal, the vehicle control unit obtains a required electric brake torque through analysis of the opening degree of the brake pedal, transmits a torque instruction to the motor controller through CAN communication, and the motor controller executes corresponding torque output.
Chinese patent publication No. CN109484198A discloses an electric vehicle energy recovery method, which includes the following steps: s1, in the first stage of vehicle energy recovery, controlling the vehicle to uniformly decelerate at a constant deceleration according to the pre-calibrated energy recovery torque; s2, under the condition of meeting the first stage of vehicle energy recovery, stepping on a brake pedal to trigger the second stage of energy recovery; s3, in the second stage of energy recovery: presetting a travel threshold of a brake pedal, and when the travel of the brake pedal is greater than the travel threshold, mechanical braking participates in braking; when the brake pedal stroke is smaller than the stroke threshold value, the energy recovery torque is adjusted according to the stroke size of the brake pedal. This patent proposes that within the idle stroke of the brake pedal, mechanical braking does not take part and the braking force of the vehicle is provided by electric braking, thereby achieving as much energy recovery as possible. However, this patent does not describe a specific method for determining the electric brake torque from the brake pedal opening during the idle stroke and a specific correspondence relationship between the brake pedal opening and the electric brake torque.
The patent number CN102343824B relates to a method and a device for controlling the recovery of braking energy of an electric vehicle, the method and the device collect an accelerator signal, a braking signal, a current vehicle speed and a battery charge state value when the vehicle is in the process of advancing, and when the current vehicle speed is greater than a preset minimum feedback vehicle speed and the accelerator opening is less than a preset feedback threshold or a braking signal is available, a feedback moment is calculated according to the current vehicle speed and the brake opening; when the state of charge value of the battery is smaller than a preset upper limit value, a feedback torque is output to charge the battery pack; when the SOC value of the battery reaches the set limit value, the motor controller controls the motor not to generate brake feedback charging current, and the brake is carried out according to the traditional brake mode. The invention constructs a calculation formula T = K1V + K2Hb of the energy recovery feedback torque, wherein T is the feedback torque; v is the current vehicle speed; hb is the brake pedal opening, and when no brake signal exists, Hb is zero; k1 and K2 are respectively proportional coefficients of the preset feedback torque and the current vehicle speed and proportional coefficients of the preset feedback torque and the brake pedal opening. When V > V1, T = K1V1+ K2Hb, and the preferred range of the maximum proportional feedback vehicle speed V1 is between 30-40 km/h. It is understood that above the vehicle speed of V1, the torque T is related only to the pedal opening Hb. The invention does not consider the torque capacity of the motor at different rotating speeds, and does not consider the change trend of the external characteristics of the motor, namely, the torque T is only related to the opening degree of the brake pedal above the vehicle speed V1.
In practical application, when a vehicle driver lightly steps on the brake (namely when B is more than or equal to 0 and less than a in the application), the main vehicle brake (such as pneumatic brake, hydraulic brake and other transmission mechanical brakes) of the vehicle is not involved, and the motor brake completely provides the vehicle deceleration required by the vehicle driver. If the vehicle starts to decelerate from a higher speed and the motor works in a constant power area, the torque of the motor starts to increase along with the reduction of the rotating speed of the motor until the motor enters the constant torque area where the motor works. The above situation means that the vehicle driver gradually increases the total motor braking torque during the above braking process even if the steady operation brake pedal is maintained at a certain opening degree, which is not in accordance with the operation expectation of the vehicle driver, is detrimental to the comfort of braking, and even affects the driving safety.
Disclosure of Invention
The invention provides a vehicle energy recovery control method based on braking comfort, which aims to solve the problem of poor braking comfort in the existing scheme.
The invention adopts the following technical scheme:
a vehicle energy recovery control method based on braking comfort comprises the following steps:
and I, obtaining the opening B (%) of a brake pedal and the rotating speed r of a motor in the braking process of the vehicle.
Analyzing and generating a motor braking torque command, wherein the motor braking torque is
。
And III, sending the motor braking torque command generated in the step II to a motor controller through CAN communication, and controlling the motor to output corresponding torque by the motor controller.
In the vehicle braking process, when B is more than or equal to 0 and less than a, the vehicle braking is independently executed by the motor braking.
Braking torque of the motor
Comprises the following steps:
wherein the content of the first and second substances,
the ideal external characteristic torque value of the motor at the motor speed r.
The torque coefficient corresponds to the brake pedal opening degree B.
Basic speed
The rotating speed is corresponding to the dividing point of the constant torque area and the constant power area of the rotating speed of the motor. When the rotating speed of the motor is in a constant torque area, the motor can output peak torque
(Nm). When the rotating speed of the motor is in a constant power area, the motor can output peak power
(kW)。
b is a regulating function
Parameters of the curve trend are
Time of flight
Is a convex curve at
Time of flight
Is a concave curve; the value of b is related to the rotating speed r of the motor according to the height of the rotating speed r of the motor (namely corresponding to the rotating speed r)
And
two speed intervals, wherein
From
To
The rotating speed interval of (1) is a correction interval connected between two curves) respectively corresponding to the b value
Is a convex curve or a concave curve.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
first, the present invention passes the torque coefficient
Realize the braking torque of the motor
Adjusting, and taking different parameters b when the motor rotation speed r corresponds to a constant torque area and a constant power area, thereby realizing the following twoThe effect of the aspect is as follows:
first, the brake pedal opening degree B (B) is maintained by the vehicle driver
) In the invariable braking process, the value of b of the invention can be realized when the motor works in a constant power area, namely
When the ratio of the water to the oil is small,
is large; when the machine is operated in the constant-torque region, i.e.
When the size of the product is larger,
is smaller. Therefore, the scheme realizes that the motor braking torque is changed from high speed braking to low speed braking when the vehicle driver maintains the brake pedal opening degree B unchanged
The amplitude of the change is smaller, and the change,
the change curve of the brake is more stable and is closer to the expectation of a vehicle driver, so that the brake comfort is further guaranteed.
Secondly, when the rotating speed of the motor is higher, the value b is taken to ensure that
Is an upward convex curve, and when the rotating speed of the motor is lower, the value b is taken
The brake torque of the motor is realized under any vehicle speed (namely no matter which region the motor rotating speed r is in) by a concave curve and matching with the ideal external characteristic of the motor
The process, which increases as B increases, is more nearly and linear, closer to the expectations of the vehicle driver, improving braking comfort.
Second, the present invention passes a torque coefficient function
The control is realized by matching with the values of different parameters b, the control logic is more scientific and convenient, the implementation cost of the invention content is low, and the applicability is wide.
Third, the invention
As B gets closer to a, the value gets closer to 1 and when B = a,
i.e. when the driver of the vehicle requires a greater braking force, the motor braking torque
=
I.e. to achieve a maximisation of the motor braking torque when required and to achieve as much energy recovery as possible during deceleration of the vehicle.
Further:
definition of high rotation speed of motor
，
. When in use
When passing through
To pair
The correction is carried out so that the correction is carried out,
。
the motor has a braking torque of
Comprises the following steps:
wherein the content of the first and second substances,
to pass through
The corrected torque coefficient.
When in use
When, the corresponding b value is
，
. When in use
When, the corresponding b value is
，
。
As can be seen from the above description of the further embodiments of the present invention, compared with the prior art, the present invention has the following advantages:
first, the present invention is achieved by
The motor speed interval is determined by
To pair
The correction is carried out, the transition of different values of b in two rotating speed intervals is realized, and the advantages of the invention are optimized in a most scientific and simple mode.
Second, in
In the interval of the rotating speed of the motor,
increasing with decreasing r, while keeping B constant,
as r decreases, the changes of the two can be partially offset, and when the vehicle driver decelerates at a certain brake pedal opening B,
the change curve of the brake is more stable and is closer to the expectation of a vehicle driver, and the brake comfort is further guaranteed.
Further:
the vehicle is a pure electric bus. The motor has high rotating speed
For the vehicle at maximum speed or for the vehicleMotor speed at which the vehicle approaches its maximum vehicle speed.
And when B is larger than or equal to a, the vehicle brake is executed by the motor brake and the main driving brake together.
When the B is greater than the a, the B is,
。
the braking system applied by the main service brake is a pneumatic braking system for a passenger car.
As can be seen from the above description of the further embodiments of the present invention, compared with the prior art, the present invention has the following advantages:
first, when B > a in the present invention,
when the pneumatic brake system for the passenger car intervenes, the maximization of the braking torque of the motor can be kept, so that the braking force of the passenger car is optimally improved, and the energy recovery of the vehicle in the deceleration process is realized as much as possible.
Secondly, the rotating speed of a motor when the vehicle is at the highest speed or the vehicle is close to the highest speed is selected as the high rotating speed of the motor in the pure electric bus
Can make
The range of the rotating speed of the motor is wider under a reasonable condition, and the motor can be more targeted according to different vehicle conditions, so that the applicability and the pertinence of the scheme of the invention are improved, the advantages of the invention are ensured, and in addition, the rotating speed range of the motor is wider under a reasonable condition
The acquisition way is convenient and quick, and is convenient to realize.
Drawings
Fig. 1 is a block diagram illustrating a structure of a pure electric bus in a specific embodiment.
Fig. 2 is a control logic block diagram of the control method of the present invention.
FIG. 3 is a graph comparing the braking torque of the motor according to the embodiment.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1, in the present embodiment, the vehicle is a pure electric bus, and the pure electric bus is a common pure electric bus including a vehicle control unit, a battery management system, a power battery, a motor controller, a motor, a drive shaft, a drive wheel, and other structures. The control method comprises the following steps:
and I, acquiring the brake pedal opening degree B (%) and the motor rotating speed r in the vehicle braking process, wherein the brake pedal opening degree B is acquired by a vehicle controller of the vehicle.
Analyzing and generating a motor braking torque command, wherein the motor braking torque is
。
And III, sending the motor braking torque command generated in the step II to a motor controller through CAN communication, and controlling the motor to output corresponding torque by the motor controller.
With continued reference to FIG. 1, during the vehicle braking process described above, vehicle braking is performed solely by electric machine braking when B < a is greater than or equal to 0. And when B is larger than or equal to a, the vehicle brake is executed by the motor brake and the main driving brake together. The braking system applied by the main service brake is a pneumatic braking system for a passenger car. The present embodiment is specifically described by using a pure electric bus using air braking as main driving braking, but after knowing that the present solution can be applied to vehicles with motor braking, including but not limited to pure electric vehicles and hybrid vehicles, a person skilled in the art knows that the present solution can be used to control vehicle braking independently as shown in the present embodiment, and can also be applied in combination with other control logics.
Braking torque of the motor
Comprises the following steps:
wherein the content of the first and second substances,
the ideal external characteristic torque value of the motor at the motor speed r.
The torque coefficient corresponding to the opening degree B of the brake pedal is
When the temperature of the water is higher than the set temperature,
. When the B is greater than the a, the B is,
。
basic speed
The rotating speed is corresponding to the dividing point of the constant torque area and the constant power area of the rotating speed of the motor. When the motor rotating speed is in the constant torque area, the motor outputs peak torque
(Nm). When the motor rotating speed is in the constant power area, the motor outputs the peak power
(kW)。
b is a regulating function
The parameters of the trend of the curve are,
when the temperature of the water is higher than the set temperature,
is a convex curve at
When the temperature of the water is higher than the set temperature,
is a concave curve. The value of b is related to the rotating speed of the motor, and when the rotating speed of the motor is higher, the value of b is taken to ensure that
Is an upward convex curve; when the motor speed is low, the value b is taken
Is a concave curve.
Definition of high rotation speed of motor
，
. When in use
When passing through
To pair
The correction is carried out so that the correction is carried out,
. The
The motor speed at which the vehicle is at or near its maximum speed. The vehicle approaches the section of the highest speed per hour of the vehicle, wherein the highest speed per hour of the vehicle can be more than 90 percent, or the highest speed per hour of the vehicle is-10 km/h, and the like.
The motor has a braking torque of
Comprises the following steps:
wherein the content of the first and second substances,
to pass through
The corrected torque coefficient.
When in use
When, the corresponding b value is
，
. When in use
When, the corresponding b value is
，
。
With reference to FIG. 2, the above
The method specifically comprises the following steps:
when in use
Function of time
Correspond to
The corresponding b value is
，
. The
The specific value can be calibrated according to the subjective evaluation of the vehicle drivers after multiple tests of multiple vehicle drivers are adopted according to specific vehicle types.
When in use
Function of time
Correspond to
The corresponding b value is
，
. The
The specific value can be calibrated according to the subjective evaluation of the vehicle drivers after multiple tests of multiple vehicle drivers are adopted according to specific vehicle types.
When in
When passing through
To pair
Make a correction of
。
Namely at
To
The higher the rotating speed is, the closer the torque coefficient curve is to the motor rotating speed interval
When the rotational speed is
The torque coefficient curve is
(ii) a With decreasing rotation speed, torqueThe curve of the moment coefficient gradually gets away from
Gradually get close to
When the rotational speed is
The torque coefficient curve is
。
Referring to FIG. 3, the pass torque coefficient
Realize the braking torque of the motor
The method for adjusting and further realizing the vehicle energy recovery control is compared with the method for directly adopting the linear correlation with B
Method of performing the control in
In the process that the vehicle decelerates from 60km/h to 10km/h, the change curve of the braking torque of the motor is compared and shown in the figure. Wherein, the segment dotted line with the linear descending trend is the speed trend line of the process that the vehicle decelerates from 60km/h to 10km/h, the dotted line with the ascending first and horizontal trend is directly related to B linearly
The brake torque change curve of the motor controlled by the control method is characterized in that a solid line with a trend of ascending first and then horizontal is a passing torque coefficient
Realize the braking torque of the motor
And carrying out the adjusted motor braking torque change curve. As can be seen from the figure, the motor braking torque variation curve of the present embodiment is more gradual, that is, the advantages of the present invention in the above summary of the invention are achieved.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.
Claims (7)
1. A vehicle energy recovery control method based on braking comfort comprises the following steps:
i, obtaining the opening B (%) of a brake pedal and the rotating speed r of a motor in the braking process of a vehicle;
analyzing and generating a motor braking torque command, wherein the motor braking torque is
；
Sending the motor braking torque command generated in the step II to a motor controller through CAN communication, and controlling the motor to execute corresponding torque output by the motor controller;
the method is characterized in that: in the vehicle braking process, when B is more than or equal to 0 and less than a, the vehicle braking is independently executed by the motor braking; when B is larger than or equal to a, the vehicle brake is executed by the motor brake and the main driving brake together; braking torque of the motor
Comprises the following steps:
wherein the content of the first and second substances,
the ideal external characteristic torque value of the motor is the ideal external characteristic torque value of the motor when the motor rotates at the speed r;
the torque coefficient is corresponding to the opening degree B of the brake pedal;
basic speed
The rotating speed is corresponding to a dividing point of a constant torque area and a constant power area of the rotating speed of the motor; when the rotating speed of the motor is in a constant torque area, the motor can output peak torque
(Nm); when the rotating speed of the motor is in a constant power area, the motor can output peak power
(kW)；
b is a regulating function
Parameters of the curve trend are
Time of flight
Is a convex curve at
Time of flight
Is a concave curve; the value of b is related to the rotating speed r of the motor, and the values of b are respectively and correspondingly taken according to the height of the rotating speed r of the motor
Is a convex curve or a concave curve.
2. The vehicle energy recovery control method based on braking comfort according to claim 1, characterized in that: definition of high rotation speed of motor
，
(ii) a When in use
When passing through
To pair
The correction is carried out so that the correction is carried out,
。
3. the vehicle energy recovery control method based on braking comfort according to claim 2, characterized in that: the motor braking torque is
Comprises the following steps:
wherein the content of the first and second substances,
to pass through
The corrected torque coefficient;
when in use
When, the corresponding b value is
，
(ii) a When in use
When, the corresponding b value is
，
。
4. The vehicle energy recovery control method based on braking comfort according to claim 2, characterized in that: the vehicle is a pure electric bus; the motor has high rotating speed
For the vehicle at maximum speed or for the vehicle to be connectedMotor speed near its maximum vehicle speed.
5. The vehicle energy recovery control method based on braking comfort according to claim 1, characterized in that: and when B is larger than or equal to a, the vehicle brake is executed by the motor brake and the main driving brake together.
6. The vehicle energy recovery control method based on braking comfort according to claim 5, characterized in that: when the B is greater than the a, the B is,
。
7. the vehicle energy recovery control method based on braking comfort according to claim 5, characterized in that: the brake system applied by the main service brake is a pneumatic brake system for a passenger car.
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| CN202010762947.1A CN111775714B (en) | 2020-07-31 | 2020-07-31 | Vehicle energy recovery control method based on braking comfort |
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|---|---|---|---|
| CN202010762947.1A CN111775714B (en) | 2020-07-31 | 2020-07-31 | Vehicle energy recovery control method based on braking comfort |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112606702B (en) * | 2020-11-30 | 2022-06-03 | 江铃汽车股份有限公司 | Energy recovery control method and system, storage medium and computer equipment |
| CN113619399B (en) * | 2021-09-08 | 2022-09-16 | 安徽江淮汽车集团股份有限公司 | Braking energy recovery control method based on driving behavior analysis |
| CN113858961B (en) * | 2021-10-22 | 2023-04-18 | 航天重型工程装备有限公司 | Electric brake control method and system for electric explosion-proof trackless rubber-tyred vehicle |
| CN118003901B (en) * | 2024-04-10 | 2024-06-04 | 成都壹为新能源汽车有限公司 | Method and device for processing braking energy recovery torque of electric automobile |
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