CN111873972A - Motor braking method and system based on brake pedal feeling - Google Patents
Motor braking method and system based on brake pedal feeling Download PDFInfo
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- CN111873972A CN111873972A CN202010705507.2A CN202010705507A CN111873972A CN 111873972 A CN111873972 A CN 111873972A CN 202010705507 A CN202010705507 A CN 202010705507A CN 111873972 A CN111873972 A CN 111873972A
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- braking
- motor
- brake pedal
- vehicle
- adjustment coefficient
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Classifications
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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
- B60T13/74—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
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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
- 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
- B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
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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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The invention discloses a motor braking method and a motor braking system based on brake pedal feeling, and the method specifically comprises the following steps: s1, searching a corresponding motor braking adjustment coefficient K in real time based on the current brake pedal travel t and the current vehicle speed v; s2, acquiring initial braking torque based on the travel t of the brake pedal and the vehicle speed v; s3, correcting the initial braking torque based on the motor braking adjustment coefficient K; under the same braking stroke, the motor outputs stable braking torque under different vehicle speeds based on the motor braking torque adjustment coefficient K. The motor braking torque is adjusted based on the motor braking adjustment coefficient K, and the adjusted motor braking more meets the driving habit of a user, namely the feeling of a brake pedal is ensured; on the premise of ensuring pedal feel control, the driving feel of a customer is met, and braking energy of the whole vehicle can be recovered.
Description
Technical Field
The invention belongs to the technical field of new energy automobiles, and particularly relates to a motor braking method and system based on brake pedal feeling.
Background
The braking energy recovery is an important energy-saving method of the electric automobile, namely in the process of vehicle deceleration or braking, under the condition of ensuring the braking performance of the vehicle, the kinetic energy of the vehicle is generated by the anti-dragging motor, converted into electric energy and stored in the power battery, so that the energy recovery is realized, and meanwhile, part of braking force required by the vehicle is generated, thereby not only realizing the deceleration and braking of the vehicle, but also improving the endurance mileage of the whole automobile and reducing the abrasion of a brake friction plate.
The series type braking energy recovery can recover the kinetic energy to the maximum, but according to the characteristics of the external characteristics of the torque output of the motor, the motor braking force can provide larger braking force at low speed, and the braking force provided at high speed is smaller, so that the motor braking force characteristics are not in line with the driving habits of users.
Disclosure of Invention
The invention provides a motor braking method based on a brake pedal feeling, and aims to solve the problems.
The invention is realized in such a way, and the motor braking method based on the feeling of a brake pedal specifically comprises the following steps:
s1, searching a corresponding motor braking adjustment coefficient K in real time based on the current brake pedal travel t and the current vehicle speed v;
s2, acquiring initial motor braking torque based on the travel t of the brake pedal and the vehicle speed v;
s3, correcting the initial motor braking torque based on the motor braking adjustment coefficient K;
under the same brake pedal stroke, the motor outputs stable brake torque under different vehicle speeds based on the motor brake adjustment coefficient K.
Further, the step S1 specifically includes the following steps:
s1, establishing a series motor brake model of the electric automobile, and calibrating vehicle parameters;
and S2, calibrating the motor braking adjustment coefficient K in the sliding state and the braking state according to the demand of the brake pedal.
Further, the calibration method of the motor braking adjustment coefficient in the sliding state specifically includes:
and calibrating the motor braking adjustment coefficient K under different vehicle speeds so that the vehicle runs in a speed reduction mode based on the set coasting deceleration.
Further, when the braking stroke t of the brake pedal is smaller than the stroke threshold t1, the motor outputs the braking torque based on the motor torque curve corresponding to the stroke of the brake pedal, and the calibration method of the motor braking adjustment coefficient K in the braking state is specifically as follows:
calibrating the motor braking adjustment coefficients K under different vehicle speeds v and different brake pedal strokes t, so that the vehicle runs at the deceleration corresponding to the current brake pedal stroke t until the vehicle stops.
Further, when the braking stroke t of the brake pedal is greater than or equal to the stroke threshold t1, the motor outputs the braking torque based on the peak external characteristic curve, the mechanical braking system outputs the braking force based on the braking stroke of the brake pedal, and the calibration method of the motor braking adjustment coefficient K in the braking state specifically comprises the following steps:
and calibrating the motor braking adjustment coefficient K under different vehicle speeds so that the vehicle can output stable braking torque under each vehicle speed, and enabling the vehicle to run at a deceleration corresponding to the current brake pedal travel t by the sum of the braking torque output by the motor and the braking torque output by the mechanical braking system until the vehicle stops.
The present invention is thus achieved. A brake pedal feel based motor brake system, the system comprising:
the brake pedal stroke sensor is arranged on the brake pedal and is connected with the control unit;
the control unit is in communication connection with an anti-lock braking system ABS, a mechanical braking system and a motor;
the motor braking method in the control unit based on the brake pedal feel controls the braking torque output by the motor.
Further, the control unit is a motor controller BCU or a vehicle control unit VCU.
The motor braking method based on pedal feeling provided by the invention has the following beneficial technical effects:
1) the motor braking torque is adjusted based on the motor braking adjustment coefficient K, and the adjusted motor braking more meets the driving habit of a user, namely the feeling of a brake pedal is ensured;
2) on the premise of ensuring pedal feel control, the driving feel of a customer is met, and braking energy of the whole vehicle can be recovered.
Drawings
FIG. 1 is a schematic diagram of a brake pedal feel based electromechanical brake system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for braking a motor based on brake pedal feel provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a characteristic torque curve of a motor according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
Fig. 1 is a schematic structural diagram of a pedal feel-based motor brake system according to an embodiment of the present invention, and for convenience of description, only portions related to the embodiment of the present invention are shown.
The system comprises:
the brake pedal stroke sensor is arranged on the brake pedal and is connected with the control unit;
the control unit is in communication connection with an anti-lock braking system ABS, a mechanical braking system and a motor; the brake pedal stroke sensor is used for detecting the brake stroke t of the appointed pedal and sending the detected brake stroke t to the control unit, and the ABS reads the speed of the vehicle through a CAN line and sends the speed to the control unit to control
The braking unit controls the braking torque output by the motor based on a motor braking method such as pedal feel.
In an embodiment of the present invention, the control unit may be a motor controller BCU, or a vehicle control unit VCU, that is, the motor controller BCU controls the braking torque output by the motor, or the vehicle control unit VCU calculates the braking torque currently output by the motor, and sends the braking torque to the motor controller BCU, and the motor controller BCU controls the motor to output the braking torque.
Fig. 2 is a flowchart of a method for braking a motor based on a brake pedal feel according to an embodiment of the present invention, where the method specifically includes the following steps:
s1, searching a corresponding motor braking adjustment coefficient K in real time based on the current brake pedal travel t and the current vehicle speed;
the control unit is stored with a mapping table of brake pedal travel-vehicle speed-motor brake adjustment coefficient K, and the current motor brake adjustment coefficient K is searched based on the current vehicle speed of the vehicle uploaded by an anti-lock control system ABS and the brake travel t of the brake pedal uploaded by a brake pedal travel sensor.
S2, acquiring initial motor braking torque based on the travel t of the brake pedal and the vehicle speed v;
the control unit stores a characteristic torque curve or an off-peak characteristic torque curve corresponding to a brake pedal stroke t, outputs braking torque based on the characteristic torque curve corresponding to the brake pedal stroke when the pedal stroke t is lower than a stroke threshold t1, outputs braking torque based on the off-peak characteristic torque curve when the pedal stroke t is greater than or equal to the stroke threshold t1, and reads corresponding braking torque from the corresponding characteristic torque curve or the off-peak characteristic torque curve based on the rotation speed of the motor, as shown in fig. 3, which shows 3 characteristic torque curves (solid lines in the figure) and off-peak characteristic torque curves (broken lines in the figure) based on the brake pedal stroke request.
And S3, adjusting the initial braking torque based on the motor braking adjustment coefficient K, and realizing that the motor outputs stable braking torque at different vehicle speeds based on the motor braking adjustment coefficient K under the same brake pedal stroke.
Based on fig. 3, it can be known that the smaller the motor rotation speed, the larger the output brake torque, which is not in accordance with the use habit of the user, and that even if the driver keeps the same brake pedal stroke after stepping on the brake, the brake torque becomes larger and larger along with the deceleration of the vehicle.
In the embodiment of the invention, the calibration method of the motor braking adjustment coefficient K specifically comprises the following steps:
s11, establishing a series motor brake model of the electric automobile in Matlab/simulink, and calibrating vehicle parameters;
and S12, calibrating the motor braking adjustment coefficient K in the sliding state and the braking state according to the pedal feeling requirement.
The deceleration working condition of the electric vehicle is divided into: the calibration method comprises the following steps of calibrating a motor braking adjustment coefficient K according to the three conditions that the brake pedal stroke is greater than or equal to a stroke threshold value and the brake stroke is smaller than the stroke threshold value, wherein the calibration method specifically comprises the following steps:
1) the calibration method of the motor braking adjustment coefficient in the sliding state comprises the following specific steps:
in the coasting state, no braking operation is performed, the stroke of a brake pedal is equal to 0, and the motor braking adjustment coefficient K at different vehicle speeds is calibrated, so that the vehicle can perform deceleration running based on the set coasting deceleration (set by an automobile engineer).
2) When the braking travel t of the brake pedal is smaller than the travel threshold t1, braking is performed only through the braking torque output by the motor, at this time, the motor outputs the braking torque based on the rated torque curve corresponding to the braking travel, and the calibration method of the motor braking adjustment coefficient K in the braking state specifically comprises the following steps:
and calibrating the motor braking adjustment coefficients K under different vehicle speeds v and different brake pedal strokes t, so that the vehicle runs based on the deceleration corresponding to the brake stroke.
3) When the braking travel t of the brake pedal is greater than or equal to the travel threshold t1, namely braking is performed through the braking torque output by the motor, meanwhile, the mechanical braking system also participates in braking, at the moment, the motor outputs the braking torque based on the external characteristic curve, the mechanical braking system outputs the braking force based on the braking travel t of the brake pedal, and the calibration method of the motor braking adjustment coefficient K in the braking state is specifically as follows:
and calibrating the motor braking adjustment coefficient K under different vehicle speeds v to ensure that the vehicle outputs stable braking torque under each vehicle speed v, and at the moment, the sum of the braking torque output by the motor and the braking torque output by the mechanical braking system ensures that the vehicle decelerates and runs at the deceleration corresponding to the current brake pedal travel t until the vehicle stops.
The motor braking method based on pedal feeling provided by the invention has the following beneficial technical effects:
1) the motor braking torque is adjusted based on the motor braking adjustment coefficient K, and the adjusted motor braking more meets the driving habit of a user, namely the feeling of a brake pedal is ensured;
2) on the premise of ensuring the feeling control of the brake pedal, the driving feeling of a customer is met, and the braking energy of the whole vehicle can be recovered.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (7)
1. A motor braking method based on brake pedal feel, characterized in that the method comprises the following steps:
s1, searching a corresponding motor braking adjustment coefficient K in real time based on the current brake pedal travel t and the current vehicle speed v;
s2, acquiring initial motor braking torque based on the travel t of the brake pedal and the vehicle speed v;
s3, correcting the initial motor braking torque based on the motor braking adjustment coefficient K;
under the same brake pedal stroke, the motor outputs stable brake torque under different vehicle speeds based on the motor brake adjustment coefficient K.
2. The brake pedal feel based motor braking method of claim 1, wherein the step S1 specifically includes the steps of:
s1, establishing a series motor brake model of the electric automobile, and calibrating vehicle parameters;
and S2, calibrating the motor braking adjustment coefficient K in the sliding state and the braking state according to the demand of the brake pedal.
3. The brake pedal feel based motor braking method according to claim 2, wherein the calibration method of the motor braking adjustment coefficient in the coasting state is specifically as follows:
and calibrating the motor braking adjustment coefficient K under different vehicle speeds so that the vehicle runs in a speed reduction mode based on the set coasting deceleration.
4. The brake pedal feel-based motor braking method according to claim 2, wherein when the braking stroke t of the brake pedal is smaller than the stroke threshold t1, the motor outputs braking torque based on a characteristic torque curve corresponding to the stroke of the brake pedal, and the calibration method of the motor braking adjustment coefficient K in the braking state is as follows:
calibrating the motor braking adjustment coefficients K under different vehicle speeds v and different brake pedal strokes t, so that the vehicle runs at the deceleration corresponding to the current brake pedal stroke t until the vehicle stops.
5. The brake pedal feel-based motor braking method according to claim 2, wherein when the braking stroke t of the brake pedal is greater than or equal to the stroke threshold t1, the motor outputs the braking torque based on the peak external characteristic curve, the mechanical braking system outputs the braking force based on the braking stroke of the brake pedal, and the calibration method of the motor braking adjustment coefficient K in the braking state is as follows:
and calibrating the motor braking adjustment coefficient K under different vehicle speeds so that the vehicle can output stable braking torque under each vehicle speed, and enabling the vehicle to run at a deceleration corresponding to the current brake pedal travel t by the sum of the braking torque output by the motor and the braking torque output by the mechanical braking system until the vehicle stops.
6. A brake pedal feel based motor brake system, the system comprising:
the brake pedal stroke sensor is arranged on the brake pedal and is connected with the control unit;
the control unit is in communication connection with an anti-lock braking system ABS, a mechanical braking system and a motor;
controlling, in the control unit, the braking torque output from the motor based on the brake pedal feel-based motor braking method according to claims 1 to 5.
7. The brake pedal feel based motor brake system of claim 6 wherein the control unit is a motor controller BCU or a vehicle control unit VCU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010705507.2A CN111873972A (en) | 2020-07-21 | 2020-07-21 | Motor braking method and system based on brake pedal feeling |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010705507.2A CN111873972A (en) | 2020-07-21 | 2020-07-21 | Motor braking method and system based on brake pedal feeling |
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| CN111873972A true CN111873972A (en) | 2020-11-03 |
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| CN202010705507.2A Pending CN111873972A (en) | 2020-07-21 | 2020-07-21 | Motor braking method and system based on brake pedal feeling |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022525A (en) * | 2020-12-23 | 2021-06-25 | 万向钱潮股份有限公司 | Electric brake boosting bidirectional pressure characteristic compensation method |
| CN113479176A (en) * | 2021-08-19 | 2021-10-08 | 浙江吉利控股集团有限公司 | Electronic brake pedal adjustment method, device, apparatus, medium, and program product |
| CN113978258A (en) * | 2021-11-11 | 2022-01-28 | 摩拜(北京)信息技术有限公司 | Braking method and device of electric vehicle and electric vehicle |
| CN115214565A (en) * | 2021-04-21 | 2022-10-21 | 上海汽车集团股份有限公司 | Method and device for switching brake pedal feeling |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113022525A (en) * | 2020-12-23 | 2021-06-25 | 万向钱潮股份有限公司 | Electric brake boosting bidirectional pressure characteristic compensation method |
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| CN115214565A (en) * | 2021-04-21 | 2022-10-21 | 上海汽车集团股份有限公司 | Method and device for switching brake pedal feeling |
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| CN113978258B (en) * | 2021-11-11 | 2024-02-02 | 摩拜(北京)信息技术有限公司 | Braking method and device of electric vehicle and electric vehicle |
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Effective date of registration: 20210425 Address after: Room b1071, 1st floor, building 1 (North), 368 Liuhe Road, Puyan street, Binjiang District, Hangzhou City, Zhejiang Province 310000 Applicant after: Zhejiang Weige magnesium Automobile Technology Co.,Ltd. Address before: 4 / F, 180 Jinwu North Street, Jiangdong Town, Jindong District, Jinhua City, Zhejiang Province 321000 Applicant before: Zhejiang ruimg New Energy Technology Co.,Ltd. |
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