CN112319231A - Regenerative braking system control method, storage medium, and electronic device - Google Patents

Regenerative braking system control method, storage medium, and electronic device Download PDF

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CN112319231A
CN112319231A CN202011163145.5A CN202011163145A CN112319231A CN 112319231 A CN112319231 A CN 112319231A CN 202011163145 A CN202011163145 A CN 202011163145A CN 112319231 A CN112319231 A CN 112319231A
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regenerative braking
wheel
braking torque
vehicle
steering wheel
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CN112319231B (en
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侯一萌
黄骏
高博
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Dongfeng Motor Co Ltd
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Dongfeng Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/16—Acceleration longitudinal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a regenerative braking system control method, a storage medium and an electronic device, the regenerative braking system control method comprising: receiving a braking signal, and acquiring vehicle state information and preset regenerative braking torque information corresponding to the vehicle state information, wherein the regenerative braking torque information comprises a battery charge state regenerative braking torque corresponding to a battery charge state, a motor performance regenerative braking torque corresponding to motor performance, and a vehicle stability regenerative braking torque corresponding to a wheel adhesion coefficient, and the vehicle stability regenerative braking torque is used for controlling the starting of a vehicle body electronic stability control system; and controlling the regenerative braking torque of the regenerative braking system according to the regenerative braking torque information. By implementing the invention, the ESC function can be prevented from being triggered by overlarge regenerative braking torque, so that the regenerative braking function can be directly quitted, and the safety of the vehicle is improved.

Description

Regenerative braking system control method, storage medium, and electronic device
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a regenerative braking system control method, a storage medium, and an electronic device.
Background
A Battery Electric Vehicle (BEV) is a Vehicle that runs by driving wheels with a motor using a Vehicle-mounted power supply as a power source, and generally starts a regenerative braking system during braking to decelerate or stop the Vehicle by using a counter torque generated by Electric braking of the motor in order to recover energy.
At present, when regenerative braking is performed in an existing regenerative braking system, two aspects Of battery protection and motor performance are mainly considered, a regenerative braking torque limit value is set according to a battery State Of Charge (SOC) and motor performance (load capacity is good or bad), the regenerative braking torque limit value is used as an upper limit value Of an implementable regenerative braking torque, when the regenerative braking torque Of the regenerative braking system reaches the upper limit value, regenerative braking is not performed any more, overcharge damage to a battery is avoided, and regenerative braking power is limited at the same time, so that too large current impact is prevented from affecting the service life Of the battery or affecting the motor performance. However, the existing regenerative braking system mainly considers two aspects of battery protection and motor performance when performing regenerative braking torque limitation, when a vehicle runs on a low-attachment road surface (such as an ice surface), due to the fact that an applied regenerative braking torque is too large, a vehicle body Electronic Stability Control (ESC) function is easily triggered, the regenerative braking function is directly quitted, user panic is caused, a safety hazard exists, and safety is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a control method of a regenerative braking system, a storage medium and electronic equipment, which can prevent the ESC function from being triggered by overlarge regenerative braking torque and improve the safety of a vehicle.
The technical scheme of the invention provides a control method of a regenerative braking system, which comprises the following steps:
receiving a braking signal, and acquiring vehicle state information and preset regenerative braking torque information corresponding to the vehicle state information, wherein the regenerative braking torque information comprises a battery charge state regenerative braking torque corresponding to a battery charge state, a motor performance regenerative braking torque corresponding to motor performance, and a vehicle stability regenerative braking torque corresponding to a wheel adhesion coefficient, and the vehicle stability regenerative braking torque is used for controlling the starting of a vehicle body electronic stability control system;
and controlling the regenerative braking torque of the regenerative braking system according to the regenerative braking torque information.
Further, the controlling the regenerative braking torque of the regenerative braking system according to the regenerative braking torque information includes:
and selecting the minimum value of the battery charge state regenerative braking torque, the motor performance regenerative braking torque and the vehicle stability regenerative braking torque to control the regenerative braking torque.
Further, the acquiring the vehicle state information and the preset regenerative braking torque information corresponding to the vehicle state information includes:
when the wheel adhesion coefficient is larger than a preset adhesion coefficient threshold value, acquiring a steering wheel corner, and acquiring a steering wheel corner regenerative braking torque corresponding to the steering wheel corner from a preset steering wheel corner regenerative braking torque curve;
and taking the steering wheel angle regenerative braking torque as the vehicle stability regenerative braking torque.
Further, the acquiring of the vehicle state information and the preset regenerative braking torque information corresponding to the vehicle state information includes:
when the wheel adhesion coefficient is less than or equal to the low adhesion coefficient threshold value, taking a steering wheel corner regenerative braking torque corresponding to the steering wheel corner in the low steering wheel corner regenerative braking torque curve as the vehicle stability regenerative braking torque;
when the wheel adhesion coefficient is larger than the low adhesion coefficient threshold value and is smaller than or equal to a middle adhesion coefficient threshold value, taking a steering wheel corner regenerative braking torque corresponding to the steering wheel corner in the middle steering wheel corner regenerative braking torque curve as the vehicle stability regenerative braking torque;
and when the wheel adhesion coefficient is larger than the medium adhesion coefficient threshold value and is smaller than or equal to the high adhesion coefficient threshold value, taking the steering wheel corner regenerative braking torque corresponding to the steering wheel corner in the high steering wheel corner regenerative braking torque curve as the vehicle stability regenerative braking torque.
Further, the steering wheel angle regenerative braking torque curve is obtained by adopting the following method:
obtaining historical steering wheel turning angles and historical steering wheel turning angle regenerative braking torque corresponding to the historical steering wheel turning angles;
and performing curve fitting on the historical steering wheel angle and the historical steering wheel angle regenerative braking torque to obtain a steering wheel angle regenerative braking torque curve.
Further, the vehicle state information includes a wheel slip ratio, and when the wheel adhesion coefficient is greater than a preset adhesion coefficient threshold value, a steering wheel angle is obtained, and a steering wheel angle regenerative braking torque corresponding to the steering wheel angle is obtained from a preset steering wheel angle regenerative braking torque curve, which includes:
obtaining the wheel slip rate;
and when the wheel slip rate is greater than a preset slip rate threshold value, taking the steering wheel corner regenerative braking torque corresponding to the steering wheel corner in the low steering wheel corner regenerative braking torque curve as the vehicle stability regenerative braking torque.
Further, the wheel adhesion coefficient is obtained by using the following formula:
Figure BDA0002744880670000031
wherein u isx,iIs the wheel adhesion coefficient; fx,iIs the tire longitudinal force; fz,iIs a tire vertical force; t isiIs the wheel drive torque; j. the design is a squarew,iIs the rotational inertia of the wheel; w is aiIs the wheel speed; riFor each tire effective radius of rotation; f0,iThe vertical load of each wheel when the vehicle is static; Δ Fz,iThe vertical load change of each wheel when the vehicle is in a moving state.
Further, the vehicle state information includes a vehicle longitudinal acceleration, and the wheel slip ratio is obtained by:
the velocity conversion at the center of the wheel for each wheel is calculated using the following equation:
Figure BDA0002744880670000041
wherein, VxflConverting the speed at the wheel center of the left front wheel into a value; vxfrConverting the speed at the wheel center of the right front wheel into a value; vxrlConverting the speed of the left rear wheel at the wheel center into a value; vxrrConverting the speed of the wheel center of the right rear wheel into a value; beta is the vehicle mass center slip angle; beta is afIs the front shaft side deflection angle; beta is arIs a rear axle slip angle; vyIs the vehicle lateral velocity; vxIs the vehicle longitudinal speed; lfIs the distance from the front axis to the center of mass; lrIs the distance from the rear axle to the center of mass; gamma is the yaw velocity of the vehicle; delta is a wheel slip angle; v is the vehicle speed; dfIs the front wheel track; drIs the rear wheel track; omegaflThe wheel speed of the left front wheel; omegafrThe wheel speed of the right front wheel; omegarlThe wheel speed of the left rear wheel; omegarrThe wheel speed of the right rear wheel; rflThe effective radius of rotation of the tire for the left front wheel; rfrThe effective radius of rotation of the tire for the right front wheel; rrlThe effective radius of rotation of the tire for the left rear wheel; rrrThe effective radius of rotation of the tire for the right rear wheel;
when the vehicle longitudinal acceleration is greater than zero, taking the minimum value of the velocity conversion values at the wheel center of each wheel as a vehicle longitudinal velocity, and calculating the wheel slip ratio using the following equation:
Figure BDA0002744880670000051
wherein λ isflThe wheel slip ratio of the left front wheel; lambda [ alpha ]frThe wheel slip ratio of the right front wheel; lambda [ alpha ]rlWheel slip ratio for left rear wheel；λrrThe wheel slip ratio of the right rear wheel;
when the vehicle longitudinal acceleration is less than zero, taking the maximum value of the velocity conversion values at the wheel center of each wheel as the vehicle longitudinal velocity, and calculating the wheel slip ratio using the following equation:
Figure BDA0002744880670000052
the technical solution of the present invention also provides a storage medium storing computer instructions for executing all the steps of the regenerative braking system control method as described above when a computer executes the computer instructions.
The technical solution of the present invention also provides an electronic device for regenerative braking system control, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
receiving a braking signal and acquiring vehicle state information;
and controlling the regenerative braking torque of the vehicle according to the vehicle state information and preset regenerative braking torque information, wherein the regenerative braking torque information comprises battery charge state regenerative braking torque, motor performance regenerative braking torque and vehicle stability regenerative braking torque.
After adopting above-mentioned technical scheme, have following beneficial effect: the method comprises the steps of obtaining vehicle state information and preset regenerative braking torque information corresponding to the vehicle state information, wherein the regenerative braking torque information comprises battery charge state regenerative braking torque corresponding to the battery charge state, motor performance regenerative braking torque corresponding to the motor performance and vehicle stability regenerative braking torque corresponding to the wheel adhesion coefficient, controlling the regenerative braking torque of a regenerative braking system according to the regenerative braking torque information, preventing the regenerative braking torque from being too large to trigger an ESC function, enabling the regenerative braking function to be directly quit, and improving the vehicle safety.
Drawings
The disclosure of the present invention will become more readily understood by reference to the drawings. It should be understood that: these drawings are for illustrative purposes only and are not intended to limit the scope of the present disclosure. In the figure:
FIG. 1 is a flowchart illustrating a method for controlling a regenerative braking system according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for controlling a regenerative braking system according to a second embodiment of the present invention;
FIG. 3 is a graph of steering wheel angle regenerative braking torque shown in FIG. 2;
fig. 4 is a schematic diagram of a hardware structure of an electronic device for controlling a regenerative braking system according to a fourth embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
It is easily understood that according to the technical solution of the present invention, those skilled in the art can substitute various structures and implementation manners without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as limiting or restricting the technical aspects of the present invention.
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms.
Example one
As shown in fig. 1, fig. 1 is a flowchart of a control method of a regenerative braking system according to an embodiment of the present invention, including:
step S101: receiving a braking signal, and acquiring vehicle state information and preset regenerative braking torque information corresponding to the vehicle state information;
step S102: and controlling the regenerative braking torque of the regenerative braking system according to the regenerative braking torque information.
Specifically, the invention is mainly applied to electric vehicles, including pure electric vehicles, hybrid electric vehicles and the like. When the controller receives a brake signal of the pedal sensor, the controller firstly executes the step S101 to obtain vehicle state information and preset regenerative braking torque information corresponding to the vehicle state information, wherein the vehicle state information comprises a battery SOC, motor performance and a wheel adhesion coefficient, the regenerative braking torque information comprises a battery charge state regenerative braking torque corresponding to the battery charge state and a motor performance regenerative braking torque corresponding to the motor performance, the vehicle stability regenerative braking torque is used for controlling the starting of the ESC, and is smaller than the regenerative braking torque required by the starting of the ESC, and the battery charge state regenerative braking torque, the motor performance regenerative braking torque and the vehicle stability regenerative braking torque can be set according to different vehicle working conditions; and then the controller executes the step S102 to output regenerative braking torque according to the regenerative braking torque information, controls the regenerative braking torque when the regenerative braking system recovers the braking energy, prevents the vehicle from being unstable due to the overlarge regenerative braking torque to trigger the ESC, enables the regenerative braking function to be directly quitted, causes the user panic and improves the safety of the vehicle.
Preferably, the controller of the present embodiment is an Electronic Control Unit (ECU).
According to the control method of the regenerative braking system, provided by the embodiment of the invention, the regenerative braking torque information comprises the battery charge state regenerative braking torque corresponding to the battery charge state, the motor performance regenerative braking torque corresponding to the motor performance and the vehicle stability regenerative braking torque corresponding to the wheel adhesion coefficient by acquiring the vehicle state information and the preset regenerative braking torque information corresponding to the vehicle state information, the regenerative braking torque of the regenerative braking system is controlled according to the regenerative braking torque information, the situation that the ESC function is triggered by overlarge regenerative braking torque is prevented, the regenerative braking function is directly quitted, and the vehicle safety is improved.
Example two
As shown in fig. 2, fig. 2 is a flowchart of a control method of a regenerative braking system according to a second embodiment of the present invention, including:
step S201: receiving a brake signal;
step S202: acquiring a battery charge state and a battery charge state regenerative braking torque corresponding to the battery charge state;
step S203: obtaining motor performance and motor performance regenerative braking torque corresponding to the motor performance;
step S204: obtaining the wheel slip rate;
step S205: judging whether the wheel slip rate is greater than a preset slip rate threshold value or not;
step S206: acquiring a wheel adhesion coefficient;
step S207: judging whether the wheel adhesion coefficient is less than or equal to a low adhesion coefficient threshold value or not;
step S208: judging whether the wheel adhesion coefficient is larger than a low adhesion coefficient threshold value and smaller than or equal to a medium adhesion coefficient threshold value;
step S209: judging whether the wheel adhesion coefficient is larger than a medium adhesion coefficient threshold value and smaller than or equal to a high adhesion coefficient threshold value;
step S210: taking the steering wheel angle regenerative braking torque corresponding to the steering wheel angle in the low steering wheel angle regenerative braking torque curve as the vehicle stability regenerative braking torque;
step S211: taking the steering wheel angle regenerative braking torque corresponding to the steering wheel angle in the middle steering wheel angle regenerative braking torque curve as the vehicle stability regenerative braking torque;
step S212: taking the steering wheel angle regenerative braking torque corresponding to the steering wheel angle in the high steering wheel angle regenerative braking torque curve as the vehicle stability regenerative braking torque;
step S213: and selecting the minimum value of the battery charge state regenerative braking torque, the motor performance regenerative braking torque and the vehicle stability regenerative braking torque to control the regenerative braking torque.
Specifically, when the ECU receives the brake signal transmitted from the pedal sensor, it executes steps S202 to S203, executes step S204 to obtain the wheel slip rates of the four wheels, then executes step S205 to determine whether the wheel slip rates are greater than a preset slip rate threshold, executes step S210 to use the steering wheel angle regenerative braking torque corresponding to the steering wheel angle in the low steering wheel angle regenerative braking torque curve as the vehicle stability regenerative braking torque when one of the four wheels has a wheel slip rate greater than the preset slip rate threshold, as shown by map1 in fig. 3, otherwise executes step S206 to obtain the wheel adhesion coefficient of each wheel, executes step S207 to determine whether the wheel adhesion coefficient is less than or equal to the low adhesion coefficient threshold, if so, executes step S210, otherwise continues to execute step S208 to determine whether the wheel adhesion coefficient is greater than the low adhesion coefficient threshold and is less than or equal to the medium adhesion coefficient threshold, if yes, step S211 is executed to use the steering wheel angle regenerative braking torque corresponding to the steering wheel angle in the middle steering wheel angle regenerative braking torque curve as the vehicle stability regenerative braking torque, as shown by map2 in fig. 3; otherwise, step S209 is executed to determine whether the wheel adhesion coefficient is greater than the medium adhesion coefficient threshold value and less than or equal to the high adhesion coefficient threshold value, if so, step S212 is executed to use the steering wheel angle regenerative braking torque corresponding to the steering wheel angle in the high steering wheel angle regenerative braking torque curve as the vehicle stability regenerative braking torque, such as map3 shown in fig. 3; and finally, executing a step S213 to select the minimum value of the battery charge state regenerative braking torque, the motor performance regenerative braking torque and the vehicle stability regenerative braking torque to control the regenerative braking torque, so as to prevent the vehicle from being unstable due to the overlarge regenerative braking torque to trigger ESC, directly quitting the regenerative braking function, causing user panic and improving the vehicle safety.
The low adhesion coefficient threshold value refers to the maximum adhesion force of the wheel on a low-adhesion road surface, the medium adhesion coefficient threshold value refers to the maximum adhesion force of the wheel on a medium-adhesion road surface, and the high adhesion coefficient threshold value refers to the maximum adhesion force of the wheel on a high-adhesion road surface. Preferably, the low adhesion coefficient threshold is 0.3, the medium adhesion coefficient threshold is 0.6, and the high adhesion coefficient threshold is 1.
The sequence of steps S202-S203 and steps S204-S212 can be interchanged, the sequence of steps S202-S203 and steps S204-S212 can also be performed synchronously, and the effect of the present invention is not affected whether steps S202-S203 or steps S204-S212 are performed first.
Preferably, the preset slip rate threshold is 25%.
According to the control method of the regenerative braking system, provided by the embodiment of the invention, the regenerative braking torque information comprises the battery charge state regenerative braking torque corresponding to the battery charge state, the motor performance regenerative braking torque corresponding to the motor performance and the vehicle stability regenerative braking torque corresponding to the wheel adhesion coefficient by acquiring the vehicle state information and the preset regenerative braking torque information corresponding to the vehicle state information, the regenerative braking torque of the regenerative braking system is controlled according to the regenerative braking torque information, the situation that the ESC function is triggered by overlarge regenerative braking torque is prevented, the regenerative braking function is directly quitted, and the vehicle safety is improved.
In one embodiment, the steering wheel angle regenerative braking torque curve is obtained by:
obtaining historical steering wheel turning angles and historical steering wheel turning angle regenerative braking torque corresponding to the historical steering wheel turning angles;
and performing curve fitting on the historical steering wheel angle and the historical steering wheel angle regenerative braking torque to obtain a steering wheel angle regenerative braking torque curve.
Specifically, the historical steering wheel angle regenerative braking torque is the maximum regenerative braking torque corresponding to the historical steering wheel angle and not triggering the ESC, the slow output of the regenerative braking torque of the regenerative braking system can be controlled through a steering wheel angle regenerative braking torque curve, the stability of the vehicle is further ensured, the triggering of the ESC is reduced, and the safety is further improved.
In one embodiment, to further ensure the stability of the vehicle and improve the safety, the wheel adhesion coefficient is obtained by the following formula:
Figure BDA0002744880670000101
wherein u isx,iIs the wheel adhesion coefficient; fx,iIs the tire longitudinal force; fz,iIs a tire vertical force; t isiIs the wheel drive torque; j. the design is a squarew,iIs the rotational inertia of the wheel; w is aiIs the wheel speed; riFor each tire effective radius of rotation; f0,iThe vertical load of each wheel when the vehicle is static; Δ Fz,iThe vertical load change of each wheel when the vehicle is in a moving state.
Specifically, when the wheel adhesion coefficient of each wheel is calculated using the formula (1), i in the formula (1) represents a parameter of the corresponding wheel, such as when the wheel adhesion coefficient of the front left wheel is calculated, Fx,iLongitudinal force of the tire of the left front wheel, Fz,iVertical force of the left front wheel, TiWheel drive torque for the left front wheel, Jw,iIs the wheel moment of inertia of the left front wheel, wiWheel speed, R, of the left front wheeliEffective radius of rotation of the tire for the left front wheel, F0,Vertical load of the left front wheel, Δ F, when the vehicle is stationaryz,iThe vertical load change of the left front wheel when the vehicle is in a motion state is calculated by analogy, and the wheel adhesion coefficients of the four wheels are calculated respectively.
It should be noted that the vertical load F of each wheel when the vehicle is stationary0,iAnd vertical load change deltaF of each wheel in the moving state of the vehiclez,iThe method can be obtained by the existing method, and can also be obtained by the following formula:
Figure BDA0002744880670000111
wherein, F0flIs the vertical load of the left front wheel when the vehicle is stationary; f0frIs the vertical load of the right front wheel when the vehicle is stationary; f0rlIs the vertical load of the left rear wheel when the vehicle is stationary; f0rrThe vertical load of the right rear wheel when the vehicle is static; Δ FzflThe vertical load change of the left front wheel when the vehicle is in a moving state; Δ FzfrThe vertical load change of the right front wheel when the vehicle is in a moving state; Δ FzrlThe vertical load change of the left rear wheel when the vehicle is in a motion state; Δ FzrlThe vertical load change of the right rear wheel when the vehicle is in a motion state; m is the mass of the whole vehicle; h is the height of the centroid; g is the acceleration of gravity; a isxIs the vehicle longitudinal acceleration; a isyIs the vehicle lateral acceleration; lfIs the distance from the front axis to the center of mass; lrIs the distance from the rear axle to the center of mass; dfIs the front wheel track; drIs the rear track width.
In one embodiment, to further ensure the stability of the vehicle and improve the safety, the wheel slip ratio is obtained by the following steps:
the velocity conversion at the center of the wheel for each wheel is calculated using the following equation:
Figure BDA0002744880670000121
wherein, VxflConverting the speed at the wheel center of the left front wheel into a value; vxfrConverting the speed at the wheel center of the right front wheel into a value; vxrlConverting the speed of the left rear wheel at the wheel center into a value; vxrrConverting the speed of the wheel center of the right rear wheel into a value; beta is the vehicle mass center slip angle; beta is afIs the front shaft side deflection angle; beta is arIs a rear axle slip angle; vyIs the vehicle lateral velocity; vxIs the vehicle longitudinal speed; lfIs the distance from the front axis to the center of mass; lrIs the distance from the rear axle to the center of mass; gamma is the yaw velocity of the vehicle; delta is a wheel slip angle; v is the vehicle speed; dfIs the front wheel track; drIs the rear wheel track; omegaflThe wheel speed of the left front wheel; omegafrThe wheel speed of the right front wheel; omegarlThe wheel speed of the left rear wheel; omegarrThe wheel speed of the right rear wheel; rflThe effective radius of rotation of the tire for the left front wheel; rfrOf the front right wheelThe effective radius of rotation of the tire; rrlThe effective radius of rotation of the tire for the left rear wheel; rrrThe effective radius of rotation of the tire for the right rear wheel;
when the vehicle longitudinal acceleration axWhen the vehicle speed is greater than zero, the minimum value of the speed conversion values at the wheel center of each wheel is used as the vehicle longitudinal speed axI.e. Vx＝min(Vxfl,Vxfr,Vxrl,Vxrr) And calculating the wheel slip ratio by using the following formula:
Figure BDA0002744880670000131
wherein λ isflThe wheel slip ratio of the left front wheel; lambda [ alpha ]frThe wheel slip ratio of the right front wheel; lambda [ alpha ]rlThe wheel slip ratio of the left rear wheel; lambda [ alpha ]rrThe wheel slip ratio of the right rear wheel;
when the vehicle longitudinal acceleration axWhen the wheel center speed is less than zero, the maximum value of the speed conversion values at the wheel center of each wheel is used as the longitudinal speed a of the vehiclexI.e. Vx＝max(Vxfl,Vxfr,Vxrl,Vxrr) And calculating the wheel slip ratio by using the following formula:
Figure BDA0002744880670000132
EXAMPLE III
A storage medium of an embodiment of the present application for storing computer instructions for performing all the steps of a regenerative braking system control method in any of the method embodiments as described above when executed by a computer.
Example four
As shown in fig. 4, fig. 4 is a schematic diagram of a hardware structure of an electronic device for controlling a regenerative braking system according to a fourth embodiment of the present invention, including:
at least one processor 301; and the number of the first and second groups,
a memory 302 communicatively coupled to the at least one processor 301; wherein the content of the first and second substances,
the memory 302 stores instructions executable by the at least one processor 301 to cause the at least one processor 301 to:
receiving a braking signal, and acquiring vehicle state information and preset regenerative braking torque information corresponding to the vehicle state information, wherein the regenerative braking torque information comprises a battery charge state regenerative braking torque corresponding to a battery charge state, a motor performance regenerative braking torque corresponding to motor performance, and a vehicle stability regenerative braking torque corresponding to a wheel adhesion coefficient, and the vehicle stability regenerative braking torque is used for controlling the starting of a vehicle body electronic stability control system;
and controlling the regenerative braking torque of the regenerative braking system according to the regenerative braking torque information.
In fig. 4, one processor 301 is taken as an example.
The Electronic device is preferably an Electronic Control Unit (ECU).
The electronic device may further include: an input device 303 and an output device 304.
The processor 301, the memory 302, the input device 303 and the display device 304 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 302, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the regenerative braking system control method in the embodiments of the present application, for example, the method flows shown in fig. 1 and 2. The processor 301 executes various functional applications and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 302, that is, implements the regenerative braking system control method in the above-described embodiment.
The memory 302 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the regenerative braking system control method, and the like. Further, the memory 302 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 302 optionally includes memory located remotely from processor 301, and these remote memories may be connected over a network to a device that performs the regenerative braking system control method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 303 may receive input user clicks and generate signal inputs related to user settings and functional control of the regenerative braking system control method. The display device 304 may include a display screen or the like.
The method of regenerative braking system control in any of the method embodiments described above is performed when the one or more modules are stored in the memory 302, when executed by the one or more processors 301.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
The electronic device of embodiments of the present invention exists in a variety of forms, including but not limited to:
(1) an Electronic Control Unit (ECU) is also called a "traveling computer" or a "vehicle-mounted computer". The digital signal processor mainly comprises a microprocessor (CPU), a memory (ROM and RAM), an input/output interface (I/O), an analog-to-digital converter (A/D), a shaping circuit, a driving circuit and other large-scale integrated circuits.
(2) Mobile communication devices, which are characterized by mobile communication capabilities and are primarily targeted at providing voice and data communications. Such terminals include smart phones (e.g., iphones), multimedia phones, functional phones, and low-end phones, among others.
(3) The ultra-mobile personal computer equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such terminals include PDA, MID, and UMPC devices, among others.
(4) Portable entertainment devices such devices may display and play multimedia content. Such devices include audio and video players (e.g., ipods), handheld game consoles, electronic books, as well as smart toys and portable car navigation devices.
(5) The server is similar to a general computer architecture, but has higher requirements on processing capability, stability, reliability, safety, expandability, manageability and the like because of the need of providing highly reliable services.
(6) And other electronic devices with data interaction functions.
Furthermore, the logic instructions in the memory 302 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a mobile terminal (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and 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 embodiment of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A regenerative braking system control method, characterized by comprising:
receiving a braking signal, and acquiring vehicle state information and preset regenerative braking torque information corresponding to the vehicle state information, wherein the regenerative braking torque information comprises a battery charge state regenerative braking torque corresponding to a battery charge state, a motor performance regenerative braking torque corresponding to motor performance, and a vehicle stability regenerative braking torque corresponding to a wheel adhesion coefficient, and the vehicle stability regenerative braking torque is used for controlling the starting of a vehicle body electronic stability control system;
and controlling the regenerative braking torque of the regenerative braking system according to the regenerative braking torque information.
2. The regenerative braking system control method according to claim 1, wherein the controlling of the regenerative braking torque of the regenerative braking system based on the regenerative braking torque information includes:
and selecting the minimum value of the battery charge state regenerative braking torque, the motor performance regenerative braking torque and the vehicle stability regenerative braking torque to control the regenerative braking torque.
3. The regenerative braking system control method according to claim 2, wherein the acquiring of the vehicle state information and the preset regenerative braking torque information corresponding to the vehicle state information includes:
when the wheel adhesion coefficient is larger than a preset adhesion coefficient threshold value, acquiring a steering wheel corner, and acquiring a steering wheel corner regenerative braking torque corresponding to the steering wheel corner from a preset steering wheel corner regenerative braking torque curve;
and taking the steering wheel angle regenerative braking torque as the vehicle stability regenerative braking torque.
4. The regenerative braking system control method according to claim 3, wherein the preset adhesion coefficient threshold value includes a low adhesion coefficient threshold value, a medium adhesion coefficient threshold value, and a high adhesion coefficient threshold value, the steering wheel angle regenerative braking torque curve includes a low steering wheel angle regenerative braking torque curve, a medium steering wheel angle regenerative braking torque curve, and a high steering wheel angle regenerative braking torque curve, and the acquiring the vehicle state information and the preset regenerative braking torque information corresponding to the vehicle state information includes:
when the wheel adhesion coefficient is less than or equal to the low adhesion coefficient threshold value, taking a steering wheel corner regenerative braking torque corresponding to the steering wheel corner in the low steering wheel corner regenerative braking torque curve as the vehicle stability regenerative braking torque;
when the wheel adhesion coefficient is larger than the low adhesion coefficient threshold value and is smaller than or equal to a middle adhesion coefficient threshold value, taking a steering wheel corner regenerative braking torque corresponding to the steering wheel corner in the middle steering wheel corner regenerative braking torque curve as the vehicle stability regenerative braking torque;
and when the wheel adhesion coefficient is larger than the medium adhesion coefficient threshold value and is smaller than or equal to the high adhesion coefficient threshold value, taking the steering wheel corner regenerative braking torque corresponding to the steering wheel corner in the high steering wheel corner regenerative braking torque curve as the vehicle stability regenerative braking torque.
5. The regenerative braking system control method according to claim 3 or 4, wherein the steering wheel angle regenerative braking torque curve is obtained by:
obtaining historical steering wheel turning angles and historical steering wheel turning angle regenerative braking torque corresponding to the historical steering wheel turning angles;
and performing curve fitting on the historical steering wheel angle and the historical steering wheel angle regenerative braking torque to obtain a steering wheel angle regenerative braking torque curve.
6. The regenerative braking system control method according to claim 4, wherein the vehicle state information includes a wheel slip ratio, and the obtaining of the steering wheel angle and the steering wheel angle regenerative braking torque corresponding to the steering wheel angle from a preset steering wheel angle regenerative braking torque curve when the wheel adhesion coefficient is larger than a preset adhesion coefficient threshold value previously comprises:
obtaining the wheel slip rate;
and when the wheel slip rate is greater than a preset slip rate threshold value, taking the steering wheel corner regenerative braking torque corresponding to the steering wheel corner in the low steering wheel corner regenerative braking torque curve as the vehicle stability regenerative braking torque.
7. The regenerative braking system control method according to claim 4, wherein the wheel adhesion coefficient is obtained using the following equation:
Figure FDA0002744880660000021
wherein u isx,iIs the wheel adhesion coefficient; fx,iIs the tire longitudinal force; fz,iIs a tire vertical force; t isiIs the wheel drive torque; j. the design is a squarew,iIs the rotational inertia of the wheel; w is aiIs the wheel speed; riFor each tire effective radius of rotation; f0,iThe vertical load of each wheel when the vehicle is static; Δ Fz,iThe vertical load change of each wheel when the vehicle is in a moving state.
8. The regenerative braking system control method according to claim 6, wherein the vehicle state information includes a vehicle longitudinal acceleration, and the wheel slip ratio is obtained by:
the velocity conversion at the center of the wheel for each wheel is calculated using the following equation:
Figure FDA0002744880660000031
wherein, VxflConverting the speed at the wheel center of the left front wheel into a value; vxfrConverting the speed at the wheel center of the right front wheel into a value; vxrlConverting the speed of the left rear wheel at the wheel center into a value; vxrrConverting the speed of the wheel center of the right rear wheel into a value; beta is the vehicle mass center slip angle; beta is afIs the front shaft side deflection angle; beta is arIs a rear axle slip angle; vyIs the vehicle lateral velocity; vxIs the vehicle longitudinal speed; lfIs the distance from the front axis to the center of mass; lrIs the distance from the rear axle to the center of mass; gamma is the yaw velocity of the vehicle; delta is a wheel slip angle; v is the vehicle speed; dfIs the front wheel track; drIs the rear wheel track; omegaflThe wheel speed of the left front wheel; omegafrThe wheel speed of the right front wheel; omegarlThe wheel speed of the left rear wheel; omegarrThe wheel speed of the right rear wheel; rflThe effective radius of rotation of the tire for the left front wheel; rfrThe effective radius of rotation of the tire for the right front wheel; rrlThe effective radius of rotation of the tire for the left rear wheel; rrrThe effective radius of rotation of the tire for the right rear wheel;
when the vehicle longitudinal acceleration is greater than zero, taking the minimum value of the velocity conversion values at the wheel center of each wheel as a vehicle longitudinal velocity, and calculating the wheel slip ratio using the following equation:
Figure FDA0002744880660000041
wherein λ isflThe wheel slip ratio of the left front wheel; lambda [ alpha ]frThe wheel slip ratio of the right front wheel; lambda [ alpha ]rlThe wheel slip ratio of the left rear wheel; lambda [ alpha ]rrThe wheel slip ratio of the right rear wheel;
when the vehicle longitudinal acceleration is less than zero, taking the maximum value of the velocity conversion values at the wheel center of each wheel as the vehicle longitudinal velocity, and calculating the wheel slip ratio using the following equation:
Figure FDA0002744880660000042
9. a storage medium storing computer instructions for performing all the steps of the regenerative braking system control method according to any one of claims 1 to 8 when executed by a computer.
10. An electronic device for regenerative braking system control, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
receiving a braking signal and acquiring vehicle state information;
and controlling the regenerative braking torque of the vehicle according to the vehicle state information and preset regenerative braking torque information, wherein the regenerative braking torque information comprises battery charge state regenerative braking torque, motor performance regenerative braking torque and vehicle stability regenerative braking torque.
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