CN113715630B - Control method, device and storage medium for recovering sliding braking energy - Google Patents
Control method, device and storage medium for recovering sliding braking energy Download PDFInfo
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- CN113715630B CN113715630B CN202111021167.2A CN202111021167A CN113715630B CN 113715630 B CN113715630 B CN 113715630B CN 202111021167 A CN202111021167 A CN 202111021167A CN 113715630 B CN113715630 B CN 113715630B
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
Abstract
The invention relates to a control method for recovering sliding braking energy, which comprises the following steps: when the driver needs active control, energy recovery setting is carried out according to a mode of stepping on a brake pedal or a mode of selecting a preset energy recovery level; and performing vehicle speed control and energy recovery control in the vehicle sliding process according to the energy recovery setting. The embodiment of the invention provides a braking deceleration and a corresponding energy recovery mode which can be set according to the driving requirement, driving experience or driving habit of a driver in a sliding mode, so that the personalized requirement of the driver can be met while the braking energy recovery efficiency is ensured, the dependence on the operation experience of the driver is reduced, and the driving experience is improved.
Description
Technical Field
The invention relates to the field of energy recovery of new energy automobiles, in particular to a control method, a control device and a storage medium for recovering sliding braking energy.
Background
In the braking and decelerating process of an electric vehicle or a hybrid vehicle, an energy recovery process of converting the decelerated kinetic energy into electric energy and storing the electric energy into a power battery is often accompanied. Through the coordinated control of friction braking and energy recovery braking, the energy recovery efficiency is improved as much as possible while enough braking force is provided to ensure braking safety, and driving comfort of the vehicle is ensured.
Currently, energy recovery control strategies include coasting brake energy recovery, which is energy recovery when the accelerator pedal is fully released and the brake pedal is not depressed, and brake energy recovery when the brake pedal is depressed. The coasting braking energy recovery is typically customized by the driver for low, medium, and high recovery levels, but at a particular recovery level, the motor achievable energy recovery deceleration is preset, while the motor recovery braking force increase is preset. The preset energy recovery level and the preset rate of increase of the energy recovery braking force tend to be different from the braking deceleration process desired by the driver, affecting the ride comfort of the vehicle.
Related art mentions a method and a system for setting an energy recovery strategy of an electric automobile, so that a driver sets an energy recovery parameter corresponding to an energy recovery level of the electric automobile according to the comfort of the driver, and energy recovery of the electric automobile is performed according to the set energy recovery parameter. However, the energy recovery level is set by the driver, and the energy recovery level set by the driver is corrected according to the driving parameters, so that the driver is required to have a higher experience level in the aspect of energy recovery level, and the energy recovery level meeting the expected requirement can be quickly set; meanwhile, the scheme focuses on the comfort of a stable stage, and the increase of deceleration of a motor energy recovery intervention stage is not considered.
In order to solve the above problems, some related technologies acquire a motor braking force distribution coefficient according to a required braking force, a maximum motor braking force, a charge capacity, a vehicle speed and a coasting deceleration, so that motor energy recovery is adjustable. However, in this scheme, the deceleration is used as a parameter input, the deceleration target is determined according to the stepping depth of the driver, and when the brake pedal depth is smaller than a small threshold value, the recovery deceleration during the coasting braking cannot be associated with the driver's desire.
Disclosure of Invention
The embodiment of the invention provides a control method, a control device and a storage medium for recovering sliding braking energy, which are used for solving the problem that the braking deceleration in the sliding braking energy recovery stage in the related technology does not meet the requirement of a driver.
In a first aspect, an embodiment of the present invention provides a control method for recovering braking energy during coasting, which is characterized in that the method includes the steps of:
when the driver needs active control, energy recovery setting is carried out according to a mode of stepping on a brake pedal or a mode of selecting a preset energy recovery level;
and performing vehicle speed control and energy recovery control in the vehicle sliding process according to the energy recovery setting.
In some embodiments, in a brake pedal mode, the driver stops the brake pedal action after the energy recovery setting is completed;
the brake pedal stepping mode comprises the following steps:
the energy recovery setting is performed according to the stroke of pressing the brake pedal.
In some embodiments, the energy recovery setting according to a stroke of pressing a brake pedal includes the steps of:
acquiring the change relation of the stroke of stepping on the brake pedal along with time;
determining a change curve of target deceleration along with time according to a preset relation curve of the stroke and the deceleration of the brake pedal;
the vehicle speed control and the energy recovery control are carried out in the vehicle sliding process according to the energy recovery setting, and the method comprises the following steps:
and controlling the speed and energy recovery according to the time-dependent change curve of the target deceleration.
In some embodiments, controlling vehicle speed and energy recovery according to the time-dependent curve of the target deceleration includes the steps of:
applying a brake to cause the actual coasting deceleration-time profile to coincide with the target deceleration-time profile;
if the target deceleration is greater than a preset threshold, the motor feedback braking force and the linear control mechanical friction braking force are coordinated according to the braking force required by the vehicle to realize energy recovery;
if the target deceleration is less than or equal to the preset threshold, the braking force required by the vehicle is provided by the motor feedback braking force, and when the motor feedback braking force is insufficient, the linear control mechanical friction braking force is compensated.
In some embodiments, the method for selecting the preset energy recovery level includes the steps of:
determining a target energy recovery level in the preset energy recovery levels according to the requirements of a driver;
the vehicle speed control and the energy recovery control are carried out in the vehicle sliding process according to the energy recovery setting, and the method comprises the following steps:
and controlling the speed and the energy recovery according to the target energy recovery level.
In some embodiments, a control method of coasting brake energy recovery further comprises the steps of:
and when the driver does not actively control and the accelerator signal is 0, performing vehicle speed control and energy recovery control according to a preset energy recovery curve.
In a second aspect, an embodiment of the present invention provides a control device for recovering braking energy during coasting, which is characterized in that the control device includes:
an active control module for:
when the driver needs active control, energy recovery setting is carried out according to a mode of stepping on a brake pedal or a mode of selecting a preset energy recovery level;
according to the energy recovery setting, vehicle speed control and energy recovery control are carried out in the vehicle sliding process;
and the passive control module is used for performing vehicle speed control and energy recovery control according to a preset energy recovery curve when the driver does not actively control and the accelerator signal is 0.
In some embodiments, the active control module comprises:
a brake pedal control unit for:
performing energy recovery setting according to the stroke of pressing the brake pedal;
determining a change curve of target deceleration along with time according to a preset relation curve of the stroke and the deceleration of the brake pedal;
controlling the speed and energy recovery according to the change curve of the target deceleration along with time;
a preset energy recovery level control unit for:
determining a target energy recovery level in the preset energy recovery levels according to the requirements of a driver;
and controlling the speed and the energy recovery according to the target energy recovery level.
In some embodiments, the brake pedal control unit is further configured to:
applying a brake to cause the actual coasting deceleration-time profile to coincide with the target deceleration-time profile;
if the target deceleration is greater than a preset threshold, the motor feedback braking force and the linear control mechanical friction braking force are coordinated according to the braking force required by the vehicle to realize energy recovery;
if the target deceleration is less than or equal to the preset threshold, the braking force required by the vehicle is provided by the motor feedback braking force, and when the motor feedback braking force is insufficient, the linear control mechanical friction braking force is compensated.
In a third aspect, embodiments of the present invention further provide a computer readable storage medium, wherein at least one instruction is stored in the storage medium, the instruction being loaded and executed by a processor to implement the method according to any one of claims 1-6.
The embodiment of the invention provides a braking deceleration and a corresponding energy recovery mode which can be set according to the driving requirement, driving experience or driving habit of a driver in a sliding mode, so that the personalized requirement of the driver can be met while the braking energy recovery efficiency is ensured, the dependence on the operation experience of the driver is reduced, and the driving experience is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a control method for recovering braking energy of a sliding according to an embodiment of the present invention;
FIG. 2 is a flow chart of a control method for recovering braking energy of a vehicle according to an embodiment of the present invention;
FIG. 3 is a graph showing a simulated driver set energy recovery process parameter according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a control device for recovering braking energy of a sliding vehicle according to an embodiment of the present invention;
fig. 5 is a vehicle control system to which the control method for recovering braking energy of coasting according to the embodiment of the present invention is applicable.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a control method for recovering energy during coasting braking, which includes the steps of:
s100, when a driver needs active control, energy recovery setting is carried out according to a mode of stepping on a brake pedal or a mode of selecting a preset energy recovery level;
and 200, performing vehicle speed control and energy recovery control in the vehicle sliding process according to the energy recovery setting.
It should be noted that the embodiment may be applicable to braking energy recovery of a new energy vehicle in a sliding mode. In step S100, the active control intention of the driver when the driver needs active control may be acquired through the first control. It will be appreciated that in some new energy vehicle models, the first control is typically provided at a location that is easily manipulated by the driver, and that a button or lever or the like provided near the steering wheel may be selected. The first control is operable by a driver and is generally connected with the vehicle controller through a communication line. Therefore, after the first control obtains the active control intention of the driver, the vehicle control unit (such as a VCU) can be informed to perform energy recovery setting according to a mode of stepping on a brake pedal or a mode of selecting a preset energy recovery level, and the vehicle control unit performs vehicle speed control and energy recovery control in the vehicle sliding process according to the energy recovery setting.
It should be noted that, the first control obtains the initiative control intention of the driver, that is, the control is activated by the driver, at this time, the first control sends the energy recovery setting starting signal to the whole vehicle controller, and the whole vehicle controller confirms that the driver has the requirement of initiative control and makes the energy recovery setting ready after obtaining the energy recovery setting starting signal.
Aiming at some new energy vehicle types, the whole vehicle controller is connected with the electronic booster through a communication line, in the braking process, the whole vehicle controller sends a deceleration control instruction to the electronic booster, and when the electronic booster executes the deceleration control instruction of the whole vehicle controller, braking hydraulic pressure is established in a braking system to act on calipers, and wheels are decelerated through mechanical friction braking. Meanwhile, the whole vehicle controller is connected with a driver of the motor through a communication line, and when the vehicle brakes and/or energy is recovered, the whole vehicle controller sends an energy recovery control instruction during braking to the motor. When the vehicle is braked, the decelerating kinetic energy is converted into electric energy to be stored in a battery for braking energy recovery.
It can be understood that under the mode of stepping on the brake pedal, the pedal travel sensor can be installed on the brake pedal or integrated in the electronic booster, so that the related information of stepping on the brake pedal by the driver can be collected, and the collected related information is sent to the whole vehicle controller after being calculated and processed.
The embodiment provides that under the sliding mode, the braking deceleration and the corresponding energy recovery mode can be set according to the driving requirement, the driving experience or the driving habit of the driver, the personalized requirement of the driver can be met while the braking energy recovery efficiency is ensured, the dependence on the operation experience of the driver is reduced, and the driving experience is improved.
In some embodiments, the brake pedal mode includes an energy recovery setting based on a stroke of depressing the brake pedal, and the driver stops depressing the brake pedal after the energy recovery setting is completed in the brake pedal mode.
In this embodiment, the energy recovery setting is performed by stepping on the brake pedal, and only when the energy recovery setting is performed, the driver is required to step on the brake pedal, and once the driver considers that the energy recovery setting is completed according to his own needs, the operation of the brake pedal can be stopped without affecting the subsequent braking deceleration control and energy recovery control according to the energy recovery setting.
It should be noted that, after the driver finishes the action of stepping on the brake pedal, the driver can notify the whole vehicle controller through the second control; as described above, the second control may also be operated by the driver, and the driver may actively send a stop intention, and when the second control is activated by the driver (stop intention), the second control may send an energy recovery setting end signal to the vehicle controller, and the vehicle controller may confirm that the braking energy recovery setting is ended after acquiring the energy recovery setting end signal. It will be appreciated that the driver does not perform the brake pedal depressing operation when the vehicle speed control and the energy recovery control are performed in accordance with the energy recovery setting after the driver completes the brake pedal depressing operation, that is, after the vehicle control unit confirms that the brake energy recovery setting is completed.
Further, under the mode of stepping on the brake pedal, the change relation of the stroke of stepping on the brake pedal along with time is obtained; and determining a time-dependent change curve of the target deceleration according to a preset relation curve of the stroke and the deceleration of the brake pedal, and controlling the vehicle speed and the energy recovery according to the time-dependent change curve of the target deceleration.
In the mode of stepping on the brake pedal, the whole vehicle controller can trigger the starting of the setting of brake energy recovery according to the pedal displacement signal acquired by the pedal stroke sensor; the driver can press the brake pedal according to the driving requirement and habit of the driver to enable the vehicle to decelerate according to the expected deceleration.
It can be understood that the vehicle controller obtains a curve S-T of a travel S of a driver pressing a brake pedal along with time T, and obtains a curve G-T of a target deceleration G expected by the driver along with time T according to a curve S-G of a preset pedal travel S and deceleration G in the system.
In some embodiments, when the vehicle speed and energy recovery are controlled according to the time-dependent change curve of the target deceleration in a brake pedal stepping mode, braking is applied to enable the time-dependent change curve of the actual sliding deceleration to coincide with the time-dependent change curve of the target deceleration; if the target deceleration is greater than a preset threshold, coordinating the feedback braking force of the motor and the linear control mechanical friction braking force according to the braking force required by braking application to realize energy recovery; if the target deceleration is less than or equal to the preset threshold, the braking force required for braking the vehicle is provided by motor feedback braking force, and when the motor feedback braking force is insufficient, linear control mechanical friction braking force is used for compensation.
It can be understood that, in the brake pedal stepping mode, the vehicle controller coordinates the motor feedback braking force and the linear control mechanical friction braking force to jointly act to simulate the change of the target deceleration G with time T when the coasting braking energy is recovered, so that the actual coasting braking deceleration is matched with the change of the target deceleration G expected by the driver with time T.
The preset threshold is a deceleration threshold, when the vehicle speed is low or high, the kinetic energy provided by the motor is limited, the energy recovery capability provided by the motor is limited, and when the motor feedback braking force is insufficient, the motor feedback braking force is compensated by linear control mechanical friction torque, so that the change target of the deceleration along with the time is maintained.
In some embodiments, the method of selecting the predetermined energy recovery level is: determining a target energy recovery level in the preset energy recovery levels according to the requirements of a driver; and controlling the speed and the energy recovery according to the target energy recovery level.
In this embodiment, after the driver issues the active control intention, the energy recovery setting may be performed by selecting a mode of presetting the energy recovery level. When an active energy recovery setting is required, it is not necessary to operate the brake pedal (no requirement for driving experience or expertise), but rather it is directly operated by selecting an appropriate energy recovery level or a driver's own demand. Generally, the preset energy recovery grade is divided into three grades, namely low, medium and high, and different motor feedback braking energy recovery parameters are correspondingly set in the whole vehicle controller. When the driver selects any one of the grades, the whole vehicle controller adopts a corresponding motor to feed back braking energy recovery parameters to control according to the energy recovery grade selected by the driver.
In some embodiments, when the driver is not actively controlling and the accelerator signal is 0, the vehicle speed control and the energy recovery control are performed according to a preset energy recovery curve.
The present embodiment provides a braking control and an energy recovery manner in the case where the driver does not make an active control intention.
In one embodiment, as shown in fig. 2, a control method for recovering the coasting braking energy is as follows:
when the vehicle is started, the program is ready, the coasting braking energy is ready to be recovered, and a driver drives the vehicle to run on a road;
s1: the whole vehicle controller judges whether the first control is activated or not, if the first control is activated, the step S2 is carried out, and if the first control is not activated, the step S10 is carried out;
s10, the whole vehicle controller controls the motor to conduct sliding braking energy recovery according to a preset value (namely, when the accelerator signal is detected to be 0, the motor is controlled to execute an energy recovery process according to the set energy recovery intensity); and proceeds to S1 after execution is completed.
S2: selecting a braking energy recovery setting mode, if a brake pedal mode is selected, switching to S20, and if a mode of a preset energy recovery level is selected (a level meeting the requirement is selected from the preset energy recovery levels to perform energy recovery setting), switching to S30;
s20: the driver presses the brake pedal to slow down the vehicle, triggers the brake energy recovery setting, and enters S21;
s21: the whole vehicle controller triggers the setting of starting the sliding braking energy recovery according to the pedal displacement signal acquired by the pedal stroke sensor, and the S22 is entered;
s22: the whole vehicle controller judges whether the second control is activated, if the second control is activated, the step S23 is carried out, if the second control is not activated, the step S22 is carried out after the driver finishes the setting of stepping down the pedal;
s23: after the second control is activated, the braking energy recovery setting is not executed any more, and the driver is prompted to exit the braking energy recovery setting, and S24 is entered;
s24: the vehicle controller obtains a change curve of a driver stepping brake pedal stroke S along with time T according to the acquired pedal displacement signals, determines a change curve of target deceleration G expected by the driver along with time T according to a preset change curve of the pedal stroke S and the deceleration G in the system, and enters S25;
s25: the whole vehicle controller coordinates the feedback braking force of the motor and the linear control mechanical friction braking force to jointly simulate the change of the target deceleration S along with the time T when the sliding braking energy is recovered, and the process enters S26;
s26: judging whether the target deceleration is greater than a preset threshold value, if not, entering S261; if yes, go to S262;
s261: the motor energy recovery braking is taken as the main part, a linear control braking system of an electronic booster is adopted to respond quickly, and the braking force is compensated by linear control of mechanical friction braking force, so that the actual sliding braking deceleration is matched with the change of the target deceleration G expected by a driver along with the time T, and S4 is entered;
s262: according to the braking force coordination motor feedback braking force and the linear control mechanical friction braking force required by braking application, realizing energy recovery, enabling the actual sliding braking deceleration to be consistent with the change of the target deceleration G expected by a driver along with time T, and entering S4;
s4: finishing the execution of the sliding braking energy recovery process, and switching to S1;
s30: and the whole vehicle controller sets parameters of motor feedback braking energy recovery according to the energy recovery grade selected by the driver, and controls the motor to execute the braking energy recovery according to the parameters, and the S4 is carried out.
When the vehicle speed is low, the motor has low rotation speed efficiency, limited kinetic energy and limited energy recovery capability, and the braking force is compensated by controlling the mechanical friction torque through a linear control, so that the change target of the deceleration along with the time is maintained.
As shown in FIG. 3, the invention simulates a parameter change chart of the energy recovery process set by a driver, the energy recovery of the sliding brake is set according to the pedal stepping mode, when the pedal is stepped, the stroke of the pedal rises along with time, and after a certain stroke is reached, the stroke is kept stable. The vehicle controller obtains the change of the target deceleration along with time according to the change of the pedal stroke. The whole vehicle controller coordinates the combined action of energy recovery feedback braking and linear control dynamic friction braking torque, and when the actual deceleration and the target deceleration are ensured to be consistent with the change of time, the motor energy recovery braking force is used as the main part as much as possible, so that the braking energy recovery efficiency is improved.
As shown in fig. 4, the present embodiment further provides a control device for recovering braking energy, which includes: an active control module 10 and a passive control module 20, wherein
The active control module 10 is used for performing energy recovery setting according to a brake pedal stepping mode or a mode of selecting a preset energy recovery level when the driver needs active control; and performing vehicle speed control and energy recovery control in the vehicle sliding process according to the energy recovery setting.
The passive control module 20 is configured to perform vehicle speed control and energy recovery control according to a preset energy recovery curve when the driver does not actively control and the accelerator signal is 0.
As shown in fig. 4, in some embodiments, the active control module 10 further includes: a brake pedal control unit 101 and a preset energy recovery level control unit 102, wherein,
the brake pedal control unit 101 is configured to obtain a time-dependent relationship of a stroke of pressing the brake pedal after the driver finishes the brake pedal pressing operation; determining a change curve of target deceleration along with time according to a preset relation curve of the stroke and the deceleration of the brake pedal; and (5) making a vehicle speed and recovering energy according to a change relation curve of the target deceleration with time.
The preset energy recovery level control unit 102 is configured to determine a target energy recovery level among the preset energy recovery levels according to a demand of a driver; and controlling the speed and the energy recovery according to the target energy recovery level.
In some embodiments, the brake pedal control unit 101 is further configured to apply a brake such that the actual coasting deceleration-time profile matches the target deceleration-time profile; if the target deceleration is greater than a preset threshold, the motor feedback braking force and the linear control mechanical friction braking force are coordinated according to the required braking force to realize energy recovery; if the target deceleration is less than or equal to the preset threshold, the braking force required by the vehicle is provided by the motor feedback braking force, and when the motor feedback braking force is insufficient, the linear control mechanical friction braking force is compensated.
An embodiment of the present invention also provides a computer readable storage medium, where at least one instruction is stored in the storage medium, where the instruction is loaded and executed by a processor to implement a method according to any one of the preceding claims.
In one embodiment, as shown in fig. 5, a new energy vehicle coasting braking energy recovery control method is used in a vehicle control system that uses both brake-by-wire and motor energy recovery control.
The control system comprises a brake pedal, a pedal travel sensor, calipers, a whole vehicle controller, a motor, a wheel shaft, wheels, a control 1 and a control 2.
The electronic booster is used for executing deceleration control according to the deceleration control instruction of the whole vehicle controller, and particularly can establish brake hydraulic pressure in a brake system, act on calipers and decelerate wheels through mechanical friction braking.
Further, the whole vehicle controller is connected with a driver of the motor through a communication line, and can send an energy recovery instruction to the motor during braking when the motor is in braking during deceleration braking, and when the vehicle is in braking, wheels drive the motor to rotate reversely, and the decelerating kinetic energy is converted into electric energy to be stored in a battery for braking energy recovery.
The pedal travel sensor is arranged on a brake pedal or integrated in the electronic booster, and can collect the travel S of a driver operating the brake pedal, send the collected brake pedal travel S to the electronic booster, and upload the brake pedal travel S to the whole vehicle controller after the operation processing of the electronic booster.
The control 1 is used for the operation of a driver, and the control 1 is connected with the whole vehicle controller through a hard wire. When the control 1 is activated by a driver, the control sends a pedal starting mode signal to the whole vehicle controller, the whole vehicle controller obtains the pedal starting mode signal to enable the sliding braking energy recovery setting to be ready, and when the driver presses a brake pedal, the sliding braking energy recovery setting is triggered.
The control 2 is used for the operation of a driver, and the control 2 is also connected with the whole vehicle controller through a hard wire. When the control 2 is activated by the driver, the control sends a pedal stopping mode signal to the whole vehicle controller, and the whole vehicle controller finishes the coasting braking energy recovery setting after acquiring the pedal stopping mode signal.
Control 1 and control 2 are provided at positions that are easy for the driver to operate, and a button or a joystick or the like provided near the steering wheel can be selected.
When the brake pedal is stepped, a driver can set the change of the brake deceleration G along with the brake application time and the corresponding deceleration amplitude when setting the stable energy recovery according to the driving requirement and habit, and the driving comfort is improved. The method comprises the following steps:
the whole vehicle controller judges whether the control 1 is activated, if the control 1 is activated, the braking energy recovery setting is ready, the setting mode of the braking energy recovery is selected, and the setting mode that the driver pedal presses the braking pedal can be selected; the method for setting the brake pedal by stepping on the brake pedal by the driver pedal is characterized in that the driver steps on the brake pedal according to the driving requirement and habit of the driver, so that the vehicle is decelerated according to the expected deceleration, and the whole vehicle controller triggers the setting for starting the recovery of the sliding braking energy according to the pedal displacement signal S acquired by the pedal stroke sensor.
The whole vehicle controller judges whether the control 2 is activated, if the control 2 is activated, a driver of the whole vehicle controller obtains the change of the travel S of the driver for pressing the brake pedal along with the time T, and the change of the target deceleration G expected by the driver along with the time T is obtained according to the S-G curve of the pedal travel and the deceleration preset in the system. The whole vehicle controller coordinates the feedback braking force of the motor and the linear control mechanical friction braking force, and the motor feedback braking force and the linear control mechanical friction braking force jointly act to simulate the change of the target deceleration G along with the time T when the sliding braking energy is recovered, so that the actual sliding braking deceleration is matched with the change of the target deceleration G expected by a driver along with the time T.
In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that in the present invention, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. The control method for recovering the sliding braking energy is characterized by comprising the following steps:
when the driver needs active control, energy recovery setting is carried out according to a brake pedal stepping mode;
according to the energy recovery setting, vehicle speed control and energy recovery control are carried out in the vehicle sliding process;
under the mode of stepping on the brake pedal, stopping the action of stepping on the brake pedal by a driver after the energy recovery setting is completed;
the brake pedal stepping mode comprises the following steps:
performing energy recovery setting according to the stroke of pressing the brake pedal;
the energy recovery setting according to the stroke of pressing the brake pedal comprises the following steps:
acquiring the change relation of the stroke of stepping on the brake pedal along with time;
determining a change curve of target deceleration along with time according to a preset relation curve of the stroke and the deceleration of the brake pedal;
the vehicle speed control and the energy recovery control are carried out in the vehicle sliding process according to the energy recovery setting, and the method comprises the following steps:
controlling the speed and energy recovery according to the change curve of the target deceleration along with time;
the method for controlling the vehicle speed and the energy recovery according to the time-dependent change curve of the target deceleration comprises the following steps:
applying a brake to cause the actual coasting deceleration-time profile to coincide with the target deceleration-time profile;
if the target deceleration is greater than a preset threshold, the motor feedback braking force and the linear control mechanical friction braking force are coordinated according to the braking force required by the vehicle to realize energy recovery;
if the target deceleration is less than or equal to the preset threshold, the braking force required by the vehicle is provided by the motor feedback braking force, and when the motor feedback braking force is insufficient, the linear control mechanical friction braking force is compensated.
2. A control method of coasting brake energy recovery as claimed in claim 1, comprising the steps of:
and when the driver does not actively control and the accelerator signal is 0, performing vehicle speed control and energy recovery control according to a preset energy recovery curve.
3. A control device for coasting brake energy recovery, comprising:
an active control module for:
when the driver needs active control, energy recovery setting is carried out according to a brake pedal stepping mode;
according to the energy recovery setting, vehicle speed control and energy recovery control are carried out in the vehicle sliding process;
the passive control module is used for performing vehicle speed control and energy recovery control according to a preset energy recovery curve when the driver does not actively control and the accelerator signal is 0;
the active control module includes:
a brake pedal control unit for:
performing energy recovery setting according to the stroke of pressing the brake pedal;
determining a change curve of target deceleration along with time according to a preset relation curve of the stroke and the deceleration of the brake pedal;
controlling the speed and energy recovery according to the change curve of the target deceleration along with time;
a preset energy recovery level control unit for:
determining a target energy recovery level in the preset energy recovery levels according to the requirements of a driver;
controlling the speed and energy recovery according to the target energy recovery level;
the brake pedal control unit is further used for:
applying a brake to cause the actual coasting deceleration-time profile to coincide with the target deceleration-time profile;
if the target deceleration is greater than a preset threshold, the motor feedback braking force and the linear control mechanical friction braking force are coordinated according to the braking force required by the vehicle to realize energy recovery;
if the target deceleration is less than or equal to the preset threshold, the braking force required by the vehicle is provided by the motor feedback braking force, and when the motor feedback braking force is insufficient, the linear control mechanical friction braking force is compensated.
4. A computer readable storage medium having stored therein at least one instruction that is loaded and executed by a processor to implement the method of any of claims 1-2.
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| CN114475562A (en) * | 2021-12-28 | 2022-05-13 | 东风汽车集团股份有限公司 | Braking auxiliary control method and system for following running of congested ramp vehicle |
| CN114670673B (en) * | 2022-03-11 | 2024-02-27 | 凯博易控车辆科技(苏州)股份有限公司 | Braking torque control system and method |
| CN116691357B (en) * | 2023-07-11 | 2023-12-08 | 北京北内创意电控发动机有限责任公司 | Control method and system for energy recovery braking and mechanical braking in braking process |
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