CN113776847B - Test system, test method and device for vehicle regenerative braking working condition and storage medium - Google Patents
Test system, test method and device for vehicle regenerative braking working condition and storage medium Download PDFInfo
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- CN113776847B CN113776847B CN202110842666.1A CN202110842666A CN113776847B CN 113776847 B CN113776847 B CN 113776847B CN 202110842666 A CN202110842666 A CN 202110842666A CN 113776847 B CN113776847 B CN 113776847B
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Abstract
The invention discloses a test system, a test method, a device and a storage medium for a regenerative braking condition of a vehicle, belonging to the technical field of automobiles and comprising a brake caliper, an ESC (electronic stability control), an electronic booster, an actuating cylinder, a pressure sensor and a test controller; the test controller is respectively electrically connected with the ESC, the electronic booster, the actuating cylinder and the pressure sensor and is used for reading the working condition states of the ESC and the electronic booster in real time; one end of the ESC is connected with the brake caliper, the other end of the ESC is connected with the electronic booster, the electronic booster is arranged on the actuating cylinder, and the actuating cylinder pushes the push rod of the electronic booster to advance. The test method is based on the theory of an orthogonal method, can automatically find out a typical driving mode when a power-assisted degradation event occurs, and carries out an automatic bench test in a small range of driving mode conditions, thereby greatly saving time; the invention adds a step of checking whether the regenerative braking is started or not, and can ensure that the whole process of the test is carried out under the condition of starting the regenerative braking.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a test system, a test method, test equipment and a storage medium for a regenerative braking condition of a vehicle.
Background
With the development of automobile electric control systems, more and more braking force of vehicles is provided by regenerative braking and hydraulic braking together, wherein the regenerative braking is that a driving motor rotates reversely to generate braking force which acts on wheels through a driving half shaft for braking, and the hydraulic braking is that a braking system generates hydraulic braking which acts on the wheels through a braking clamp to clamp a brake disc. When the vehicle is transited from the stable working condition to the unstable working condition, the boosting mode of the braking system is changed, and at the moment, a boosting degradation event can occur due to the action of regenerative braking. Therefore, the magnitude of the input force during braking needs to be evaluated under various driving modes to verify whether the boosting degradation event occurs.
The currently adopted test method is a driving mode condition comprehensive coverage test, but because the driving mode range is very wide, a great deal of time is consumed for all traversals.
Disclosure of Invention
In order to solve the problems in the prior art, the invention is based on the theory of an orthogonal method, and through a test system, a test method, equipment and a storage medium for the regenerative braking working condition of the vehicle, the typical driving mode when the boosting degradation event occurs can be automatically found out, and an automatic bench test is carried out in a small range of the driving mode conditions, so that the time is greatly saved.
The invention is realized by the following technical scheme:
a system for the regenerative braking working condition of a vehicle comprises a brake caliper, an ESC (electronic brake control), an electronic booster, an actuating cylinder, a pressure sensor and a test controller; the test controller is respectively electrically connected with the ESC, the electronic booster, the actuating cylinder and the pressure sensor and is used for reading the working condition states of the ESC and the electronic booster in real time; one end of the ESC is connected with the brake caliper, the other end of the ESC is connected with the electronic booster, the electronic booster is arranged on the actuating cylinder, and the actuating cylinder pushes the push rod of the electronic booster to advance.
Preferably, one end of the ESC is connected with a main cylinder of the electronic booster through two hydraulic pipelines; the other end of the ESC is connected with a brake caliper through four hydraulic pipelines, and the six hydraulic pipelines are respectively connected with a pressure sensor in series; the brake caliper comprises a left front brake caliper, a right front brake caliper, a left rear brake caliper and a right rear brake caliper; the pressure sensors include a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor, a fifth pressure sensor and a sixth pressure sensor.
Preferably, a displacement sensor and a force sensor are mounted on the actuating cylinder.
Preferably, the test controller employs an HIL simulator.
Preferably, the ESC includes a regenerative braking module.
In a second aspect, the invention provides a method for testing a regenerative braking condition of a vehicle, comprising the following specific steps:
the method comprises the following steps: and (3) performing a basic assistance performance test at a low speed: the ESC is powered off, the electronic booster is kept powered on, and the test controller controls the actuating cylinder to be powered on by v c1 (v c1 Less than or equal to 2 mm/s) to push the push rod of the electronic booster to advance until the displacement of the actuating cylinder is l 1 Acquiring the displacement value of the actuating cylinder and the pressure value of a pressure sensor connected with a main cylinder of the electronic booster in real time to obtain a slow lower basic boosting performance MAP with the abscissa as the displacement value of the actuating cylinder, the ordinate as the input force value of the actuating cylinder and the pressure value of the pressure sensor connected with the main cylinder of the electronic booster:
P a1 ＝f 1 (l 1 )
P a2 ＝f 2 (l 1 )
F a1 ＝f 3 (l 1 )；
step two: and (3) performing a basic assistance performance test quickly: the ESC is powered off, the electronic booster is kept powered on, and the test controller controls the actuating cylinder to be powered on by v c2 (v c2 Not less than 10 mm/s) to push the push rod of the electronic booster to advance until the displacement of the actuating cylinder is l 1 Acquiring the displacement value of the actuating cylinder and the pressure value of a pressure sensor connected with a main cylinder of the electronic booster in real time to obtain a quick lower basic boosting performance MAP with the abscissa as the displacement value of the actuating cylinder, the ordinate as the input force value of the actuating cylinder and the pressure value connected with the main cylinder of the electronic booster:
F a2 ＝f 6 (l 1 )；
step three: the test controller controls the actuating cylinder to return to a zero point; the test controller sends the maximum regenerative moment capacity of the front shaft of the motor and the maximum regenerative moment capacity of the rear shaft of the motor to a regenerative braking module in the ESC control module, and the road surface is set to be a flat road surface, and the friction coefficient of the road surface is 0.8-1.2; setting the opening of an accelerator to be 0.5-1 and the rotation angle of a steering wheel to be 0 degree, so that the vehicle accelerates until the vehicle speed reaches v 1 (v 1 ≥120km/h)；
Step four: test controller with v c1 The push rod of the electronic booster is pushed to advance to simulate the braking process of a driver until the deceleration of the vehicle exceeds-3 m/s 2 (ii) a Keeping the current position of the actuating cylinder unchanged until the vehicle speed is reduced to 0, and recording that the current displacement value of the actuating cylinder is l 2 In the process, the pressure value of a pressure sensor connected with a main cylinder of the electronic booster is collected in real time, and 0.5l of pressure value is taken 2 ，0.75l 2 ，l 2 3 sampling points in total, and taking the displacement value of the actuating cylinder corresponding to the 3 sampling points as l 21 ，l 22 ，l 23 Pressure value P of pressure sensor connected to master cylinder of electronic booster 11 ，P 21 ，P 12 ，P 22 ，P 13 ，P 23 Taking the corresponding l in a basic boosting performance MAP graph under the low speed 1 ＝l 21 ，l 22 ，l 23 When is corresponding to P a11 ，P a12 ，P a13 ，P a21 ，P a22 ，P a23 ：
P a11 ＝f 1 (l 21 )
P a12 ＝f 1 (l 22 )
P a13 ＝f 1 (l 23 )
P a21 ＝f 2 (l 21 )
P a22 ＝f 2 (l 22 )
P a23 ＝f 2 (l 23 )；
Step five: judging whether the regenerative braking is started or not, specifically as follows:
calculating whether six difference ratios are larger than 2 or not, wherein the difference ratios are regarded as that the displacements of the actuating cylinders are respectively l 21 、l 21 、l 23 The method comprises the steps that when the pressure value input by an actuating cylinder is measured, the ratio of the difference value of the pressure value of the actuating cylinder in a basic power-assisted performance MAP graph at a low speed to the pressure value of the actuating cylinder in the basic power-assisted performance MAP graph at the low speed is acquired in real time;
if all the brake parameters are greater than 2, starting regenerative braking and executing the next step; if any difference ratio is less than 2, the regenerative braking is not started, the actuating cylinder is returned to the zero position, the step three is repeated, and the maximum regenerative torque capacity of the front shaft of the motor and the maximum regenerative torque capacity of the rear shaft of the motor are increased;
step six: power-assisted degradation testing at the start of regenerative braking:
performing a power-assisted degradation test in a typical driving mode optimal space, wherein the parameters of the typical driving mode optimal space are set as follows: initial velocity of (0.95-1.05) a j The stroke of the push rod is (0.95-1.05) b j 40mm/s with the push rod speed of 0.95-1.05 times, d with the steering wheel angle of 0.95-1.05 d and 0.7rad/s with the steering wheel rotating speed of 0.95-1.05 times.
Preferably, in step six, the optimization method of the optimal space of the typical driving mode is as follows:
step S1, the parameter space factors comprise 5 factors: initial speed a, push rod stroke b, push rod speed c, steering wheel rotation angle d and steering wheel rotation speed e; setting the corresponding levels of each parameter space factor as follows: the initial speeds are respectively set as 50, 60, 70 and 80km/h, the push rod strokes are respectively set as 10, 15, 20 and 25mm, the push rod speed is fixed as 40mm/s, the steering wheel corners are respectively set as 1.4, 2.1, 2.8 and 3.5rad, and the steering wheel rotating speed is fixed as 0.7rad/s;
s2, setting the road surface as a flat road surface, setting the friction coefficient of the road surface as 1.0, setting the opening degree of an accelerator as 0.8 and the turning angle of a steering wheel as 0 degree, enabling the vehicle to accelerate forwards until the vehicle speed reaches an initial speed a, enabling the vehicle to enter a curve, increasing the turning angle of the steering wheel from 0 to d within the rotating speed of e, controlling a brake cylinder to push a push rod of an electronic booster at a speed c by a test controller, and collecting the input force value of the brake cylinder as F when the displacement of the brake cylinder is b 2 (ii) a In the MAP of the basic boost performance under the fast speed, when the displacement of the cylinder is b, the input force value of the cylinder is F a2 Calculating the difference ratio of the input force:
when Δ F 1 When the value is greater than 3, the power-assisted degradation event occurs; otherwise, the boosting degradation event does not occur, and a test output value y is set i Whether the boosting degradation event occurs or not is 1, and the boosting degradation event does not occur and is 0;
setting a test serial number as n (n is more than or equal to 1 and less than or equal to 64), and setting the relationship among the initial speed a, the push rod stroke b, the push rod speed c, the steering wheel rotating angle d, the steering wheel rotating speed e and n in each test as follows:
c.＝40
e＝0.7
controlling the test bed to sequentially perform 64 tests through the test controller to obtain a test output value of each test;
s3, calculating the sum of test output values corresponding to different levels (1, 2, 3 and 4) under each parameter space factor (initial speed a, push rod stroke b, push rod speed c, steering wheel angle d and steering wheel rotating speed e):
because the push rod speed c and the steering wheel rotating speed e do not change along with the test serial number, y is not calculated c1 ～y c4 ，y e1 ～y e4 A value of (d);
step S4, calculating the maximum value of all levels (1, 2, 3 and 4) under each parameter space factor (initial speed a, push rod stroke b, push rod speed c, steering wheel rotation angle d and steering wheel rotation speed e), wherein the level corresponding to the maximum value of each parameter space factor forms a typical driving mode optimal space R:
y aj ＝max(y a1 ，y a2 ，y a3 ，y a4 )(j∈{1，2，3，4})
y bj ＝max(y b1 ，y b2 ，y b3 ，y b4 )(j∈{1，2，3，4})
y dj ＝max(y d1 ，y d2 ，y d3 ，y d4 )(j∈{1，2，3，4})
R＝{a j ，b j ，c 1 ，d j ，e 1 }
in a third aspect, the present invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements a method for testing a regenerative braking operation of a vehicle according to the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the program, when executed by a processor, implements a method for testing a regenerative braking condition of a vehicle according to the present invention.
Compared with the prior art, the invention has the following advantages:
1) Based on the theory of an orthogonal method, the typical driving mode when the assistance degradation event occurs can be automatically found out, and an automatic bench test is carried out in a small range of the driving mode conditions, so that the time is greatly saved;
2) According to the invention, based on the working experience, the push rod speed c and the steering wheel rotating speed e are set to be constant values, so that the test dimensionality is reduced, and the test times are further reduced;
3) The invention adds a step of checking whether the regenerative braking is started or not, and can ensure that the whole process of the test is carried out under the condition of starting the regenerative braking.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic diagram of a system for regenerative braking operation of a vehicle;
FIG. 2 is a signal topology diagram of a regenerative braking module for a vehicle regenerative braking event;
fig. 3 is a schematic structural diagram of an electronic device in embodiment 3 of the present invention.
Detailed Description
For clearly and completely describing the technical scheme and the specific working process thereof, the specific implementation mode of the invention is as follows by combining the drawings in the specification:
in the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Example 1
As shown in FIG. 1, the embodiment provides a system for regenerative braking of a vehicle, which comprises a brake caliper, an ESC, an electronic booster, a cylinder, a pressure sensor and a test controller; the test controller is respectively electrically connected with the ESC, the electronic booster, the actuating cylinder and the pressure sensor, and the actuating cylinder is provided with a displacement sensor and a force sensor; the test controller is used for reading the working condition states of the ESC and the electronic booster in real time, collecting the values of the force sensor, the displacement sensor and the pressure sensor, controlling the motion of the actuating cylinder in a displacement control mode and carrying out the operation of the whole test program; one end of the ESC is connected with the brake caliper, the other end of the ESC is connected with the electronic booster, the electronic booster is arranged on the actuating cylinder, the actuating cylinder is mechanically connected with the electronic booster, the actuating cylinder pushes the push rod of the electronic booster to advance, and the push rod cannot be pulled to retreat.
One end of the ESC is connected with a main cylinder of the electronic booster through two hydraulic pipelines; the other end of the ESC is connected with a brake caliper through four hydraulic pipelines, a first pressure sensor and a second pressure sensor are respectively connected in series on a hydraulic pipeline connected with a master cylinder of the electronic booster, and a third pressure sensor, a fourth pressure sensor, a fifth pressure sensor and a sixth pressure sensor are respectively connected in series on a hydraulic pipeline connected with the brake caliper; the brake caliper comprises a left front brake caliper, a right front brake caliper, a left rear brake caliper and a right rear brake caliper.
The test controller adopts an HIL simulator.
The ESC comprises a regenerative braking module, as shown in fig. 2, sets vehicle parameters in a vehicle model, including steering wheel angle, accelerator opening, road parameters and the like, for a topological diagram of the regenerative braking module, and transmits data such as actual moment of a rear shaft of a vehicle motor, actual moment of a front shaft of the motor, and real-time state of the vehicle in the vehicle model to the regenerative braking module in the ESC control module, wherein the real-time state of the vehicle includes left front, right front, left rear, right rear wheel speed, steering wheel angle and rotation speed, accelerator opening, lateral acceleration, longitudinal acceleration and yaw angular velocity; the actuating cylinder pushes a push rod of the electronic booster to advance, the displacement sensor sends a displacement value of the actuating cylinder to a basic power-assisted module in the ESC control module, and a target braking torque of a driver is calculated; the test controller sends the maximum regenerative torque capacity of the front shaft of the motor and the maximum regenerative torque capacity of the rear shaft of the motor to a regenerative braking module in the ESC control module, and the regenerative braking module decides the power-assisted target pressure of the electronic booster, the required regenerative braking torque, the distribution coefficient of the maximum regenerative braking torque of the front shaft and the distribution coefficient of the maximum regenerative braking torque of the rear shaft according to the maximum regenerative torque capacity of the front shaft of the motor, the maximum regenerative torque capacity of the rear shaft of the motor, the actual torque of the front shaft of the motor, the real-time state of a vehicle and the target braking torque of a driver. The electronic booster performs brake boosting according to the booster target pressure of the electronic booster and the displacement value of the actuating cylinder, generates left front, right front, left rear and right rear hydraulic brake pressures in a brake system, and sends the pressures to a vehicle model together with a required regenerative brake torque, a front axle maximum regenerative brake torque distribution coefficient and a rear axle maximum regenerative brake torque distribution coefficient, so as to realize closed-loop control.
Example 2
As shown in fig. 2, the embodiment provides a method for testing a regenerative braking condition of a vehicle, which includes the following steps:
the method comprises the following steps: and (3) performing a basic assistance performance test at a low speed: the ESC is powered off, the electronic booster is kept powered on, and the test controller controls the actuating cylinder to be powered on by v c1 (v c1 Less than or equal to 2 mm/s) to push the push rod of the electronic booster to advance until the displacement of the actuating cylinder is l 1 Acquiring the displacement value of the actuating cylinder and the pressure value of a pressure sensor connected with a main cylinder of the electronic booster in real time to obtain a slow basic boosting performance MAP with the abscissa as the displacement value of the actuating cylinder, the ordinate as the input force value of the actuating cylinder and the pressure value of the pressure sensor connected with the main cylinder of the electronic booster:
P a1 ＝f 1 (l 1 )
P a2 ＝f 2 (l 1 )
F a1 ＝f 3 (l 1 )；
step two: and (3) performing a basic assistance performance test quickly: the ESC is powered off, the electronic booster is kept powered on, and the test controller controls the actuating cylinder to be powered on by v c2 (v c2 Not less than 10 mm/s) to push the push rod of the electronic booster to advance until the displacement of the actuating cylinder is l 1 Real-time acquisition of cylinder displacementAnd obtaining a quick lower basic power-assisted performance MAP graph with the abscissa as the displacement value of the actuating cylinder, the ordinate as the input force value of the actuating cylinder and the pressure value connected with the main cylinder of the electronic booster by using the values and the pressure value of the pressure sensor connected with the main cylinder of the electronic booster:
F a2 ＝f 6 (l 1 )；
step three: the test controller controls the actuating cylinder to return to a zero point; the test controller sends the maximum regenerative torque capacity of the front shaft of the motor and the maximum regenerative torque capacity of the rear shaft of the motor to a regenerative braking module in the ESC control module, and the road surface is set to be a flat road surface, and the friction coefficient of the road surface is 0.8-1.2; setting the opening of an accelerator to be 0.5-1 and the rotation angle of a steering wheel to be 0 degree, so that the vehicle accelerates until the vehicle speed reaches v 1 (v 1 ≥120km/h)；
Step four: test controller with v c1 The push rod of the electronic booster is pushed to advance to simulate the braking process of a driver until the deceleration of the vehicle exceeds-3 m/s 2 (ii) a Keeping the current position of the actuating cylinder unchanged until the vehicle speed is reduced to 0, and recording that the current displacement value of the actuating cylinder is l 2 In the process, the pressure value of a pressure sensor connected with a main cylinder of the electronic booster is collected in real time, and 0.5l of pressure value is taken 2 ，0.75l 2 ，l 2 3 sampling points in total, and taking the displacement value of the actuating cylinder corresponding to the 3 sampling points as l 21 ，l 22 ，l 23 Pressure value P of pressure sensor connected to master cylinder of electronic booster 11 ，P 21 ，P 12 ，P 22 ，P 13 ，P 23 Taking the corresponding l in a basic boosting performance MAP graph under the low speed 1 ＝l 21 ，l 22 ，l 23 When is corresponding to P a11 ，P a12 ，P a13 ，P a21 ，P a22 ，P a23 ：
P a11 ＝f 1 (l 21 )
P a12 ＝f 1 (l 22 )
P a13 ＝f 1 (l 23 )
P a21 ＝f 2 (l 21 )
P a22 ＝f 2 (l 22 )
P a23 ＝f 2 (l 23 )；
Step five: judging whether the regenerative braking is started or not, specifically as follows:
calculating whether six difference ratios are larger than 2 or not, wherein the difference ratios are regarded as that the displacements of the actuating cylinders are respectively l 21 、l 21 、l 23 The method comprises the steps that when the pressure value input by a working cylinder is measured, the ratio of the difference value of the pressure value of the working cylinder in a basic power performance MAP graph at a low speed to the pressure value of the working cylinder in the basic power performance MAP graph at the low speed is collected in real time;
if all the brake parameters are more than 2, starting the regenerative braking and executing the next step; if any difference ratio is less than 2, the regenerative braking is not started, the actuating cylinder is returned to the zero position, the step three is repeated, and the maximum regenerative torque capacity of the front shaft of the motor and the maximum regenerative torque capacity of the rear shaft of the motor are increased;
step six: power-assisted degradation testing at the start of regenerative braking:
performing a power-assisted degradation test in a typical driving mode optimal space, wherein the parameters of the typical driving mode optimal space are set as follows: initial velocity is (0.95-1.05) a j The stroke of the push rod is (0.95-1.05) b j 40mm/s with the push rod speed of 0.95-1.05 times, d with the steering wheel angle of 0.95-1.05 d and 0.7rad/s with the steering wheel rotating speed of 0.95-1.05 times.
The optimization method of the optimal space of the typical driving mode comprises the following steps:
step S1, the parameter space factors comprise 5 factors: initial speed a, push rod stroke b, push rod speed c, steering wheel rotation angle d and steering wheel rotation speed e; setting the corresponding levels of each parameter space factor as follows: the initial speeds are respectively set as 50, 60, 70 and 80km/h, the push rod strokes are respectively set as 10, 15, 20 and 25mm, the push rod speed is fixed as 40mm/s, the steering wheel corners are respectively set as 1.4, 2.1, 2.8 and 3.5rad, and the steering wheel rotating speed is fixed as 0.7rad/s;
s2, setting the road surface as a flat road surface, setting the friction coefficient of the road surface as 1.0, setting the opening degree of an accelerator as 0.8 and the turning angle of a steering wheel as 0 degree, enabling the vehicle to accelerate forwards until the vehicle speed reaches an initial speed a, enabling the vehicle to enter a curve, increasing the turning angle of the steering wheel from 0 to d within the rotating speed of e, controlling a brake cylinder to push a push rod of an electronic booster at a speed c by a test controller, and collecting the input force value of the brake cylinder as F when the displacement of the brake cylinder is b 2 (ii) a In the MAP of the basic boost performance under the fast speed, when the displacement of the cylinder is b, the input force value of the cylinder is F a2 Calculating the difference ratio of the input forces:
when Δ F 1 When the value is greater than 3, the power-assisted degradation event occurs; otherwise, the boosting degradation event does not occur, and a test output value y is set i Whether a power-assisted degradation event occurs is 1, notA occurrence of 0;
setting a test serial number as n (n is more than or equal to 1 and less than or equal to 64), and setting the relationship among the initial speed a, the push rod stroke b, the push rod speed c, the steering wheel rotating angle d, the steering wheel rotating speed e and n in each test as follows:
c.＝40
e＝0.7
controlling the test bed to sequentially perform 64 tests through the test controller to obtain a test output value of each test;
specific data are shown in table 1;
table 1 shows that the test controller controls the test bed to sequentially perform 64 tests to obtain a table of test output values for each test
S3, calculating the sum of test output values corresponding to different levels (1, 2, 3 and 4) under each parameter space factor (initial speed a, push rod stroke b, push rod speed c, steering wheel angle d and steering wheel rotating speed e):
because the push rod speed c and the steering wheel rotating speed e do not change along with the test serial number, the push rod speed c and the steering wheel rotating speed e are not calculatedy c1 ～y c4 ，y e1 ～y e4 A value of (d);
1. calculating the maximum value of all levels (1, 2, 3 and 4) under each parameter space factor (initial speed a, push rod stroke b, push rod speed c, steering wheel rotation angle d and steering wheel rotation speed e), wherein the level corresponding to the maximum value of each parameter space factor forms a typical driving mode optimal space R:
y aj ＝max(y a1 ，y a2 ，y a3 ，y a4 )(j∈{1，2，3，4})
y bj ＝max(y b1 ，y b2 ，y b3 ，y b4 )(j∈{1，2，3，4})
y dj ＝max(y d1 ，y d2 ，y d3 ，y d4 )(j∈{1，2，3，4})
R＝{a j ，b j ，c 1 ，d j ，e 1 }。
example 3
Fig. 3 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention. FIG. 3 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 3 is only an example and should not impose any limitation on the scope of use or functionality of embodiments of the present invention.
As shown in FIG. 3, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes programs stored in the system memory 28 to perform various functional applications and data processing, such as implementing a method for testing regenerative braking operation of a vehicle provided by embodiments of the present invention.
Example 4
Embodiment 4 of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for testing a regenerative braking condition of a vehicle as provided in all embodiments of the present invention of the present application.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (8)
1. A test method for the regenerative braking condition of a vehicle is realized by adopting a system for the regenerative braking condition of the vehicle, wherein the system comprises a brake caliper, an ESC (electronic brake control System), an electronic booster, an actuating cylinder, a pressure sensor and a test controller; the test controller is respectively electrically connected with the ESC, the electronic booster, the actuating cylinder and the pressure sensor and is used for reading the working condition states of the ESC and the electronic booster in real time; one end of the ESC is connected with the brake caliper, the other end of the ESC is connected with the electronic booster, the electronic booster is arranged on the actuating cylinder, and the actuating cylinder pushes the push rod of the electronic booster to advance; the method is characterized by comprising the following specific steps:
the method comprises the following steps: and (3) performing a basic power assisting performance test at a low speed: the ESC is powered off, the electronic booster is kept powered on, and the test controller controls the actuating cylinder to be powered on by v c1 The push rod of the electronic booster is pushed to advance at the speed less than or equal to 2mm/s until the displacement of the actuating cylinder is l 1 Acquiring the displacement value of the actuating cylinder and the pressure value of a pressure sensor connected with a main cylinder of the electronic booster in real time to obtain a slow lower basic boosting performance MAP with the abscissa as the displacement value of the actuating cylinder, the ordinate as the input force value of the actuating cylinder and the pressure value of the pressure sensor connected with the main cylinder of the electronic booster:
P a1 ＝f 1 (l 1 )
P a2 ＝f 2 (l 1 )
F a1 ＝f 3 (l 1 )；
step two: and (3) performing a basic assistance performance test quickly: the ESC is powered off, the electronic booster is kept powered on, and the test controller controls the actuating cylinder to be powered on by v c2 The push rod of the electronic booster is pushed to advance at a speed of more than or equal to 10mm/s until the displacement of the actuating cylinder is l 1 Acquiring the displacement value of the actuating cylinder and the pressure value of a pressure sensor connected with a main cylinder of the electronic booster in real time to obtain a quick lower basic boosting performance MAP graph with the abscissa as the displacement value of the actuating cylinder, the ordinate as the input force value of the actuating cylinder and the pressure value connected with the main cylinder of the electronic booster:
F a2 ＝f 6 (l 1 )；
step three: the test controller controls the actuating cylinder to return to a zero point; the test controller sends the maximum regenerative torque capacity of the front shaft of the motor and the maximum regenerative torque capacity of the rear shaft of the motor to a regenerative braking module in the ESC control module, and the road surface is set to be a flat road surface, and the friction coefficient of the road surface is 0.8-1.2; setting the opening of the accelerator to be 0.5-1 and the steering wheel angle to be 0 degree to accelerate the vehicle to move forwards until the vehicle speed reaches v 1 ≥120km/h；
Step four: test controller with v c1 The push rod of the electronic booster is pushed to advance to simulate the braking process of a driver until the deceleration of the vehicle exceeds-3 m/s 2 (ii) a Keeping the current position of the actuating cylinder unchanged until the vehicle speed is reduced to 0, and recording that the current displacement value of the actuating cylinder is l 2 In the process, the pressure value of a pressure sensor connected with a main cylinder of the electronic booster is collected in real time, and 0.5l of pressure value is taken 2 ，0.75l 2 ，l 2 3 sampling points in total, and taking the displacement value of the actuating cylinder corresponding to the 3 sampling points as l 21 ，l 22 ，l 23 Pressure value P of pressure sensor connected to master cylinder of electronic booster 11 ，P 21 ，P 12 ，P 22 ，P 13 ，P 23 In the basic boosting performance MAP graph under low speed, take when l 1 ＝l 21 ，l 22 ，l 23 When is corresponding to P a11 ，P a12 ，P a13 ，P a21 ，P a22 ，P a23 ：
P a11 ＝f 1 (l 21 )
P a12 ＝f 1 (l 22 )
P a13 ＝f 1 (l 23 )
P a21 ＝f 2 (l 21 )
P a22 ＝f 2 (l 22 )
P a23 ＝f 2 (l 23 )；
Step five: judging whether the regenerative braking is started or not, specifically as follows:
calculating whether six difference ratios are larger than 2 or not, wherein the difference ratios are used as the displacements of the actuating cylinders and are respectively l 21 、l 21 、l 23 The method comprises the steps that when the pressure value input by an actuating cylinder is measured, the ratio of the difference value of the pressure value of the actuating cylinder in a basic power-assisted performance MAP graph at a low speed to the pressure value of the actuating cylinder in the basic power-assisted performance MAP graph at the low speed is acquired in real time;
if all the brake parameters are more than 2, starting the regenerative braking and executing the next step; if any difference ratio is less than 2, the regenerative braking is not started, the actuating cylinder is returned to the zero position, the step three is repeated, and the maximum regenerative torque capacity of the front shaft of the motor and the maximum regenerative torque capacity of the rear shaft of the motor are increased;
step six: power-assisted degradation testing at the start of regenerative braking:
performing a power-assisted degradation test in a typical driving mode optimal space, wherein the parameters of the typical driving mode optimal space are set as follows: initial velocity of (0.95-1.05) a j The stroke of the push rod is (0.95-1.05) b j The push rod speed is 40mm/s (0.95-1.05) times, the steering wheel rotating angle is 0.95-1.05 d, and the steering wheel rotating speed is 0.7rad/s (0.95-1.05) times.
2. The method for testing the regenerative braking condition of the vehicle as claimed in claim 1, wherein in step six, the optimization method of the optimal space of the typical driving mode is as follows:
step S1, the parameter space factors comprise 5 factors: initial speed a, push rod stroke b, push rod speed c, steering wheel rotation angle d and steering wheel rotation speed e; setting the corresponding levels of each parameter space factor as follows: the initial speeds are respectively set as 50, 60, 70 and 80km/h, the push rod strokes are respectively set as 10, 15, 20 and 25mm, the push rod speed is fixed as 40mm/s, the steering wheel corners are respectively set as 1.4, 2.1, 2.8 and 3.5rad, and the steering wheel rotating speed is fixed as 0.7rad/s;
s2, setting the road surface as a flat road surface, setting the friction coefficient of the road surface as 1.0, setting the opening degree of an accelerator as 0.8 and the turning angle of a steering wheel as 0 degree, enabling the vehicle to accelerate forwards until the vehicle speed reaches an initial speed a, enabling the vehicle to enter a curve, increasing the turning angle of the steering wheel from 0 to d within the rotating speed of e, and controlling an actuating cylinder to push electricity at a speed c by a test controllerA push rod of the sub booster for collecting the input force value of the cylinder as F when the displacement of the cylinder is b 2 (ii) a In the MAP of the basic boost performance under the fast speed, when the displacement of the cylinder is b, the input force value of the cylinder is F a2 Calculating the difference ratio of the input force:
when Δ F 1 When the value is larger than 3, the assistance degradation event occurs; otherwise, the boosting degradation event does not occur, and a test output value y is set i Whether the boosting degradation event occurs or not is 1, and the boosting degradation event does not occur to be 0;
setting the test serial number to be 1-64, setting the relation among initial speed alpha, push rod stroke b, push rod speed c, steering wheel rotation angle d, steering wheel rotation speed e and n in each test as follows:
c.＝40
e＝0.7
controlling the test bed to sequentially perform 64 tests through the test controller to obtain a test output value of each test;
s3, calculating the sum of test output values corresponding to different levels under each parameter space factor: the parameter space factors comprise an initial speed a, a push rod stroke b, a push rod speed c, a steering wheel corner d and a steering wheel rotating speed e, and the different levels are four levels which are specifically as follows:
because the push rod speed c and the steering wheel rotating speed e do not change along with the test serial number, y is not calculated c1 ～y c4 ，y e1 ～y e4 A value of (d);
s4, calculating the maximum value of all levels under each parameter space factor, wherein the level corresponding to the maximum value of each parameter space factor forms a typical driving mode optimal space R: the parameter space factors comprise an initial speed a, a push rod stroke b, a push rod speed c, a steering wheel corner d and a steering wheel rotating speed e, and the different levels are four levels which are specifically as follows:
y aj ＝max(y a1 ，y a2 ，y a3 ，y a4 )(j∈{1，2，3，4})
y bj ＝max(y b1 ，y b2 ，y b3 ，y b4 )(j∈{1，2，3，4})
y dj ＝max(y d1 ，y d2 ，y d3 ，y d4 )(j∈{1，2，3，4})
R＝{a j ，b j ，c 1 ，d j ，e 1 }。
3. the method of claim 1, wherein one end of the ESC is connected to a master cylinder of the electronic booster through two hydraulic lines; the other end of the ESC is connected with a brake caliper through four hydraulic pipelines, and the six hydraulic pipelines are respectively connected with a pressure sensor in series; the brake caliper comprises a left front brake caliper, a right front brake caliper, a left rear brake caliper and a right rear brake caliper; the pressure sensors include a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor, a fifth pressure sensor and a sixth pressure sensor.
4. The method of claim 1, wherein the actuator cylinder is provided with a displacement sensor and a force sensor.
5. The method of claim 1, wherein the test controller employs an HIL simulator.
6. The method of claim 1, wherein the ESC comprises a regenerative braking module.
7. A computer apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements a method of testing a regenerative braking condition of a vehicle as claimed in any of claims 1 to 6.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for testing a regenerative braking condition of a vehicle as claimed in any one of claims 6 to 7.
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| PCT/CN2022/103569 WO2023005615A1 (en) | 2021-07-26 | 2022-07-04 | Test system and test method for regenerative braking operating condition of vehicle, and device and storage medium |
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| CN113776847B (en) * | 2021-07-26 | 2023-02-10 | 中国第一汽车股份有限公司 | Test system, test method and device for vehicle regenerative braking working condition and storage medium |
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| CN106970279A (en) * | 2017-03-29 | 2017-07-21 | 福州大学 | The pure electric automobile pilot system and its test method of a variety of driving cycles can be achieved |
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| CN110208012A (en) * | 2019-05-20 | 2019-09-06 | 中国第一汽车股份有限公司 | A kind of drag chain type coaster active brake control method |
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