CN113954645A - Adaptive cruise control feedback brake torque monitoring method for electric automobile - Google Patents
Adaptive cruise control feedback brake torque monitoring method for electric automobile Download PDFInfo
- Publication number
- CN113954645A CN113954645A CN202111340782.XA CN202111340782A CN113954645A CN 113954645 A CN113954645 A CN 113954645A CN 202111340782 A CN202111340782 A CN 202111340782A CN 113954645 A CN113954645 A CN 113954645A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- deceleration
- braking
- braking torque
- adaptive cruise
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 25
- 230000001172 regenerating effect Effects 0.000 claims abstract description 20
- 230000010354 integration Effects 0.000 claims description 17
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
-
- 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
- B60L7/18—Controlling the braking effect
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides an adaptive cruise control regenerative braking torque monitoring method for an electric automobile, which comprises the following steps: when the whole vehicle enters a self-adaptive cruise control state, monitoring the actual motor feedback braking torque and the current vehicle speed of the vehicle in real time; when the difference value between the target motor feedback braking torque and the actual motor feedback braking torque is larger than a first threshold value and the integral value in a first preset time period exceeds a second threshold value, the motor feedback braking is considered to be insufficient to enable the whole vehicle to achieve reasonable deceleration, and the vehicle stability control system enters a pre-filling stage; and when the difference value between the target motor feedback braking torque and the actual motor feedback braking torque is larger than a third threshold value and the integral value in a second preset time period exceeds a fourth threshold value, judging that the hydraulic braking is required to be provided by the vehicle stability control system.
Description
Technical Field
The invention relates to the field of self-adaptive cruise control of electric automobiles.
Background
The electric automobile is deeply developed, and the focus of the competition of the automobile market in the future is the intellectualization and networking of the electric automobile. The Adaptive Cruise Control (ACC) is the most important function of the electric vehicle as an intelligent device, and the safety design of the ACC is emphasized by vehicle research and development engineers, especially the safety design of the vehicle during recognizing a target followed by self-acceleration and self-deceleration. In the deceleration process, a vehicle stability control system (ESC) and a motor simultaneously participate in the braking of the whole vehicle, wherein the ESC directly brakes wheels through braking hydraulic pressure, and the motor generates electricity through feedback to decelerate and brake. If the whole braking torque and the motor feedback torque of the whole vehicle are not monitored by an auxiliary driving controller (ADAS) in the whole deceleration process, potential safety hazards are easily caused. In the prior art, the speed of the whole vehicle is reduced only by ESC braking in the ACC speed reduction process, and the feedback torque of the motor is not monitored.
Therefore, it is urgently needed to provide a torque safety monitoring method to prevent potential safety hazards caused by out-of-control motor feedback torque and ensure that the safe driving of the whole vehicle plays an important role.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an ACC feedback braking torque monitoring method for an electric vehicle, which is used for monitoring negative torque output by a motor, the deceleration of the whole vehicle, the opening degree of an accelerator pedal and the speed change of the whole vehicle in the ACC feedback braking in real time, and when the inconsistency of the braking torque requested by the ACC is detected, a monitoring system requests an ESC to intervene in hydraulic braking through an error integral value in a certain time period exceeding a certain threshold value; or when detecting that the deceleration requested by the ACC is inconsistent with the current deceleration of the whole vehicle, the monitoring system requests the ESC to intervene in hydraulic braking by the fact that an error integral value in a certain time period exceeds a certain threshold value; or when the ACC request deceleration is not consistent with the current finished automobile deceleration, the error integral value in a certain time period exceeds a certain threshold value, and when the ACC request acceleration is not consistent with the current finished automobile acceleration under the condition of not stepping on the accelerator, the motor feedback braking or driving under the ACC condition can not meet the driving requirement of the finished automobile through the error integral value in the certain time period exceeding the certain threshold value, and the monitoring system requests to close the ACC. Meanwhile, an ESC compensation torque calculation method during vehicle deceleration is provided. Through ACC torque monitoring system, ensure the certain reasonable scope of motor torque control, guarantee the safety of traveling, improve ESC hydraulic braking compensation reliability simultaneously.
The invention provides an adaptive cruise control regenerative braking torque monitoring method for an electric automobile, which comprises the following steps:
when the whole vehicle enters a self-adaptive cruise control state, monitoring the actual motor feedback braking torque and the current vehicle speed of the vehicle in real time;
when the difference value between the target motor feedback braking torque and the actual motor feedback braking torque is larger than a first threshold value and the integral value in a first preset time period exceeds a second threshold value, the motor feedback braking is considered to be insufficient to enable the whole vehicle to achieve reasonable deceleration, and the vehicle stability control system enters a pre-filling stage; when the difference value between the feedback braking torque of the target motor and the feedback braking torque of the actual motor is larger than a third threshold value and the integral value in a second preset time period exceeds a fourth threshold value, judging that the hydraulic braking is required to be provided by the vehicle stability control system;
in one embodiment, when the adaptive cruise control system is not in an activated state or the driver has an accelerator operation or the motor feedback braking capability is limited, the generation torque cannot be provided, and the target motor feedback braking torque and the actual motor feedback braking torque are not monitored.
In one embodiment, the first or second predetermined time period is adjustable.
In one embodiment, the method further comprises:
and calculating the current deceleration of the whole vehicle according to the current vehicle speed of the vehicle monitored in real time, integrating the difference value between the target deceleration obtained by calculating the relative distance and the relative speed between the whole vehicle and the front target and the current deceleration of the whole vehicle within an integral time period, and if the integral value is greater than a fifth threshold value, judging that the motor feedback braking capacity cannot meet the braking performance of the whole vehicle, wherein a vehicle stability control system is required to provide hydraulic braking so as to meet the braking performance of the whole vehicle.
In one embodiment, when the adaptive cruise control system is not in an activated state, or the driver has an accelerator stepping operation or the acceleration of the whole vehicle is greater than 0 or the motor feedback braking capability is limited, the integral value is reset to 0, which indicates that the whole vehicle does not need to be braked or the braking is completely completed by the vehicle stability control system.
In one embodiment, the integration period is adjustable.
In one embodiment, the integration period is 500 milliseconds before the current time or 1000 milliseconds before the current time.
In one embodiment, the method further comprises:
calculating the current deceleration of the whole vehicle according to the current vehicle speed of the vehicle monitored in real time, integrating the difference value between the target deceleration obtained by calculating the relative distance and the relative speed between the whole vehicle and a front target and the current deceleration of the whole vehicle within an integral time period, and if the integral value is greater than a sixth threshold value, considering that the feedback braking of the motor is insufficient and the braking safety is seriously influenced; under the condition that a driver does not step on the accelerator all the time, if the integral value is larger than a seventh threshold value in the driving working condition, judging that the driving torque of the motor is not enough to drive the vehicle to normally run, and controlling the self-adaptive cruise control system to be closed at the moment; when it is detected that the target deceleration is higher than the motor feedback braking capability and the target acceleration is lower than the motor driving capability, the integral value may be reset to 0.
In one embodiment, the integration period is 500 milliseconds before the current time or 1000 milliseconds before the current time.
In one embodiment, the method further comprises: when the vehicle stability control system is required to provide hydraulic braking, calculating the deceleration of the hydraulic braking request of the vehicle stability control system, wherein the calculation mode is as follows:
and calculating to obtain a requested hydraulic braking pressure compensation torque of the vehicle stability control system according to the target motor feedback braking torque minus the actual motor feedback braking torque, multiplying the requested hydraulic braking pressure compensation torque by a conversion coefficient to obtain a hydraulic pressure compensation deceleration, and obtaining the final requested hydraulic braking deceleration of the vehicle stability control system according to the hydraulic pressure compensation deceleration and the distributed hydraulic braking deceleration of the vehicle stability control system.
The ACC feedback braking torque monitoring method provided by the invention can ensure the driving safety and improve the ESC hydraulic braking compensation reliability; the monitoring method is suitable for electric automobiles and has the advantages of high efficiency, low cost and accurate control.
Drawings
The foregoing summary, as well as the following detailed description of the invention, will be better understood when read in conjunction with the appended drawings. It is to be noted that the appended drawings are intended as examples of the claimed invention. In the drawings, like reference characters designate the same or similar elements.
FIG. 1A illustrates an adaptive cruise control regenerative brake torque monitoring method for an electric vehicle according to an embodiment of the present invention;
FIG. 1B illustrates an adaptive cruise control regenerative brake torque monitoring method for an electric vehicle according to one embodiment of the present invention.
Detailed Description
The detailed features and advantages of the present invention are described in detail in the detailed description which follows, and will be sufficient for anyone skilled in the art to understand the technical content of the present invention and to implement the present invention, and the related objects and advantages of the present invention will be easily understood by those skilled in the art from the description, claims and drawings disclosed in the present specification.
The invention provides an ACC feedback braking torque monitoring method for an electric automobile, which is used for monitoring negative torque output by a motor, the deceleration of the whole automobile, the opening degree of an accelerator pedal and the speed change of the whole automobile in the ACC feedback braking in real time, and when the inconsistency of the ACC braking torque request is detected, a monitoring system requests an ESC to intervene in hydraulic braking through an error integral value exceeding a certain threshold value in a certain time period; or when detecting that the deceleration requested by the ACC is inconsistent with the current deceleration of the whole vehicle, the monitoring system requests the ESC to intervene in hydraulic braking by the fact that an error integral value in a certain time period exceeds a certain threshold value; or when the ACC request deceleration is not consistent with the current finished automobile deceleration, the error integral value in a certain time period exceeds a certain threshold value, and when the ACC request acceleration is not consistent with the current finished automobile acceleration under the condition of not stepping on the accelerator, the motor feedback braking or driving under the ACC condition can not meet the driving requirement of the finished automobile through the error integral value in the certain time period exceeding the certain threshold value, and the monitoring system requests to close the ACC. Meanwhile, an ESC compensation torque calculation method during vehicle deceleration is provided. Through ACC torque monitoring system, ensure the certain reasonable scope of motor torque control, guarantee the safety of traveling, improve ESC hydraulic braking compensation reliability simultaneously.
When the whole vehicle enters an ACC state, a target is detected in front, the speed of the target is lower than that of the vehicle, and the ACC system controls the whole vehicle to enter a braking working condition in order to avoid rear-end collision. The ACC system calculates the target deceleration of the whole vehicle according to the relative speed and the relative distance between the vehicle and the target, calculates the target braking torque of the motor by combining the feedback braking capacity of the motor and the current deceleration of the whole vehicle, and preferentially brakes through the motor to ensure the driving economy.
As shown in fig. 1A, the monitoring system of the present invention monitors the actual torque output of the motor in real time, when the difference between the target motor feedback braking torque (i.e., the braking torque requested by the ACC) and the actual motor feedback braking torque (i.e., the current braking torque of the motor) is greater than a first threshold, and the integrated value within a certain preset time period exceeds a second threshold, it is determined that the motor feedback braking is insufficient to achieve a reasonable deceleration of the entire vehicle, and the ESC enters a pre-filling stage, i.e., provides a hydraulic preparation function, and achieves a braking response time by eliminating the gap between the brake pad and the brake disc. Wherein the preset time period is moving or the preset time period is variable. When the difference between the target motor regenerative braking torque and the actual motor regenerative braking torque is greater than the third threshold value and the integration value exceeds the fourth threshold value for a predetermined period of time, wherein the period of time is mobile or variable, the ESC is required to provide hydraulic braking (i.e., the ESC is requested to be hydraulically engaged). When the ACC is not in an activated state or a driver has throttle operation or the motor feedback braking capacity is limited, the power generation torque cannot be provided, and at the moment, the monitoring system does not monitor the motor target torque and the motor current torque any more.
As shown in fig. 1B, the monitoring system of the present invention monitors the current vehicle speed of the vehicle in real time, and calculates the rate of change of the vehicle speed under the current operating condition, i.e., the current deceleration of the entire vehicle, and integrates the difference between the target deceleration (i.e., the ACC requested braking deceleration) calculated by the relative distance and the relative speed between the vehicle and the target and the current deceleration of the entire vehicle for a predetermined period of time, wherein the integration time is mobile or variable. In one embodiment, the integration time may be taken 500 milliseconds before the current time. In yet another embodiment, the integration time may take 1000 milliseconds. If the integral value is larger than the fifth threshold value, the motor regenerative braking cannot meet the braking performance of the whole vehicle, and at the moment, the ESC is required to provide hydraulic braking (namely, the ESC is required to be hydraulically connected) so as to meet the braking performance of the whole vehicle. When the ACC is not in an activated state, or the driver has the operation of stepping on the accelerator, or the acceleration of the whole vehicle is greater than 0, or the motor feedback braking capability is limited, the integral value is reset to 0, which indicates that the whole vehicle does not need to be braked or the braking is completely finished by the ESC.
The monitoring system monitors the current speed of the vehicle in real time, calculates the change rate of the speed of the vehicle under the current working condition, namely the current deceleration of the whole vehicle, and carries out integration within a certain preset time period according to the relative distance between the vehicle and a target and the difference value of the target deceleration calculated by the relative speed and the current deceleration of the whole vehicle, wherein the integration time is movable or variable. In one embodiment, the integration time may be taken 500 milliseconds before the current time. In yet another embodiment, the integration time may take 1000 milliseconds. If the integral value is larger than the sixth threshold value, the feedback braking of the motor is considered to be insufficient, so that the braking safety is seriously influenced; under the condition that the driver does not step on the accelerator all the time, the integral value is larger than a seventh threshold value under the driving working condition, the motor driving torque is considered to be insufficient to drive the vehicle to normally run, and the monitoring system controls the adaptive cruise system to be closed (namely, the ACC is requested to be closed). When it is detected that the target deceleration (absolute value) is higher than the motor feedback braking capability and the target acceleration is lower than the motor driving capability, the integrated value may be reset to 0.
Since the hydraulic brake force signal provided by the supplier is interfaced with the drive assist controller as a deceleration signal, it is necessary to convert the hydraulic brake pressure compensation torque into a deceleration. The ESC request hydraulic braking deceleration calculation obtains ESC request hydraulic braking pressure compensation torque by subtracting the current motor feedback torque from the required braking torque, the hydraulic pressure compensation torque is multiplied by a conversion coefficient to obtain hydraulic pressure compensation deceleration, and the final ESC request hydraulic braking deceleration is obtained according to the compensation deceleration and the distributed ESC hydraulic braking deceleration. Specifically, the target deceleration of the whole vehicle is calculated to obtain the required braking torque according to the opening degree of a brake pedal, and then the required braking torque is multiplied by torque conversion to obtain the target deceleration atarTarget deceleration atarSubtracting the running resistance deceleration of the whole vehicle to obtain the deceleration a which needs to be realized by the braking hydraulic pressure of the ESC brake and the motor feedback torquebrkThe motor feedback torque is converted into a torque conversion coefficient to obtain a motor feedback deceleration amoterAnd the deceleration is subjected to low-pass filtering and the maximum and minimum values are limited to obtain stable and continuous motor feedback deceleration amoter_newA is tomoterMinus amoter_newObtaining the insufficient feedback torque of the motor, obtaining the extra hydraulic compensation deceleration of the ESC, and adding the original hydraulic pressure abrkMinus motor feedback deceleration amoterResulting in a final ESC requested hydraulic braking deceleration.
The self-adaptive cruise control feedback braking torque monitoring method for the electric automobile can ensure the driving safety and improve the ESC hydraulic braking compensation reliability; the monitoring method is suitable for electric automobiles and has the advantages of high efficiency, low cost and accurate control.
The invention provides an adaptive cruise control regenerative braking torque monitoring method for an electric automobile, which comprises the following steps:
when the whole vehicle enters a self-adaptive cruise control state, monitoring the actual motor feedback braking torque and the current vehicle speed of the vehicle in real time;
when the difference value between the target motor feedback braking torque and the actual motor feedback braking torque is larger than a first threshold value and the integral value in a first preset time period exceeds a second threshold value, the motor feedback braking is considered to be insufficient to enable the whole vehicle to achieve reasonable deceleration, and the vehicle stability control system enters a pre-filling stage; when the difference value between the feedback braking torque of the target motor and the feedback braking torque of the actual motor is larger than a third threshold value and the integral value in a second preset time period exceeds a fourth threshold value, judging that the hydraulic braking is required to be provided by the vehicle stability control system;
in one embodiment, when the adaptive cruise control system is not in an activated state or the driver has an accelerator operation or the motor feedback braking capability is limited, the generation torque cannot be provided, and the target motor feedback braking torque and the actual motor feedback braking torque are not monitored.
In one embodiment, the first or second predetermined time period is adjustable.
In one embodiment, the method further comprises:
and calculating the current deceleration of the whole vehicle according to the current vehicle speed of the vehicle monitored in real time, integrating the difference value between the target deceleration obtained by calculating the relative distance and the relative speed between the whole vehicle and the front target and the current deceleration of the whole vehicle within an integral time period, and if the integral value is greater than a fifth threshold value, judging that the motor feedback braking capacity cannot meet the braking performance of the whole vehicle, wherein a vehicle stability control system is required to provide hydraulic braking so as to meet the braking performance of the whole vehicle.
In one embodiment, when the adaptive cruise control system is not in an activated state, or the driver has an accelerator stepping operation or the acceleration of the whole vehicle is greater than 0 or the motor feedback braking capability is limited, the integral value is reset to 0, which indicates that the whole vehicle does not need to be braked or the braking is completely completed by the vehicle stability control system.
In one embodiment, the integration period is adjustable.
In one embodiment, the integration period is 500 milliseconds before the current time or 1000 milliseconds before the current time.
In one embodiment, the method further comprises:
calculating the current deceleration of the whole vehicle according to the current vehicle speed of the vehicle monitored in real time, integrating the difference value between the target deceleration obtained by calculating the relative distance and the relative speed between the whole vehicle and a front target and the current deceleration of the whole vehicle within an integral time period, and if the integral value is greater than a sixth threshold value, considering that the feedback braking of the motor is insufficient and the braking safety is seriously influenced; under the condition that a driver does not step on the accelerator all the time, if the integral value is larger than a seventh threshold value in the driving working condition, judging that the driving torque of the motor is not enough to drive the vehicle to normally run, and controlling the self-adaptive cruise control system to be closed at the moment; when it is detected that the target deceleration is higher than the motor feedback braking capability and the target acceleration is lower than the motor driving capability, the integral value may be reset to 0.
In one embodiment, the integration period is 500 milliseconds before the current time or 1000 milliseconds before the current time.
In one embodiment, the method further comprises: when the vehicle stability control system is required to provide hydraulic braking, calculating the deceleration of the hydraulic braking request of the vehicle stability control system, wherein the calculation mode is as follows:
and calculating to obtain a requested hydraulic braking pressure compensation torque of the vehicle stability control system according to the target motor feedback braking torque minus the actual motor feedback braking torque, multiplying the requested hydraulic braking pressure compensation torque by a conversion coefficient to obtain a hydraulic pressure compensation deceleration, and obtaining the final requested hydraulic braking deceleration of the vehicle stability control system by the hydraulic pressure compensation deceleration and the distributed hydraulic braking deceleration of the vehicle stability control system.
The terms and expressions which have been employed herein are used as terms of description and not of limitation. The use of such terms and expressions is not intended to exclude any equivalents of the features shown and described (or portions thereof), and it is recognized that various modifications may be made within the scope of the claims. Other modifications, variations, and alternatives are also possible. Accordingly, the claims should be looked to in order to cover all such equivalents.
Also, it should be noted that although the present invention has been described with reference to the current specific embodiments, it should be understood by those skilled in the art that the above embodiments are merely illustrative of the present invention, and various equivalent changes or substitutions may be made without departing from the spirit of the present invention, and therefore, it is intended that all changes and modifications to the above embodiments be included within the scope of the claims of the present application.
Claims (10)
1. An adaptive cruise control regenerative braking torque monitoring method for an electric vehicle, the method comprising:
when the whole vehicle enters a self-adaptive cruise control state, monitoring the actual motor feedback braking torque and the current vehicle speed of the vehicle in real time;
when the difference value between the target motor feedback braking torque and the actual motor feedback braking torque is larger than a first threshold value and the integral value in a first preset time period exceeds a second threshold value, the motor feedback braking is considered to be insufficient to enable the whole vehicle to achieve reasonable deceleration, and the vehicle stability control system enters a pre-filling stage; and when the difference value between the target motor feedback braking torque and the actual motor feedback braking torque is larger than a third threshold value and the integral value in a second preset time period exceeds a fourth threshold value, judging that the hydraulic braking is required to be provided by the vehicle stability control system.
2. The adaptive cruise control regenerative braking torque monitoring method for an electric vehicle according to claim 1, wherein when the adaptive cruise control system is not activated or the driver has an accelerator operation or the motor regenerative braking capability is limited and cannot provide the generating torque, the target motor regenerative braking torque and the actual motor regenerative braking torque are not monitored.
3. The adaptive cruise control regenerative braking torque monitoring method for an electric vehicle according to claim 1, wherein the first predetermined period of time or the second predetermined period of time is adjustable.
4. The adaptive cruise control regenerative braking torque monitoring method for an electric vehicle according to claim 1, further comprising:
and calculating the current deceleration of the whole vehicle according to the current vehicle speed of the vehicle monitored in real time, integrating the difference value between the target deceleration obtained by calculating the relative distance and the relative speed between the whole vehicle and the front target and the current deceleration of the whole vehicle within an integral time period, and if the integral value is greater than a fifth threshold value, judging that the motor feedback braking capacity cannot meet the braking performance of the whole vehicle, wherein a vehicle stability control system is required to provide hydraulic braking so as to meet the braking performance of the whole vehicle.
5. The adaptive cruise control feedback brake torque monitoring method for the electric vehicle as claimed in claim 4, wherein when the adaptive cruise control system is not in an activated state, or the driver has an accelerator operation or the acceleration of the entire vehicle is greater than 0, or the motor feedback brake capability is limited, the integral value is reset to 0, which indicates that the entire vehicle does not need to be braked or the braking is completely completed by the vehicle stability control system.
6. The adaptive cruise control regenerative braking torque monitoring method for an electric vehicle according to claim 4, wherein said integration period is adjustable.
7. The adaptive cruise control regenerative braking torque monitoring method for an electric vehicle according to claim 4, wherein said integration period is 500 milliseconds before the current time or 1000 milliseconds before the current time.
8. The adaptive cruise control regenerative braking torque monitoring method for an electric vehicle according to claim 1, further comprising:
calculating the current deceleration of the whole vehicle according to the current vehicle speed of the vehicle monitored in real time, integrating the difference value between the target deceleration obtained by calculating the relative distance and the relative speed between the whole vehicle and a front target and the current deceleration of the whole vehicle within an integral time period, and if the integral value is greater than a sixth threshold value, considering that the feedback braking of the motor is insufficient and the braking safety is seriously influenced; under the condition that a driver does not step on the accelerator all the time, if the integral value is larger than a seventh threshold value in the driving working condition, judging that the driving torque of the motor is not enough to drive the vehicle to normally run, and controlling the self-adaptive cruise control system to be closed at the moment; when it is detected that the target deceleration is higher than the motor feedback braking capability and the target acceleration is lower than the motor driving capability, the integral value may be reset to 0.
9. The adaptive cruise control regenerative braking torque monitoring method for an electric vehicle according to claim 8, wherein said integration period is 500 milliseconds before the current time or 1000 milliseconds before the current time.
10. The adaptive cruise control regenerative braking torque monitoring method for an electric vehicle according to claim 1, further comprising: when the vehicle stability control system is required to provide hydraulic braking, calculating the deceleration of the hydraulic braking request of the vehicle stability control system, wherein the calculation mode is as follows:
and calculating to obtain a requested hydraulic braking pressure compensation torque of the vehicle stability control system according to the target motor feedback braking torque minus the actual motor feedback braking torque, multiplying the requested hydraulic braking pressure compensation torque by a conversion coefficient to obtain a hydraulic pressure compensation deceleration, and obtaining the final requested hydraulic braking deceleration of the vehicle stability control system according to the hydraulic pressure compensation deceleration and the distributed hydraulic braking deceleration of the vehicle stability control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111340782.XA CN113954645B (en) | 2021-11-12 | 2021-11-12 | Self-adaptive cruise control feedback braking torque monitoring method for electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111340782.XA CN113954645B (en) | 2021-11-12 | 2021-11-12 | Self-adaptive cruise control feedback braking torque monitoring method for electric automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113954645A true CN113954645A (en) | 2022-01-21 |
| CN113954645B CN113954645B (en) | 2023-06-23 |
Family
ID=79470337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111340782.XA Active CN113954645B (en) | 2021-11-12 | 2021-11-12 | Self-adaptive cruise control feedback braking torque monitoring method for electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113954645B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123161A (en) * | 2022-06-24 | 2022-09-30 | 东风汽车有限公司东风日产乘用车公司 | Vehicle control method, vehicle, and storage medium |
| CN115583160A (en) * | 2022-10-31 | 2023-01-10 | 成都赛力斯科技有限公司 | Automobile sliding feedback control method and device, computer equipment and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030184155A1 (en) * | 2002-04-02 | 2003-10-02 | Ford Global Technologies, Inc. | Vehicle brake system having adaptive torque control |
| CN104608643A (en) * | 2014-12-08 | 2015-05-13 | 北京新能源汽车股份有限公司 | Braking energy recovery system and method based on adaptive cruise control system |
| DE102014003121A1 (en) * | 2014-03-03 | 2015-09-03 | Mtu Friedrichshafen Gmbh | Procedure and driving assistant for predictive braking |
| CN105620464A (en) * | 2014-11-20 | 2016-06-01 | 福特全球技术公司 | System and method for optimizing regenerative braking in adaptive cruise control |
| CN108454626A (en) * | 2018-01-24 | 2018-08-28 | 北京新能源汽车股份有限公司 | Self-adaptive cruise longitudinal adjustment control method and system for vehicle |
| CN108528454A (en) * | 2018-03-30 | 2018-09-14 | 吉利汽车研究院（宁波）有限公司 | Method for recovering brake energy, brake energy recovering system and vehicle |
| CN109017784A (en) * | 2018-07-27 | 2018-12-18 | 南京越博动力系统股份有限公司 | A kind of self-adapting cruise control method based on pure electric automobile |
| CN109624979A (en) * | 2019-02-14 | 2019-04-16 | 北京经纬恒润科技有限公司 | A kind of cruise torque control method and system |
| KR20190099846A (en) * | 2018-02-20 | 2019-08-28 | 현대자동차주식회사 | Braking control system and method for eco-friendly vehicle |
| CN112977075A (en) * | 2019-12-02 | 2021-06-18 | 北京新能源汽车股份有限公司 | Brake control method and device for front wheel drive vehicle and automobile |
-
2021
- 2021-11-12 CN CN202111340782.XA patent/CN113954645B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030184155A1 (en) * | 2002-04-02 | 2003-10-02 | Ford Global Technologies, Inc. | Vehicle brake system having adaptive torque control |
| DE102014003121A1 (en) * | 2014-03-03 | 2015-09-03 | Mtu Friedrichshafen Gmbh | Procedure and driving assistant for predictive braking |
| CN105620464A (en) * | 2014-11-20 | 2016-06-01 | 福特全球技术公司 | System and method for optimizing regenerative braking in adaptive cruise control |
| CN104608643A (en) * | 2014-12-08 | 2015-05-13 | 北京新能源汽车股份有限公司 | Braking energy recovery system and method based on adaptive cruise control system |
| CN108454626A (en) * | 2018-01-24 | 2018-08-28 | 北京新能源汽车股份有限公司 | Self-adaptive cruise longitudinal adjustment control method and system for vehicle |
| KR20190099846A (en) * | 2018-02-20 | 2019-08-28 | 현대자동차주식회사 | Braking control system and method for eco-friendly vehicle |
| CN108528454A (en) * | 2018-03-30 | 2018-09-14 | 吉利汽车研究院（宁波）有限公司 | Method for recovering brake energy, brake energy recovering system and vehicle |
| CN109017784A (en) * | 2018-07-27 | 2018-12-18 | 南京越博动力系统股份有限公司 | A kind of self-adapting cruise control method based on pure electric automobile |
| CN109624979A (en) * | 2019-02-14 | 2019-04-16 | 北京经纬恒润科技有限公司 | A kind of cruise torque control method and system |
| CN112977075A (en) * | 2019-12-02 | 2021-06-18 | 北京新能源汽车股份有限公司 | Brake control method and device for front wheel drive vehicle and automobile |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123161A (en) * | 2022-06-24 | 2022-09-30 | 东风汽车有限公司东风日产乘用车公司 | Vehicle control method, vehicle, and storage medium |
| CN115123161B (en) * | 2022-06-24 | 2024-04-19 | 东风汽车有限公司东风日产乘用车公司 | Vehicle control method, vehicle, and storage medium |
| CN115583160A (en) * | 2022-10-31 | 2023-01-10 | 成都赛力斯科技有限公司 | Automobile sliding feedback control method and device, computer equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113954645B (en) | 2023-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2987693B1 (en) | Braking apparatus of vehicle | |
| US11505072B2 (en) | Regenerative braking system and method | |
| JP5720701B2 (en) | Vehicle control device | |
| RU2493028C2 (en) | Method of controlling regenerative braking of vehicle comprises at least one motor | |
| CN113954645B (en) | Self-adaptive cruise control feedback braking torque monitoring method for electric automobile | |
| EP3789254A1 (en) | Method, device and system for automatic braking of vehicle | |
| CN109624723B (en) | Energy recovery control method and device for hybrid electric vehicle | |
| CN109849933B (en) | Method and device for determining driver demand torque, vehicle and readable storage medium | |
| CN112896127B (en) | Vehicle deceleration control method based on electro-hydraulic brake system | |
| CN108515971A (en) | A kind of cruise function control method, system, device and readable storage medium storing program for executing | |
| KR20180057277A (en) | Method for controlling regenerative brake cooperation system | |
| CN113715630B (en) | Control method, device and storage medium for recovering sliding braking energy | |
| CN113815425B (en) | Vehicle brake control method, brake system and vehicle | |
| CN115140001B (en) | Electro-hydraulic composite braking system of reloading electric forklift and control method | |
| CN114013436B (en) | Torque distribution method for self-adaptive cruise control of electric automobile | |
| CN115416493B (en) | Electric vehicle operation mode control method and control system based on driving intention of driver and electric vehicle | |
| KR20150071568A (en) | System and method for autonomous emergency braking | |
| WO2024000524A1 (en) | Braking method and apparatus, and electronic device, vehicle and medium | |
| CN113799614B (en) | Brake energy recovery control method and system for four-wheel independent drive electric vehicle | |
| JP7414490B2 (en) | Control device | |
| CN114312703A (en) | Method and device for controlling braking forward tilting of vehicle, vehicle and storage medium | |
| CN111845363A (en) | Compensation method and compensation unit for motor recovery torque loss and vehicle | |
| KR20170079022A (en) | The application of Vehicle Decelerate and stop Function by Using Regenerative breaking system for Autonomous Electric Vehicles | |
| JP2004159440A (en) | Regenerative controller for vehicle | |
| JP4321441B2 (en) | Acceleration / deceleration controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant after: United New Energy Automobile Co.,Ltd. Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant before: Hozon New Energy Automobile Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Adaptive cruise control feedback braking torque monitoring method for electric vehicles Granted publication date: 20230623 Pledgee: Tongxiang Science and Technology Entrepreneurship Service Center Co.,Ltd. Pledgor: United New Energy Automobile Co.,Ltd. Registration number: Y2024330000709 |