CN114074556B - Vehicle energy recovery control method, device and control equipment - Google Patents
Vehicle energy recovery control method, device and control equipment Download PDFInfo
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- CN114074556B CN114074556B CN202010805728.7A CN202010805728A CN114074556B CN 114074556 B CN114074556 B CN 114074556B CN 202010805728 A CN202010805728 A CN 202010805728A CN 114074556 B CN114074556 B CN 114074556B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims description 12
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- 238000011105 stabilization Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention provides a vehicle energy recovery control method, a device and control equipment, and relates to the field of energy recovery of electric automobiles, wherein the method comprises the following steps: under the condition of receiving a pedal braking signal, calculating the current actual master cylinder pressure; calculating a brake pedal stroke according to the actual master cylinder pressure and a pedal stroke MAP; calculating a vehicle hydromechanical braking force according to the actual master cylinder pressure, brake pedal travel and a first vehicle parameter; calculating an energy recovery target torque from the vehicle hydro-mechanical braking force and a second vehicle parameter; and transmitting the energy recovery target torque to a power motor. According to the vehicle energy recovery control method, the energy recovery torque of the current mechanical braking force and the driver braking intention is obtained through calculation and matching. The braking deceleration intention of the driver is realized jointly by the method of overlapping the mechanical braking moment with the energy recovery moment without increasing the cost, so that the driving comfort is improved, the energy recovery rate is increased, and the endurance mileage is improved.
Description
Technical Field
The invention relates to the field of energy recovery of electric automobiles, in particular to a vehicle energy recovery control method, a vehicle energy recovery control device and control equipment.
Background
All electric vehicles rely on the energy recovery moment applied to the driving wheels to realize motor braking, and the kinetic energy of vehicle deceleration is converted into electric energy to be fed back to the power battery, so that the heat energy dissipation of mechanical braking is reduced, the economy of the whole vehicle is improved, and the endurance mileage is prolonged. The traditional passenger car brake only has a brake switch signal, and only has two states, namely, the brake is released for sliding energy recovery, and the brake is stepped on for braking energy recovery. When the whole vehicle applies larger coasting energy recovery and braking energy recovery, a driver and passengers can obviously feel the deceleration sense of the motor counter-drag torque, and the sense of the driver stepping on a braking pedal for braking can be greatly influenced, so that uncomfortable driving and riding are caused; while applying too small energy recovery can improve driving comfort, the energy recovery rate of the whole vehicle can be reduced, and the endurance mileage of the vehicle is shortened. Therefore, the single brake switch signal limits the exertion of energy recovery, and affects the riding comfort and the whole vehicle economy; the whole vehicle torque energy recovery control needs a travel signal of a driver for stepping down a brake, so that more linear and adjustable energy recovery can be realized.
The existing energy recovery control method of the electric automobile capable of collecting the stroke of the brake pedal is a scheme for installing a brake stroke sensor or a brake pedal angle sensor, and even if a master cylinder pressure signal collected by an electronic stability system ESP of a car body is used, the method is only an auxiliary means. The brake pedal stroke of the schemes is obtained by additionally arranging a sensor on the brake pedal, the cost of the whole vehicle is increased, and the installation mode and consistency of the sensor can influence the accuracy of a stroke signal, thereby influencing the accuracy of calculating the energy recovery moment.
Disclosure of Invention
The embodiment of the invention provides a vehicle energy recovery control method, device and control equipment, which are used for solving the problems that in the prior art, when a large energy recovery is applied to a whole vehicle, the speed reduction feeling of a motor counter-drag torque is obvious, the driving feeling is poor due to the large influence of the using feeling of a brake pedal, and when a small energy recovery is applied, the vehicle endurance mileage is shortened.
In order to solve the technical problems, the invention adopts the following technical scheme:
A vehicle energy recovery control method, comprising:
under the condition of receiving a pedal braking signal, calculating the current actual master cylinder pressure;
calculating a brake pedal stroke according to the actual master cylinder pressure and a pedal stroke MAP;
Calculating a vehicle hydromechanical braking force according to the actual master cylinder pressure, brake pedal travel and a first vehicle parameter;
Calculating an energy recovery target torque from the vehicle hydro-mechanical braking force and a second vehicle parameter;
and transmitting the energy recovery target torque to a power motor.
Further, the calculating the current actual master cylinder pressure in the case of receiving the pedal braking signal includes:
receiving the current pressure parameter of a main cylinder sent by a vehicle body electronic stabilization system;
And calculating the current actual master cylinder pressure according to the current pressure parameter of the master cylinder.
Further, the current pressure parameters of the master cylinder include:
master cylinder pressure, master cylinder pressure valid bit, master cylinder pressure offset, and master cylinder pressure offset valid bit.
Further, the calculating the current actual master cylinder pressure according to the current pressure parameter of the master cylinder comprises:
judging the credibility of the master cylinder pressure offset according to the master cylinder pressure effective position and the master cylinder pressure offset effective position;
when the master cylinder pressure deviation is determined to be reliable, calculating the current actual master cylinder pressure;
wherein the current actual master cylinder pressure is the difference between the master cylinder pressure and the master cylinder pressure offset.
Further, the calculating a brake pedal stroke according to the actual master cylinder pressure and a pedal stroke MAP includes:
And according to the pedal stroke MAP, obtaining the pedal stroke corresponding to the actual master cylinder pressure, namely the brake pedal stroke.
Further, the first vehicle parameter includes:
Wheel cylinder diameter of the wheel, brake efficiency coefficient of the wheel, caliper radius of the wheel, wheel radius, overall transmission ratio of the wheel, and overall transmission efficiency of the wheel.
Further, the calculating vehicle hydro-mechanical braking force based on the actual master cylinder pressure, brake pedal travel, and first vehicle parameters includes:
calculating the clamping force of the calipers of the wheels, wherein the product of the wheel cylinder pressure and the wheel cylinder cross-sectional area of the wheels is the clamping force of the calipers of the wheels;
Calculating the wheel end braking moment of the wheel, wherein the product of the clamping force of the calipers of the wheel, the braking efficiency coefficient of the wheel and the acting radius of the calipers of the wheel is the wheel end braking moment of the wheel;
and calculating the axle end torque of the vehicle according to the wheel end braking moment of the wheel, the total transmission ratio of the wheel with the radius and the total transmission efficiency of the wheel, wherein the axle end torque is the hydraulic mechanical braking force of the vehicle.
Further, the second vehicle parameter includes:
The current speed of the vehicle, the gear, the energy recovery intensity setting, the mechanical braking force, the allowable feedback power of the battery and the state of a power motor system.
The embodiment of the invention also provides a vehicle energy recovery control device, which comprises:
the receiving module is used for receiving the master cylinder pressure parameter sent by the vehicle body electronic stability system;
the first calculation module is used for calculating the actual master cylinder pressure according to the master cylinder pressure parameter;
the second calculation module is used for calculating the brake pedal stroke according to the actual master cylinder pressure and a pedal stroke MAP;
a third calculation module for calculating a vehicle hydromechanical braking force based on the actual master cylinder pressure, brake pedal travel, and a first vehicle parameter;
a fourth calculation module for calculating an energy recovery target torque from the vehicle hydro-mechanical braking force and a second vehicle parameter;
And the transmitting module is used for transmitting the energy recovery target torque to the power motor.
The embodiment of the invention also provides a control device which comprises a memory, a processor and a program which is stored in the memory and can run on the processor; the processor, when executing the program, implements the vehicle energy recovery control method as described above.
The beneficial effects of the invention are as follows:
According to the vehicle energy recovery control method, for energy recovery control, a master cylinder pressure signal acquired by an electronic stability system ESP of a vehicle body is used as a basis for calculating the stroke of a driver for stepping on a brake pedal, and the stroke of the brake pedal of the driver is calculated in real time according to the pressure-volume characteristics of a brake system PV of the vehicle; the energy recovery control calculates the actual mechanical braking force of the current vehicle according to the current braking stroke and the PV pressure-volume characteristic, and obtains the energy recovery torque which is matched with the current mechanical braking force and the driver braking intention. The braking and decelerating intention of a driver is realized by overlapping the energy recovery moment and the mechanical braking moment without increasing the cost, so that the driving comfort is improved, the energy recovery rate is increased, and the endurance mileage is improved.
Drawings
FIG. 1 is a schematic diagram showing steps of a vehicle energy recovery control method according to an embodiment of the present invention;
Fig. 2 is a schematic block diagram of a vehicle energy recovery control device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the drawings and the specific embodiments thereof in order to make the objects, technical solutions and advantages of the present invention more apparent.
The invention provides a vehicle energy recovery control method, a device and control equipment, aiming at the problems that in the prior art, when a large energy recovery is applied to a whole vehicle, the deceleration feeling of a motor counter-drag torque is obvious, the use feeling of a brake pedal is influenced greatly, so that the driving feeling is poor, and when a small energy recovery is applied, the vehicle endurance mileage is shortened.
In order to solve the technical problems, the invention adopts the following technical scheme:
As shown in fig. 1, a vehicle energy recovery control method includes:
Step 11, under the condition of receiving a pedal braking signal, calculating the current actual master cylinder pressure;
step 12, calculating a brake pedal stroke according to the actual master cylinder pressure and a pedal stroke MAP;
step 13, calculating the hydraulic mechanical braking force of the vehicle according to the actual master cylinder pressure, the brake pedal stroke and the first vehicle parameter;
step 14, calculating an energy recovery target torque according to the hydraulic mechanical braking force of the vehicle and a second vehicle parameter;
And step 15, transmitting the energy recovery target torque to a power motor.
According to the vehicle energy recovery control method, for energy recovery control, a master cylinder pressure signal acquired by an electronic stability system ESP of a vehicle body is used as a basis for calculating the stroke of a driver for stepping on a brake pedal, and the stroke of the brake pedal of the driver is calculated in real time according to the pressure-volume characteristics of a brake system PV of the vehicle; the energy recovery control calculates the actual mechanical braking force of the current vehicle according to the current braking stroke and the PV pressure-volume characteristic, and obtains the energy recovery torque which is matched with the current mechanical braking force and the driver braking intention. The braking and decelerating intention of a driver is realized by overlapping the energy recovery moment and the mechanical braking moment without increasing the cost, so that the driving comfort is improved, the energy recovery rate is increased, and the endurance mileage is improved.
Optionally, the calculating the current actual master cylinder pressure in the case of receiving the pedal braking signal includes:
receiving the current pressure parameter of a main cylinder sent by a vehicle body electronic stabilization system;
And calculating the current actual master cylinder pressure according to the current pressure parameter of the master cylinder.
The current pressure parameter of the main cylinder is collected by a pressure sensor arranged on the brake cylinder of the electronic stability system ESP of the vehicle body.
Optionally, the current pressure parameter of the master cylinder includes:
master cylinder pressure, master cylinder pressure valid bit, master cylinder pressure offset, and master cylinder pressure offset valid bit.
Optionally, the calculating the current actual master cylinder pressure according to the current pressure parameter of the master cylinder includes:
judging the credibility of the master cylinder pressure offset according to the master cylinder pressure effective position and the master cylinder pressure offset effective position;
when the master cylinder pressure deviation is determined to be reliable, calculating the current actual master cylinder pressure;
wherein the current actual master cylinder pressure is the difference between the master cylinder pressure and the master cylinder pressure offset.
It should be noted that the valid bit is a status signal, and has two states, i.e., a "trusted" state and an "untrusted" state, which indicates whether the offset of the master cylinder pressure parameter is trusted.
Optionally, the calculating a brake pedal stroke according to the actual master cylinder pressure and a pedal stroke MAP includes:
And according to the pedal stroke MAP, obtaining the pedal stroke corresponding to the actual master cylinder pressure, namely the brake pedal stroke.
The pedal travel MAP is a vehicle delivery parameter, is obtained through an actual braking test, and is obtained through an interpolation graph, wherein the actual master cylinder pressure and the brake pedal travel are in a one-dimensional curve according to a fixed relation. The current driver brake pedal travel can be interpolated from the actual master cylinder pressure value, the pedal travel MAP relationship.
Optionally, the first vehicle parameter includes:
Wheel cylinder diameter of the wheel, brake efficiency coefficient of the wheel, caliper radius of the wheel, wheel radius, overall transmission ratio of the wheel, and overall transmission efficiency of the wheel.
Optionally, the calculating the vehicle hydro-mechanical braking force according to the actual master cylinder pressure, the brake pedal stroke, and the first vehicle parameter includes:
calculating the clamping force of the calipers of the wheels, wherein the product of the wheel cylinder pressure and the wheel cylinder cross-sectional area of the wheels is the clamping force of the calipers of the wheels;
Calculating the wheel end braking moment of the wheel, wherein the product of the clamping force of the calipers of the wheel, the braking efficiency coefficient of the wheel and the acting radius of the calipers of the wheel is the wheel end braking moment of the wheel;
and calculating the axle end torque of the vehicle according to the wheel end braking moment of the wheel, the total transmission ratio of the wheel with the radius and the total transmission efficiency of the wheel, wherein the axle end torque is the hydraulic mechanical braking force of the vehicle.
Optionally, the second vehicle parameter includes:
The current speed of the vehicle, the gear, the energy recovery intensity setting, the mechanical braking force, the allowable feedback power of the battery and the state of a power motor system.
In one embodiment of the invention, the electronic stability system ESP of the vehicle body collects the master cylinder pressure through a pressure sensor arranged on a brake master cylinder and sends the current master cylinder pressure to the vehicle controller; the whole vehicle controller sends a pressure control signal to a vehicle body electronic stability system ESP, and the vehicle body electronic stability system ESP controls the hydraulic pressure of four wheel cylinders according to the depth of the current driver stepping on a brake pedal and the current vehicle stability state; the method comprises the steps that a vehicle controller receives master cylinder pressure, master cylinder pressure valid bit, master cylinder pressure deviation and master cylinder pressure deviation valid bit sent by an electronic stability system ESP of a vehicle body; the four wheel cylinders and the valve body are actuators, and are used for receiving pressure control instructions of an electronic stability system ESP of the vehicle body, so that mechanical braking is realized. The vehicle controller calculates the actual master cylinder pressure according to the master cylinder pressure effective position and the master cylinder pressure offset effective position judging signal reliability, wherein the actual master cylinder pressure is obtained by subtracting the master cylinder pressure offset from the master cylinder pressure; the whole vehicle controller calculates the current driver brake pedal stroke according to the calculated actual master cylinder pressure and the internal pedal stroke MAP; the whole vehicle controller calculates the current energy recovery target torque according to the current vehicle speed, the gear, the energy recovery intensity setting, the depth of a brake pedal, the allowable feedback power of a battery and the state of a motor system; the whole vehicle controller sends an energy recovery target moment to a power motor as an actuator to realize regenerative braking; the mechanical braking and the regenerative braking together realize the deceleration intention that the driver presses the braking currently.
According to the vehicle energy recovery control method, for energy recovery control, a master cylinder pressure signal acquired by an electronic stability system ESP of a vehicle body is used as a basis for calculating the stroke of a driver for stepping on a brake pedal, and the stroke of the brake pedal of the driver is calculated in real time according to the pressure-volume characteristics of a brake system PV of the vehicle; the energy recovery control calculates the actual mechanical braking force of the current vehicle according to the current braking stroke and the PV pressure-volume characteristic, and obtains the energy recovery torque which is matched with the current mechanical braking force and the driver braking intention. The braking and decelerating intention of a driver is realized by overlapping the energy recovery moment and the mechanical braking moment without increasing the cost, so that the driving comfort is improved, the energy recovery rate is increased, and the endurance mileage is improved.
As shown in fig. 2, an embodiment of the present invention further provides a vehicle energy recovery control device, including:
the receiving module is used for receiving the master cylinder pressure parameter sent by the vehicle body electronic stability system;
a first calculation module 21 for calculating an actual master cylinder pressure from the master cylinder pressure parameter;
a second calculation module 22 for calculating a brake pedal stroke based on the actual master cylinder pressure and a pedal stroke MAP;
a third calculation module 23 for calculating a vehicle hydromechanical braking force based on the actual master cylinder pressure, brake pedal travel and a first vehicle parameter;
a fourth calculation module 24 for calculating an energy recovery target torque based on the vehicle hydromechanical braking force and a second vehicle parameter;
A transmitting module 25 for transmitting the energy recovery target torque to the power motor.
The embodiment of the invention also provides a control device which comprises a memory, a processor and a program which is stored in the memory and can run on the processor; the processor, when executing the program, implements the vehicle energy recovery control method as described above.
According to the vehicle energy recovery control method, for energy recovery control, a master cylinder pressure signal acquired by an electronic stability system ESP of a vehicle body is used as a basis for calculating the stroke of a driver for stepping on a brake pedal, and the stroke of the brake pedal of the driver is calculated in real time according to the pressure-volume characteristics of a brake system PV of the vehicle; the energy recovery control calculates the actual mechanical braking force of the current vehicle according to the current braking stroke and the PV pressure-volume characteristic, and obtains the energy recovery torque which is matched with the current mechanical braking force and the driver braking intention. The braking and decelerating intention of a driver is realized by overlapping the energy recovery moment and the mechanical braking moment without increasing the cost, so that the driving comfort is improved, the energy recovery rate is increased, and the endurance mileage is improved.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the principles of the present invention, and such modifications and changes are intended to be within the scope of the present invention.
Claims (8)
1. A vehicle energy recovery control method characterized by comprising:
under the condition of receiving a pedal braking signal, calculating the current actual master cylinder pressure;
calculating a brake pedal stroke according to the actual master cylinder pressure and a pedal stroke MAP;
Calculating a vehicle hydromechanical braking force according to the actual master cylinder pressure, brake pedal travel and a first vehicle parameter;
Calculating an energy recovery target torque from the vehicle hydro-mechanical braking force and a second vehicle parameter;
transmitting the energy recovery target torque to a power motor;
Wherein, in the event of receiving a pedal braking signal, calculating a current actual master cylinder pressure includes:
receiving the current pressure parameter of a main cylinder sent by a vehicle body electronic stabilization system;
calculating the current actual master cylinder pressure according to the current pressure parameter of the master cylinder;
wherein the calculating the brake pedal stroke according to the actual master cylinder pressure and the pedal stroke MAP includes:
And according to the pedal stroke MAP, obtaining the pedal stroke corresponding to the actual master cylinder pressure, namely the brake pedal stroke.
2. The vehicle energy recovery control method according to claim 1, characterized in that the current pressure parameter of the master cylinder includes:
master cylinder pressure, master cylinder pressure valid bit, master cylinder pressure offset, and master cylinder pressure offset valid bit.
3. The vehicle energy recovery control method according to claim 2, characterized in that the calculating the current actual master cylinder pressure from the master cylinder current pressure parameter includes:
judging the credibility of the master cylinder pressure offset according to the master cylinder pressure effective position and the master cylinder pressure offset effective position;
when the master cylinder pressure deviation is determined to be reliable, calculating the current actual master cylinder pressure;
wherein the current actual master cylinder pressure is the difference between the master cylinder pressure and the master cylinder pressure offset.
4. The vehicle energy recovery control method according to claim 1, characterized in that the first vehicle parameter includes:
Wheel cylinder diameter of the wheel, brake efficiency coefficient of the wheel, caliper radius of the wheel, wheel radius, overall transmission ratio of the wheel, and overall transmission efficiency of the wheel.
5. The vehicle energy recovery control method according to claim 4, characterized in that the calculating a vehicle hydro-mechanical braking force from the actual master cylinder pressure, brake pedal stroke, and first vehicle parameter includes:
calculating the clamping force of the calipers of the wheels, wherein the product of the wheel cylinder pressure and the wheel cylinder cross-sectional area of the wheels is the clamping force of the calipers of the wheels;
Calculating the wheel end braking moment of the wheel, wherein the product of the clamping force of the calipers of the wheel, the braking efficiency coefficient of the wheel and the acting radius of the calipers of the wheel is the wheel end braking moment of the wheel;
and calculating the axle end torque of the vehicle according to the wheel end braking moment of the wheel, the total transmission ratio of the wheel with the radius and the total transmission efficiency of the wheel, wherein the axle end torque is the hydraulic mechanical braking force of the vehicle.
6. The vehicle energy recovery control method according to claim 1, characterized in that the second vehicle parameter includes:
The current speed of the vehicle, the gear, the energy recovery intensity setting, the mechanical braking force, the allowable feedback power of the battery and the state of a power motor system.
7. A vehicle energy recovery control device characterized by comprising:
the receiving module is used for receiving the master cylinder pressure parameter sent by the vehicle body electronic stability system;
the first calculation module is used for calculating the actual master cylinder pressure according to the master cylinder pressure parameter;
the second calculation module is used for calculating the brake pedal stroke according to the actual master cylinder pressure and a pedal stroke MAP;
a third calculation module for calculating a vehicle hydromechanical braking force based on the actual master cylinder pressure, brake pedal travel, and a first vehicle parameter;
a fourth calculation module for calculating an energy recovery target torque from the vehicle hydro-mechanical braking force and a second vehicle parameter;
The transmitting module is used for transmitting the energy recovery target torque to a power motor;
The second calculation module is further configured to obtain, according to the pedal travel MAP, a pedal travel corresponding to the actual master cylinder pressure, that is, the brake pedal travel.
8. A control device comprising a memory, a processor, and a program stored on the memory and executable on the processor; the vehicle energy recovery control method according to any one of claims 1 to 6 is realized when the processor executes the program.
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| CN202010805728.7A CN114074556B (en) | 2020-08-12 | 2020-08-12 | Vehicle energy recovery control method, device and control equipment |
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| CN202010805728.7A CN114074556B (en) | 2020-08-12 | 2020-08-12 | Vehicle energy recovery control method, device and control equipment |
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| CN114074556B true CN114074556B (en) | 2024-04-26 |
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| CN114802166B (en) * | 2022-05-10 | 2023-06-20 | 北京汽车集团越野车有限公司 | Control method for keeping pedal feel of automobile constant |
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| CN108515964A (en) * | 2018-03-22 | 2018-09-11 | 吉利汽车研究院（宁波）有限公司 | Vehicle torsional moment distribution method, apparatus and system |
| CN109774486A (en) * | 2018-12-27 | 2019-05-21 | 奇瑞汽车股份有限公司 | One kind being based on BSG motor braking energy recovery control system, method and automobile |
| CN110901405A (en) * | 2018-09-18 | 2020-03-24 | 上海汇众汽车制造有限公司 | Braking energy recovery control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7409280B2 (en) * | 2004-01-15 | 2008-08-05 | Nissan Motor Co., Ltd. | Vehicle braking control apparatus |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108515964A (en) * | 2018-03-22 | 2018-09-11 | 吉利汽车研究院（宁波）有限公司 | Vehicle torsional moment distribution method, apparatus and system |
| CN110901405A (en) * | 2018-09-18 | 2020-03-24 | 上海汇众汽车制造有限公司 | Braking energy recovery control method |
| CN109774486A (en) * | 2018-12-27 | 2019-05-21 | 奇瑞汽车股份有限公司 | One kind being based on BSG motor braking energy recovery control system, method and automobile |
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