CN114179765B - Sliding energy recovery control method, device and system - Google Patents
Sliding energy recovery control method, device and system Download PDFInfo
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- CN114179765B CN114179765B CN202111544901.3A CN202111544901A CN114179765B CN 114179765 B CN114179765 B CN 114179765B CN 202111544901 A CN202111544901 A CN 202111544901A CN 114179765 B CN114179765 B CN 114179765B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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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
- Y02T10/62—Hybrid vehicles
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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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application discloses a coasting energy recovery control method, device and system, the method comprises for example: acquiring a target external braking request; acquiring a brake pedal braking stroke, wherein the brake pedal braking stroke comprises a driver control pedal braking stroke and/or a brake pedal automatic sinking stroke; obtaining a brake pedal braking request according to the brake pedal braking travel; performing a fetching process based on the target external braking request and the braking pedal braking request to obtain a final braking request; acquiring energy recovery capacity torque; the distribution ratio of electric braking and hydraulic braking is determined based on the final braking request and the energy recovery capability torque.
Description
Technical Field
The application relates to the technical field of electric automobiles, in particular to a sliding energy recovery control method, a sliding energy recovery control device and a sliding energy recovery control system.
Background
With the development of technology, the development of new energy hybrid electric vehicles and pure electric vehicles has become an industry trend. Because the motor has two states of electric power and power generation, the pure electric vehicle widely introduces a sliding energy recovery function, namely, when a driver completely releases an accelerator or the accelerator is smaller than or equal to a certain value, the motor enters a power generation state to provide a certain braking force. However, in the prior art, on one hand, the function of recovering the sliding energy is affected by the battery state, for example, in the state of full battery, the function of recovering the sliding energy cannot be performed; on the other hand, when the driver controls braking, the electric braking efficiency is low and the torque is not easy to control stably under the low vehicle speed state, the sliding energy recovery function can gradually withdraw, only the braking force requested by the brake pedal is remained, the driver can feel the phenomenon that the braking force of the low vehicle speed is weakened, and the driving experience is greatly influenced.
Therefore, there is a need for a coasting energy recovery control method to solve the above problems.
Disclosure of Invention
The embodiment of the application provides a coasting energy recovery control method, which comprises the following steps: acquiring a target external braking request; acquiring a brake pedal braking stroke, wherein the brake pedal braking stroke comprises a driver control pedal braking stroke and/or a brake pedal automatic sinking stroke; obtaining a brake pedal braking request according to the brake pedal braking travel; performing a fetching process based on the target external braking request and the braking pedal braking request to obtain a final braking request; acquiring energy recovery capacity torque; the distribution ratio of electric braking and hydraulic braking is determined based on the final braking request and the energy recovery capability torque.
In one embodiment of the present application, the obtaining the target external brake request specifically includes: a coasting energy recovery target torque is obtained as the target external braking request.
In one embodiment of the present application, the obtaining the target external brake request specifically includes: acquiring ADAS braking torque and sliding energy recovery target torque; and carrying out a process of taking the target torque and the ADAS braking torque based on the sliding energy recovery target torque to obtain the target external braking request.
In one embodiment of the present application, before the acquiring the brake pedal braking stroke, further includes: the target external brake request is converted into a master cylinder flow request to control the brake pedal to automatically sink.
The embodiment of the application also provides a sliding energy recovery control device, which comprises: the target external braking request acquisition module is used for acquiring a target external braking request; the pedal braking travel obtaining module is used for obtaining a braking travel of a braking pedal, wherein the braking travel of the braking pedal comprises a driver control pedal braking travel and/or an automatic sinking travel of the braking pedal; the pedal braking request analysis module is used for obtaining a braking request of a braking pedal according to the braking stroke of the braking pedal; the brake request processing module is used for carrying out a fetching process based on the target external brake request and the brake pedal brake request to obtain a final brake request; the energy recovery capacity acquisition module is used for acquiring energy recovery capacity torque; and the electro-hydraulic distribution module is used for determining the distribution proportion of electric braking and hydraulic braking based on the final braking request and the energy recovery capacity torque.
In one embodiment of the present application, the target external brake request acquisition module specifically includes: a first target external brake request acquisition unit for acquiring a coasting energy recovery target torque as the target external brake request.
In one embodiment of the present application, the external brake request acquisition module specifically includes: an external braking torque acquisition unit for acquiring an ADAS braking torque and a coasting energy recovery target torque; and the second target external braking request acquisition unit is used for carrying out the process of taking the target external braking request based on the sliding energy recovery target torque and the ADAS braking torque.
In one embodiment of the present application, before the pedal braking travel acquisition module, the method further includes: and the flow request conversion module is used for converting the target external braking request into a master cylinder flow request so as to control the brake pedal to automatically sink.
The embodiment of the application also provides a sliding energy recovery control system, which comprises: the vehicle control device comprises a vehicle control unit, a vehicle stability control unit and an electronic booster, wherein the vehicle control unit is connected with the vehicle stability control unit, and the electronic booster is connected with the vehicle stability control unit; wherein, whole vehicle control unit is used for: calculating an energy recovery capacity torque from a motor and battery status and transmitting the energy recovery capacity torque to the vehicle stability controller; the electronic booster is used for: collecting a brake pedal braking stroke and sending the brake pedal braking stroke to the vehicle stability controller, wherein the brake pedal braking stroke comprises a driver control pedal braking stroke and/or a brake pedal automatic sinking stroke; the vehicle stability controller is configured to: and receiving the brake pedal braking stroke and the energy recovery capacity torque, obtaining a brake pedal braking request according to the brake pedal braking stroke, obtaining a target external braking request, performing a maximization process based on the target external braking request and the brake pedal braking request to obtain a final braking request, and determining the distribution proportion of electric braking and hydraulic braking based on the final braking request and the energy recovery capacity torque.
In one embodiment of the present application, the vehicle controller is further configured to: obtaining a sliding energy recovery target torque according to the opening of an accelerator pedal and the current vehicle speed, and sending the sliding energy recovery target torque to the vehicle stability controller; the vehicle stability controller is further configured to: receiving the coasting energy recovery target torque, converting the coasting energy recovery target torque into a master cylinder flow request, and transmitting the master cylinder flow request to the electronic booster; the electronic booster is further configured to: and receiving the master cylinder flow request and controlling the brake pedal to sink according to the master cylinder flow request.
The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect: the brake pedal braking request is obtained by obtaining the brake pedal braking stroke comprising the driver control pedal braking stroke and/or the brake pedal automatic sinking stroke, the final braking request is obtained by carrying out the fetching processing according to the brake pedal braking request and the target external braking request, and the distribution proportion of the electric braking and the hydraulic braking is determined according to the final braking request and the energy recovery capacity torque, so that the sliding energy recovery strength consistent with the non-full electric state can be still kept under the sliding state without being influenced by the battery state, for example, the full electric state of the battery, and when the driver steps on the brake pedal, the total braking request of the vehicle is the brake pedal braking torque at the moment without being influenced by the change of the sliding energy recovery target torque, the braking force consistency can be maintained, and the driving experience is greatly improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a schematic flow chart of a coasting energy recovery control method according to embodiment 1 of the present application;
fig. 2 is a schematic flow chart of step S11 in fig. 1;
FIG. 3 is another flow chart of step S11 in FIG. 1;
FIG. 4 is another flow chart of a coasting energy recovery control method;
FIG. 5 is a schematic diagram of a coasting energy recovery control system according to embodiment 1 of the present application;
FIG. 6 is another schematic structural view of a coasting energy recovery control system;
fig. 7 is a schematic structural diagram of a coasting energy recovery control device according to embodiment 2 of the present application;
FIG. 8 is a block diagram of the target external brake request acquisition module of FIG. 7;
FIG. 9 is another block diagram of the target external brake request acquisition module of FIG. 7;
fig. 10 is another structural schematic diagram of the coasting energy recovery control device.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
Example 1
Referring to fig. 1, the coasting energy recovery control method provided in embodiment 1 of the present application includes the following steps:
s11, acquiring a target external braking request;
s13, acquiring a brake pedal braking stroke, wherein the brake pedal braking stroke comprises a driver control pedal braking stroke and/or a brake pedal automatic sinking stroke;
s15, obtaining a brake pedal braking request according to the brake pedal braking travel;
s17, performing a fetching process based on the target external braking request and the braking pedal braking request to obtain a final braking request;
s19, acquiring energy recovery capacity torque;
s21, determining the distribution proportion of electric braking and hydraulic braking based on the final braking request and the energy recovery capacity torque.
Referring to fig. 2, step S11 of obtaining the target external brake request specifically includes: s111a acquires a coasting energy recovery target torque as the target external brake request.
Referring to fig. 3, step S11 of obtaining the target external brake request specifically includes the steps of:
s111b, acquiring ADAS braking torque and sliding energy recovery target torque;
and S112, performing a process of taking the target external braking request based on the sliding energy recovery target torque and the ADAS braking torque.
Referring to fig. 4, before step S13, the step of acquiring the braking stroke of the brake pedal further includes:
s12, converting the target external braking request into a master cylinder flow request so as to control the brake pedal to automatically sink.
The coasting energy recovery control method of the present application may be applied, for example, to the coasting energy recovery control system 10 shown in fig. 5, and may be executed, for example, in the vehicle stability controller 200 in fig. 5. In order to facilitate a clearer understanding of the coasting energy recovery control method of the present application, the coasting energy recovery control method of the present application is described in detail below with reference to fig. 5 and 6.
Specifically, referring to fig. 5 and 6, the coasting energy recovery control system 10 may include, for example, a vehicle controller 100, a vehicle stability controller 200, and an electronic booster 300, the vehicle controller 100 being connected to the vehicle stability controller 200, and the electronic booster 300 being connected to the vehicle stability controller 200. The vehicle controller 100 may be, for example, a full electric vehicle controller (Vehicle Control Unit, VCU), where the full vehicle controller 100 is a total controller of a vehicle body system, and may include, for example, an accelerator pedal torque analysis module 110, an energy recovery capability calculation module 120, and a motor torque calculation module 130, and the pedal torque analysis module 110, the energy recovery capability calculation module 120, and the motor torque calculation module 130 may be, for example, software modules; the vehicle stability controller 200 may be, for example, ESC (Electronic Stability Control), the vehicle stability controller 200 may include, for example, sensors, electronic control units, actuators, etc., may include, for example, a brake pedal brake torque resolution module 210, a brake request integration module 220, an external brake request coordination module 230, a flow request conversion module 240, and an electro-hydraulic distribution module 250, and the brake pedal brake torque resolution module 210, the brake request integration module 220, the external brake request coordination module 230, the flow request conversion module 240, and the electro-hydraulic distribution module 250 may be, for example, software modules; electronic booster 300 may be, for example, eBooster (Electric Brake Booster) and may include, for example, a brake pedal travel collection module 310 and a service brake module 320, and brake pedal travel collection module 310 and service brake module 320 may be, for example, software modules.
In view of the foregoing, when the vehicle is in a sliding state, the whole vehicle controller 100 may obtain the opening of the accelerator pedal and the current vehicle speed through the accelerator pedal torque analysis module 110 to obtain the sliding energy recovery target torque, and specifically, the whole vehicle controller 100 may be respectively in communication connection with the vehicle speed sensor, the accelerator opening sensor and the accelerator pedal sensor of the vehicle body system, so that the whole vehicle controller 100 may monitor the current vehicle speed, the current accelerator opening, the current accelerator pedal state and other information, which is, of course, only illustrative herein, and the embodiment of the present application is not limited thereto. For example, when the overall vehicle controller 100 monitors that the current vehicle speed is higher than the threshold and the accelerator pedal opening signal is 0, it is determined that the vehicle enters the coasting stage currently, the accelerator pedal torque analysis module 110 may look up a table to obtain a corresponding coasting energy recovery target torque according to the accelerator pedal opening and the current vehicle speed, and send the coasting energy recovery target torque to the external brake request coordination module 230 of the vehicle stability controller 200.
The external braking request coordination module 230 may, for example, send the target coasting energy recovery torque as a target external braking request to the flow request conversion module 240 and the braking request synthesis module 220, and the external braking request coordination module 230 may further, for example, obtain an ADAS braking torque, and then perform a scaling process according to the coasting energy recovery torque and the ADAS braking torque to obtain the target external braking request, and send the target external braking request to the flow request conversion module 240 and the braking request synthesis module 220. The flow request module 240 converts the target external brake request into a master cylinder flow request and sends the master cylinder flow request to the servo brake module 320 of the electronic booster 300, and the servo brake module 320 may generate a move push rod progress command to control the brake pedal to automatically sink, for example, according to the master cylinder flow request. The accelerator opening and the current vehicle speed are obtained through the accelerator pedal torque analysis module 110, and the coasting energy recovery target torque is directly obtained through the lookup table, so that the coasting energy recovery target torque is not affected by the battery state.
In view of the above, the brake pedal stroke collection module 310 of the electronic booster 300 is configured to collect a push rod stroke of a brake pedal, that is, a brake pedal braking stroke, where the brake pedal braking stroke includes a driver-controlled pedal braking stroke and/or a brake pedal automatic sinking stroke, and the brake pedal stroke collection module 310 may collect the pedal braking stroke, that is, when the automobile is in a coasting state and the above-mentioned brake pedal automatic sinking is performed, for example, through a stroke sensor, and when the driver brakes by stepping on the brake pedal, the brake pedal braking stroke collected by the brake pedal stroke collection module 310 includes the driver-controlled pedal braking stroke and the brake pedal automatic sinking stroke; when the driver does not tread the brake pedal, the brake pedal is automatically sunk in a sliding state, so that the brake pedal braking stroke acquired by the brake pedal stroke acquisition module 310 is the brake pedal automatic sunk stroke; when the above process is not performed, i.e., the brake pedal is not depressed, the driver steps on the brake pedal, the brake pedal braking stroke acquired by the brake pedal stroke acquisition module 310 is a driver control pedal braking stroke.
The brake pedal stroke acquisition module 310 sends the brake pedal braking stroke to the brake pedal braking torque analysis module 210 of the vehicle stability controller 200, the brake pedal braking torque analysis module 210 sends a brake pedal braking request obtained by the brake pedal braking stroke to the brake request synthesis module 220, the brake request synthesis module 220 performs a process of taking a large value based on a target external braking request and the brake pedal braking request to obtain a final braking request, and sends the final braking request to the electro-hydraulic distribution module 250. The energy recovery capability calculation module 120 of the vehicle controller 100 may calculate an energy recovery capability torque according to, for example, a motor and battery state and send the energy recovery capability torque to the electro-hydraulic distribution module 250 of the vehicle stability controller 200, the electro-hydraulic distribution module 250 may determine a distribution ratio of electric brake and hydraulic brake based on, for example, the final brake request and the energy recovery capability torque, may determine a distribution ratio of electric brake and hydraulic brake based on, for example, the final brake request, the energy recovery capability torque, a current vehicle speed, a brake pedal change rate, and the like, may generate, for example, an electric brake request and a hydraulic brake force to implement electric motor brake and hydraulic brake, may send the electric brake request to, for example, the motor torque calculation module 130 of the vehicle controller 100, and the motor torque calculation module 130 may convert the electric brake request to, for example, an electric motor torque request to the electric motor. With the coasting energy recovery target torque as a braking request source, electrohydraulic distribution processing can be performed in the vehicle stability controller 200 to ensure that even if the battery state does not allow coasting energy recovery, consistent deceleration during coasting can still be ensured by hydraulic braking; and when the vehicle stability controller 200 receives the coasting energy recovery target torque of the whole vehicle controller 100, the vehicle stability controller 200 requests the electronic booster 300 to control the brake pedal to automatically sink to a position corresponding to the coasting energy recovery target torque, and the stroke of the brake pedal and the total braking force keep a corresponding table look-up relationship. When the driver steps on the brake pedal, the driver's braking intention is stronger than that of other systems of the vehicle itself, so the total braking request is the brake pedal braking torque, and is not affected by the change in the coasting energy recovery target torque. For example, when the driver transitions from coasting energy recovery to stepping on the brake pedal, the initial position of the brake pedal has moved down, whereupon the driver continues to step on the brake pedal, so that the driver's brake pedal torque is greater than the coasting energy recovery target torque, and the total brake request is the brake pedal brake torque.
In summary, the sliding energy recovery control method provided in this embodiment obtains a brake pedal braking request by obtaining a brake pedal braking stroke including a driver control pedal braking stroke and/or a brake pedal automatic sinking stroke, performs a enlarging process according to the brake pedal braking request and a target external braking request to obtain a final braking request, and determines a distribution ratio of electric braking and hydraulic braking according to the final braking request and an energy recovery capacity torque, so that the sliding energy recovery strength consistent with a non-full electric state can be maintained in a sliding state without being affected by a battery state, for example, in a battery full state, and when the driver steps on a brake pedal, the total braking request of the vehicle is the brake pedal braking torque without being affected by a change of the sliding energy recovery target torque, thereby maintaining consistency of braking force and greatly improving driving experience.
Example 2
Referring to fig. 7, embodiment 2 of the present application provides a coasting energy recovery control device 400, including:
a target external brake request acquisition module 410 for acquiring a target external brake request;
a pedal braking travel acquisition module 420 for acquiring a brake pedal braking travel including a driver-controlled pedal braking travel and/or a brake pedal automatic sinking travel;
the pedal braking request analysis module 430 is configured to obtain a braking request of the brake pedal according to the braking stroke of the brake pedal;
a brake request processing module 440, configured to perform a fetching process based on the target external brake request and the brake pedal brake request to obtain a final brake request;
an energy recovery capability acquisition module 450 for acquiring an energy recovery capability torque;
an electro-hydraulic distribution module 460 for determining a distribution ratio of electric braking and hydraulic braking based on the final braking request and the energy recuperation capability torque.
Referring to fig. 8, the target external brake request acquisition module 410 specifically includes:
a first target external brake request acquisition unit 411a for acquiring a coasting energy recovery target torque as the target external brake request.
Referring to fig. 9, the target external brake request acquisition module 410 specifically includes:
an external braking torque acquisition unit 411b for acquiring an ADAS braking torque and a coasting energy recovery target torque;
and a second target external braking request obtaining unit 412, configured to obtain the target external braking request by performing a scaling process based on the coasting energy recovery target torque and the ADAS braking torque.
Referring to fig. 10, before the pedal braking travel acquisition module 420, further includes:
the flow request conversion module 470 is configured to convert the target external brake request into a master cylinder flow request to control the brake pedal to automatically sink.
The specific operation and technical effects between the modules in the coasting energy recovery control device 400 in this embodiment are described in the foregoing embodiment 1.
The execution subjects of the steps of the method provided in embodiment 1 may be the same apparatus, or the method may be executed by different apparatuses. For example, the execution subject of step 21 and step 22 may be device 1, and the execution subject of step 23 may be device 2; for another example, the execution body of step 21 may be device 1, and the execution bodies of step 22 and step 23 may be device 2; etc.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (3)
1. A coasting energy recovery control method characterized by comprising:
acquiring a target external braking request;
acquiring a brake pedal braking stroke, wherein the brake pedal braking stroke comprises a driver control pedal braking stroke and a brake pedal automatic sinking stroke;
obtaining a brake pedal braking request according to the brake pedal braking travel;
performing a fetching process based on the target external braking request and the braking pedal braking request to obtain a final braking request;
acquiring energy recovery capacity torque;
determining a split ratio of electric braking and hydraulic braking based on the final braking request and the energy recuperation capability torque;
the sliding energy recovery control method is applied to a sliding energy recovery control system, and the sliding energy recovery control system comprises a whole vehicle controller, a vehicle stability controller and an electronic booster, wherein the whole vehicle controller is connected with the vehicle stability controller, and the electronic booster is connected with the vehicle stability controller;
the vehicle controller is a total controller of a vehicle body system and comprises an accelerator pedal torque analysis module, an energy recovery capacity calculation module and a motor torque calculation module; the vehicle stability controller comprises a brake pedal brake torque analysis module, a brake request synthesis module, an external brake request coordination module, a flow request conversion module and an electro-hydraulic distribution module; the electronic booster comprises a brake pedal stroke acquisition module and a servo brake module;
when the automobile is in a sliding state, the whole automobile controller obtains the opening degree of an accelerator pedal and the current speed of the automobile through an accelerator pedal torque analysis module to obtain a sliding energy recovery target torque; when the whole vehicle controller monitors that the current vehicle speed is higher than a threshold value and the accelerator pedal opening signal is 0, judging that the vehicle enters a sliding stage currently, and according to the accelerator pedal opening and the current vehicle speed, performing table lookup by an accelerator pedal torque analysis module to obtain a corresponding sliding energy recovery target torque, and sending the sliding energy recovery target torque to an external braking request coordination module of the vehicle stability controller;
the external braking request coordination module acquires ADAS braking torque, then carries out a large-scale processing according to the sliding energy recovery target torque and the ADAS braking torque to obtain the target external braking request, and sends the target external braking request to the flow request conversion module and the braking request comprehensive module; the flow request conversion module converts the target external braking request into a master cylinder flow request, and sends the master cylinder flow request to the servo braking module of the electronic booster, and the servo braking module generates a moving push rod process command according to the master cylinder flow request so as to control the brake pedal to automatically sink.
2. The coasting energy recovery control method according to claim 1, characterized by further comprising, before the acquisition of the brake pedal braking stroke:
the target external brake request is converted into a master cylinder flow request to control the brake pedal to automatically sink.
3. A coasting energy recovery control system, comprising: the vehicle control device comprises a vehicle control unit, a vehicle stability control unit and an electronic booster, wherein the vehicle control unit is connected with the vehicle stability control unit, and the electronic booster is connected with the vehicle stability control unit;
the vehicle controller is a total controller of a vehicle body system and comprises an accelerator pedal torque analysis module, an energy recovery capacity calculation module and a motor torque calculation module; the vehicle stability controller comprises a brake pedal brake torque analysis module, a brake request synthesis module, an external brake request coordination module, a flow request conversion module and an electro-hydraulic distribution module; the electronic booster comprises a brake pedal stroke acquisition module and a servo brake module;
when the automobile is in a sliding state, the whole automobile controller obtains the opening degree of an accelerator pedal and the current speed of the automobile through an accelerator pedal torque analysis module to obtain a sliding energy recovery target torque; when the whole vehicle controller monitors that the current vehicle speed is higher than a threshold value and the accelerator pedal opening signal is 0, judging that the vehicle enters a sliding stage currently, and according to the accelerator pedal opening and the current vehicle speed, performing table lookup by an accelerator pedal torque analysis module to obtain a corresponding sliding energy recovery target torque, and sending the sliding energy recovery target torque to an external braking request coordination module of the vehicle stability controller;
the external braking request coordination module also obtains ADAS braking torque, then carries out a large-scale process according to the sliding energy recovery target torque and the ADAS braking torque to obtain a target external braking request, and sends the target external braking request to the flow request conversion module and the braking request comprehensive module; the flow request conversion module converts the target external braking request into a master cylinder flow request, and sends the master cylinder flow request to the servo braking module of the electronic booster, and the servo braking module generates a moving push rod process command according to the master cylinder flow request so as to control the brake pedal to automatically sink.
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