CN116039391B - Vehicle braking method and device and automobile - Google Patents
Vehicle braking method and device and automobile Download PDFInfo
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- CN116039391B CN116039391B CN202310340843.5A CN202310340843A CN116039391B CN 116039391 B CN116039391 B CN 116039391B CN 202310340843 A CN202310340843 A CN 202310340843A CN 116039391 B CN116039391 B CN 116039391B
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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
- B60L7/18—Controlling the braking effect
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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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- Engineering & Computer Science (AREA)
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The disclosure provides a vehicle braking method and device and an automobile, and relates to the technical field of new energy commercial automobiles. The method comprises the following steps: calculating a required braking torque of the vehicle and a first regenerated braking torque of a motor of the vehicle under the allowable charging power of the battery; providing a braking torque of the vehicle by motor braking if the first regenerative braking torque meets the required braking torque; and providing a braking torque of the vehicle by the electric machine brake and the engine reverse brake if the first regenerative braking torque does not meet the demanded braking torque. The driving motor braking priority is used as a principle, so that the consumption energy of parts such as a brake and an engine is reduced as much as possible, the economy of the whole vehicle is improved, meanwhile, the specification of an external resistor can be reduced due to the fact that the engine is added for anti-dragging braking to provide the braking torque of the vehicle, and the cost of the whole vehicle is reduced.
Description
Technical Field
The disclosure relates to the technical field of new energy commercial automobiles, in particular to a vehicle braking method and device and an automobile.
Background
The braking performance has important influence on the running safety of the whole vehicle, especially the new energy vehicle, and the regenerated braking energy recovery is performed to the greatest extent on the basis of ensuring the braking safety during braking so as to improve the economy of the whole vehicle.
For the extended range hybrid power tractor with the application scene of mountain areas, when the vehicle descends for a long time, more braking energy is generated due to the fact that the vehicle is heavy. However, the motor is limited by the battery charging power, the regenerative braking recovery energy is limited, and when the battery power is sufficient, the battery charging power is reduced, so that the motor braking torque is reduced, and the situation of insufficient braking force is easily generated. Therefore, the range-extending vehicle suitable for the scene usually carries out more energy recovery in an external resistor mode, improves the braking capability and reduces the battery pressure, but the external resistor is usually too large in specification and too high in price.
Disclosure of Invention
The technical problem to be solved by the present disclosure is to provide a vehicle braking method, a device and an automobile, which reduce the cost of the whole automobile and improve the economical efficiency of the automobile.
According to an aspect of the present disclosure, there is provided a vehicle braking method including: calculating a required braking torque of the vehicle and a first regenerated braking torque of a motor of the vehicle under the allowable charging power of the battery; providing a braking torque of the vehicle by motor braking if the first regenerative braking torque meets the required braking torque; and providing a braking torque of the vehicle by the electric machine brake and the engine reverse brake if the first regenerative braking torque does not meet the demanded braking torque.
In some embodiments, providing braking torque of the vehicle by electric motor braking and engine reverse braking includes: calculating a second regenerative braking torque of the motor under the allowable charging power of the battery and the reverse dragging braking power of the engine; providing a braking torque of the vehicle by motor braking and engine reverse braking if the second regenerative braking torque meets the required braking torque; and providing a braking torque of the vehicle by electric motor braking, engine reverse braking, and mechanical braking if the second regenerative braking torque does not meet the demand braking torque.
In some embodiments, the first regenerative braking torque is a minimum between a torque determined for an off-motor characteristic corresponding to a rotational speed of the motor and a torque corresponding to a battery allowable charge power.
In some embodiments, the second regenerative braking torque is a minimum between a torque determined for an off-motor characteristic corresponding to a rotational speed of the motor and a torque corresponding to a sum of the battery allowable charge power and the engine anti-tug power.
In some embodiments, if the first regenerative braking torque meets the demand braking torque and the braking time corresponding to the first regenerative braking torque meets the safe braking time, the braking torque of the vehicle is provided by the electric motor brake.
In some embodiments, if the second regenerative braking torque meets the demand braking torque and the braking time corresponding to the second regenerative braking torque meets the safe braking time, the braking torque of the vehicle is provided by electric machine braking and engine reverse braking.
In some embodiments, the battery allows charging power, determined based on the state of the battery.
In some embodiments, engine reverse brake power is determined based on a rotational speed of the engine.
In some embodiments, the required braking torque of the vehicle is determined based on the mass of the vehicle, the current time of day vehicle speed, the previous time of day vehicle speed, the time interval between adjacent times of day, the set vehicle speed after braking, and the wheel radius.
According to another aspect of the present disclosure, there is also provided a vehicle control apparatus including: a demand calculation unit configured to calculate a demand braking torque of the vehicle; a torque calculation unit configured to generate a first regenerative braking torque of the motor of the vehicle at a battery allowable charge power; and a brake control unit configured to provide a braking torque of the vehicle by the electric motor brake if the first regenerative braking torque satisfies the required braking torque, and to provide a braking torque of the vehicle by the electric motor brake and the engine reverse brake if the first regenerative braking torque does not satisfy the required braking torque.
In some embodiments, the torque calculation unit is further configured to calculate a second regenerative braking torque of the electric machine at the battery allowable charge power and the engine reverse brake power; and the brake control unit is further configured to provide a braking torque of the vehicle by the electric motor brake and the engine reverse brake if the second regenerative braking torque meets the required braking torque, and to provide a braking torque of the vehicle by the electric motor brake, the engine reverse brake, and the mechanical brake if the second regenerative braking torque does not meet the required braking torque.
In some embodiments, the first regenerative braking torque is a minimum between a torque determined for an off-motor characteristic corresponding to a rotational speed of the motor and a torque corresponding to a battery allowable charge power.
In some embodiments, the second regenerative braking torque is a minimum between a torque determined for an off-motor characteristic corresponding to a rotational speed of the motor and a torque corresponding to a sum of the battery allowable charge power and the engine anti-tug power.
According to another aspect of the present disclosure, there is also provided a vehicle control apparatus including: a memory; and a processor coupled to the memory, the processor configured to perform a vehicle braking method as described above based on instructions stored in the memory.
According to another aspect of the present disclosure, there is also provided a vehicle including: the vehicle control apparatus described above.
According to another aspect of the present disclosure, there is also provided a non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described vehicle braking method.
In the embodiment of the disclosure, if the first regenerated braking torque meets the required braking torque, the motor is used for braking to provide the braking torque of the vehicle, otherwise, the engine is added for anti-dragging braking to provide the braking torque of the vehicle, and the driving motor braking priority is used as a principle, so that the energy consumption of the parts such as a brake, the engine and the like is reduced as much as possible, the economy of the whole vehicle is improved, and meanwhile, the specification of an external resistor can be reduced and the cost of the whole vehicle is reduced due to the fact that the engine is added for anti-dragging braking to provide the braking torque of the vehicle.
Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The disclosure may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow diagram of some embodiments of a vehicle braking method of the present disclosure;
FIG. 2 is a schematic flow chart diagram of further embodiments of a vehicle braking method of the present disclosure;
FIG. 3 is a flow chart diagram of further embodiments of the vehicle braking method of the present disclosure;
FIG. 4 is a schematic diagram of some embodiments of the disclosed electric machine brake to provide a vehicle braking torque;
FIG. 5 is a schematic diagram of some embodiments of the present disclosure of providing a vehicle braking torque for electric motor braking and engine reverse brake;
FIG. 6 is a schematic structural view of some embodiments of a vehicle control device of the present disclosure;
fig. 7 is a schematic structural view of other embodiments of a vehicle control apparatus of the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.
FIG. 1 is a flow chart diagram of some embodiments of a vehicle braking method of the present disclosure.
In step 110, a requested braking torque of the vehicle is calculated, and a first regenerative braking torque of an electric machine of the vehicle is calculated at a battery allowable charge power.
In some embodiments, the vehicle is an extended range vehicle, such as an extended range hybrid vehicle.
In some embodiments, the required braking torque of the vehicle is determined based on the mass of the vehicle, the current time of day vehicle speed, the previous time of day vehicle speed, the time interval between adjacent times of day, the set vehicle speed after braking, and the wheel radius.
For example, according to the formula t= [ m (V t-1 -V t )/△t -2000(V t –V s )]r, calculating the required braking torque T of the vehicle, wherein m is the current mass of the vehicle, V t The speed is the current moment; v (V) t-1 For the speed of the vehicle at the previous moment, deltat is the time interval between two adjacent moments, V s The set vehicle speed after braking is represented by r, which is the wheel radius. (V) t-1 -V t ) and/DELTAt is acceleration data of the vehicle.
In some embodiments, the battery allows charging power, determined based on the state of the battery. For example, the maximum Power allowed by the battery is calculated from State information such as the battery SOC (State of Charge), the battery SOP (State of Power), and the battery temperature.
In some embodiments, the first regenerative braking torque is a minimum between a torque determined for an off-motor characteristic corresponding to a rotational speed of the motor and a torque corresponding to a battery allowable charge power. Namely, the required braking torque of the vehicle meets both the torque requirement determined by the external characteristics of the motor and the torque requirement corresponding to the allowable charging power of the battery.
In step 120, if the first regenerative braking torque meets the requested braking torque, the braking torque of the vehicle is provided by the electric machine brake.
If the first regenerative braking torque does not meet the requested braking torque, at step 130, braking torque of the vehicle is provided by electric machine braking and engine reverse braking.
In the above embodiment, if the first regenerative braking torque meets the required braking torque, the motor braking is used to provide the braking torque of the vehicle, otherwise, the engine anti-dragging braking is added to provide the braking torque of the vehicle, so that the energy consumption of the components such as the brake and the engine is reduced as much as possible based on the principle of driving motor braking priority, the economy of the whole vehicle is improved, and meanwhile, the specification of the external resistor can be reduced and the cost of the whole vehicle is reduced due to the addition of the engine anti-dragging braking to provide the braking torque of the vehicle.
FIG. 2 is a flow chart diagram of further embodiments of the vehicle braking method of the present disclosure.
In step 210, a requested braking torque of the vehicle is calculated, and a first regenerative braking torque of an electric motor of the vehicle is calculated at a battery allowable charge power.
In step 220, it is determined whether the first regenerative braking torque is greater than or equal to the required braking torque, if yes, step 230 is performed, otherwise, step 240 is performed.
In step 230, braking torque of the vehicle is provided by motor braking.
In some embodiments, if the first regenerative braking torque meets the demand braking torque and the braking time corresponding to the first regenerative braking torque meets the safe braking time, the braking torque of the vehicle is provided by the electric motor brake.
At step 240, a second regenerative braking torque of the electric machine is calculated at the battery allowable charge power and the engine reverse brake power.
In some embodiments, if the first regenerative braking torque does not meet the required braking torque, or if the braking time corresponding to the first regenerative braking torque does not meet the safe braking time, the second regenerative braking torque of the electric machine is calculated at the battery allowable charge power and the engine reverse braking power.
In some embodiments, engine reverse brake power is determined based on a rotational speed of the engine. For example, the power that can be consumed by the engine reverse brake at the current time is determined based on an engine reverse power curve corresponding to the engine speed at each time.
In some embodiments, the second regenerative braking torque is a minimum between a torque determined for an off-motor characteristic corresponding to a rotational speed of the motor and a torque corresponding to a sum of the battery allowable charge power and the engine anti-tug power. For example, the sum of the allowable battery charging power and the engine reverse brake power is used as the maximum regenerative brake power that can be provided by the motor, and the minimum value between the torque corresponding to the maximum regenerative brake power and the torque determined by the external characteristics of the motor is used as the maximum regenerative brake torque that can be provided by the motor.
In step 250, it is determined whether the second regenerative braking torque is greater than or equal to the required braking torque, if yes, step 260 is performed, otherwise, step 270 is performed.
In step 260, braking torque of the vehicle is provided by electric motor braking and engine reverse braking.
In some embodiments, if the second regenerative braking torque meets the demand braking torque and the braking time corresponding to the second regenerative braking torque meets the safe braking time, the braking torque of the vehicle is provided by electric machine braking and engine reverse braking.
In step 270, the braking torque of the vehicle is provided by electric motor braking, engine reverse braking, and mechanical braking.
In some embodiments, if the second regenerative braking torque does not meet the required braking torque, or if the braking time corresponding to the second regenerative braking torque does not meet the safe braking time, then mechanical braking is required.
In the above embodiment, if the regenerative braking torque of the motor meets the braking torque requirement under the charging power allowed by the battery, the motor provides the braking torque of the whole vehicle; if the regenerative braking torque provided by the motor does not meet the requirement at the moment, firstly calculating the power consumed by the engine reverse towing braking at the current moment, and then under the combined action of the battery allowable charging power and the engine reverse towing braking consumed power, judging whether the regenerative braking torque of the motor meets the braking requirement of the whole vehicle at the moment, if so, not needing mechanical braking intervention at the moment, and braking the motor and the engine reverse towing braking; if the sum of the motor charging power and the engine reverse-dragging power still does not meet the braking requirement at the moment, mechanical braking intervenes at the moment, the advantage of engine reverse-dragging braking is fully exerted, the recovery capacity of regenerative braking energy is improved, the economy of the whole vehicle is improved, the specification of an external power consumption resistor is reduced, the cost of the whole vehicle is reduced, meanwhile, mechanical braking pressure is reduced, the defect of insufficient regenerative braking torque of the motor caused by battery limitation is overcome, and the driving safety is improved.
FIG. 3 is a flow chart diagram of further embodiments of the vehicle braking method of the present disclosure.
In step 310, vehicle state information is detected.
In some embodiments, the vehicle control station determines the required torque and the extended range vehicle is in a braking mode when the motor required torque is less than zero.
The vehicle state detection is carried out by using an on-vehicle sensor, a GPS, an intelligent electrical system and the like on the range-extending hybrid power tractor. Real-time state system information of the vehicle, such as vehicle weight, vehicle speed, acceleration, battery SOC, battery temperature, motor temperature, engine speed, engine torque, motor speed, motor torque and the like, is detected, and the acquired information is processed and converted into signals which are available to each controller and VCU (Vehicle control unit, vehicle controller) for vehicle state processing.
At step 320, the vehicle state is processed.
In some embodiments, the VCU and controllers utilize signals collected by the vehicle sensors and the intelligent electrical system to perform vehicle weight estimation, vehicle speed calculation, and vehicle acceleration calculation.
In step 330, the demanded brake torque is calculated.
In some embodiments, the required braking torque of the whole vehicle is calculated by collecting or calculating to obtain the weight, the speed, the acceleration and the like of the vehicle.
In step 340, regenerative braking capability is assessed.
In some embodiments, the available regenerative braking torque allowed by the motor at the present time is performed based on battery charge current limits, battery SOC, battery SOP, battery temperature, vehicle speed, motor temperature, motor out-of-range characteristics, etc.
The regenerative braking torque allowed by the motor is affected by the battery charge power, which in turn is affected by the state of the battery SOC, battery SOP, and battery temperature. Particularly, under long downhill conditions, too much energy needs to be recovered, so that after the vehicle descends for a period of time, the battery SOC is too high to be close to saturation, and in order to prevent the battery from overshooting, the battery allows the charging power to be reduced, and further the motor energy recovery is affected.
In step 350, an implementation strategy is determined based on the regenerative braking capability of the motor.
In some embodiments, when the vehicle speed is too low or the battery SOC is too high, the battery charge energy may be weakened, affecting the motor regenerative braking energy recovery capability. And if the regenerative braking torque provided by the motor at the current moment is greater than or equal to the required braking torque, the motor provides the braking torque of the whole vehicle. As shown in FIG. 4, motor braking is utilized as much as possible, the economy of the whole vehicle is improved to the greatest extent, the reverse dragging braking and mechanical braking of the engine are reduced, and the service life of the parts is prolonged.
In some embodiments, if the torque corresponding to the sum of the engine anti-dragging braking power and the battery allowable charging power meets the braking torque required at the current moment, the generator in the range extender drives the engine anti-dragging to work, and as shown in fig. 5, the motor braking and the engine anti-dragging braking are used for braking together. Otherwise, regenerative braking energy is provided by motor braking, engine reverse drag braking, and mechanical braking together.
In the embodiment, the braking effect of the vehicle in different battery SOC states can be guaranteed to the greatest extent, the braking safety is guaranteed, in addition, the participation of mechanical braking on long downhill is reduced as much as possible, braking force decline caused by overheat is caused, and the driving safety is influenced. Meanwhile, if the type of original vehicle adopts an external resistor mode to enhance the electric braking capability under the long downhill working condition, the engine can reduce certain external resistor specification and model and reduce the cost of the whole vehicle due to the anti-dragging braking energy consumption of the engine.
Fig. 6 is a schematic structural diagram of some embodiments of a vehicle control device of the present disclosure, such as a controller, including a demand calculation unit 610, a torque calculation unit 620, and a brake control unit 630.
The demand computing unit 610 is configured to compute a demanded braking torque of the vehicle.
In some embodiments, the required braking torque of the vehicle is determined based on the mass of the vehicle, the current time of day vehicle speed, the previous time of day vehicle speed, the time interval between adjacent times of day, the set vehicle speed after braking, and the wheel radius.
The torque calculation unit 620 is configured to generate a first regenerative braking torque of the motor of the vehicle at the battery allowable charge power.
In some embodiments, the battery allows charging power, determined based on the state of the battery.
In some embodiments, the first regenerative braking torque is a minimum between a torque determined for an off-motor characteristic corresponding to a rotational speed of the motor and a torque corresponding to a battery allowable charge power.
In some embodiments, torque calculation unit 620 is further configured to calculate a second regenerative braking torque of the electric machine at the battery allowable charge power and the engine reverse brake power. For example, if the first regenerative braking torque does not satisfy the required braking torque, or if the braking time corresponding to the first regenerative braking torque does not satisfy the safe braking time, the second regenerative braking torque of the motor under the battery allowable charging power and the engine reverse braking power is calculated.
In some embodiments, the second regenerative braking torque is a minimum between a torque determined for an off-motor characteristic corresponding to a rotational speed of the motor and a torque corresponding to a sum of the battery allowable charge power and the engine anti-tug power.
The brake control unit 630 is configured to provide the braking torque of the vehicle by the electric motor brake if the first regenerative braking torque meets the required braking torque, and to provide the braking torque of the vehicle by the electric motor brake and the engine reverse brake if the first regenerative braking torque does not meet the required braking torque.
In some embodiments, the brake control unit 630 is further configured to provide the braking torque of the vehicle by electric motor braking and engine reverse brake if the second regenerative braking torque meets the demand braking torque, and by electric motor braking, engine reverse brake, and mechanical brake if the second regenerative braking torque does not meet the demand braking torque.
In some embodiments, if the first regenerative braking torque meets the demand braking torque and the braking time corresponding to the first regenerative braking torque meets the safe braking time, the braking torque of the vehicle is provided by the electric motor brake. And if the second regenerative braking torque meets the required braking torque and the braking time corresponding to the second regenerative braking torque meets the safe braking time, providing the braking torque of the vehicle by motor braking and engine anti-dragging braking. If the second regenerative braking torque does not meet the required braking torque, or if the braking time corresponding to the second regenerative braking torque does not meet the safe braking time, mechanical braking is required to be added.
In the embodiment, the braking effect of the vehicle in different battery SOC states can be ensured to the greatest extent, and the braking safety is ensured; the braking energy recovery efficiency of the whole vehicle can be better ensured, and the economical efficiency of the whole vehicle is improved; in addition, the engine is in anti-dragging braking intervention, so that the braking safety of the downhill working condition of the new energy vehicle is better ensured; meanwhile, the external power consumption resistor specification type of the new energy vehicle under long downhill running road conditions is reduced, and the cost of the whole vehicle is reduced.
Fig. 7 is a schematic diagram of another embodiment of a vehicle control apparatus of the present disclosure, the apparatus 700 including a memory 710 and a processor 720. Wherein: memory 710 may be a magnetic disk, flash memory, or any other non-volatile storage medium. The memory 710 is used to store instructions in the embodiments described above. Processor 720, coupled to memory 710, may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 720 is configured to execute instructions stored in the memory.
In some embodiments, processor 720 is coupled to memory 710 through BUS 730. The apparatus 700 may also be connected to an external storage system 750 via a storage interface 740 for invoking external data, and may also be connected to a network or another computer system (not shown) via a network interface 760. And will not be described in detail herein.
In the embodiment, the data instruction is stored by the memory, and then the instruction is processed by the processor, so that the problems that the mechanical brake is damaged by overheat in long-term use, the electric quantity of the battery is too high, and the service life of the battery is influenced by continuous charging when the battery SOC of the extended-range hybrid electric vehicle is high under the long-downhill working condition can be reduced. Meanwhile, the situation that the original vehicle is often provided with a large external resistor for power consumption is improved, the specification of the external resistor can be reduced, and the cost of the whole vehicle is reduced.
In other embodiments of the present disclosure, a vehicle is protected that includes the vehicle control device of the above embodiments, the vehicle being an extended range hybrid vehicle, such as a new energy commercial vehicle.
In other embodiments, a computer readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the steps of the methods of the above embodiments. It will be apparent to those skilled in the art that embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. 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.
Thus far, the present disclosure has been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (12)
1. A vehicle braking method comprising:
calculating a required braking torque of a vehicle and a first regenerated braking torque of a motor of the vehicle under the allowable charging power of a battery;
providing a braking torque of the vehicle by motor braking if the first regenerative braking torque meets the required braking torque;
if the first regenerative braking torque does not meet the required braking torque, calculating a second regenerative braking torque of the motor under the allowable charging power of the battery and the engine anti-dragging braking power, wherein the second regenerative braking torque is a torque determined for the external motor characteristic corresponding to the rotating speed of the motor, and a minimum value between the allowable charging power of the battery and the torque corresponding to the sum of the engine anti-dragging braking power;
providing a braking torque of the vehicle by the electric machine brake and the engine reverse brake if the second regenerative braking torque meets the required braking torque; and
if the second regenerative braking torque does not meet the demanded braking torque, braking torque of the vehicle is provided by the electric machine brake, the engine reverse brake, and the mechanical brake.
2. The vehicle braking method according to claim 1, wherein,
the first regenerative braking torque is a minimum value between a torque determined for an external motor characteristic corresponding to a rotational speed of the motor and a torque corresponding to the battery allowable charge power.
3. The vehicle braking method according to claim 1, wherein,
and if the first regenerative braking torque meets the required braking torque and the braking time corresponding to the first regenerative braking torque meets the safe braking time, providing the braking torque of the vehicle by the motor braking.
4. The vehicle braking method according to claim 1, wherein,
and if the second regenerative braking torque meets the required braking torque and the braking time corresponding to the second regenerative braking torque meets the safe braking time, providing the braking torque of the vehicle by the motor braking and the engine anti-dragging braking.
5. The vehicle braking method according to claim 1, wherein,
the battery allows charging power to be determined based on a state of the battery.
6. The vehicle braking method according to claim 1, wherein,
the engine reverse brake power is determined based on a rotational speed of the engine.
7. A vehicle braking method according to any one of claims 1 to 6, wherein,
the required braking torque of the vehicle is determined based on the mass of the vehicle, the current time speed, the previous time speed, the time interval between two adjacent time, the set speed after braking and the wheel radius.
8. A vehicle control apparatus comprising:
a demand calculation unit configured to calculate a demand braking torque of the vehicle;
a torque calculation unit configured to calculate a first regenerative braking torque of a motor of the vehicle at a battery allowable charge power, and calculate a second regenerative braking torque of the motor at the battery allowable charge power and an engine reverse brake power, wherein the second regenerative braking torque is a minimum value between a torque determined for an external motor characteristic corresponding to a rotational speed of the motor, and a torque corresponding to a sum of the battery allowable charge power and the engine reverse brake power; and
a brake control unit configured to provide a braking torque of the vehicle by motor braking if the first regenerative braking torque satisfies the required braking torque, provide a braking torque of the vehicle by motor braking and the engine reverse brake if the first regenerative braking torque does not satisfy the required braking torque, and provide a braking torque of the vehicle by motor braking, the engine reverse brake, and the mechanical brake if the second regenerative braking torque does not satisfy the required braking torque.
9. The vehicle control apparatus according to claim 8, wherein,
the first regenerative braking torque is a minimum value between a torque determined for an external motor characteristic corresponding to a rotational speed of the motor and a torque corresponding to the battery allowable charge power.
10. A vehicle control apparatus comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the vehicle braking method of any one of claims 1 to 7 based on instructions stored in the memory.
11. A vehicle, comprising:
the vehicle control apparatus according to any one of claims 8 to 10.
12. A non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the vehicle braking method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310340843.5A CN116039391B (en) | 2023-03-31 | 2023-03-31 | Vehicle braking method and device and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310340843.5A CN116039391B (en) | 2023-03-31 | 2023-03-31 | Vehicle braking method and device and automobile |
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| CN101284532A (en) * | 2007-12-28 | 2008-10-15 | 奇瑞汽车股份有限公司 | Control method of battery charge state SOC for hybrid electric vehicle |
| CN102490598A (en) * | 2011-12-16 | 2012-06-13 | 奇瑞汽车股份有限公司 | Electronic all-wheel-drive system for motor vehicle and control method therefor |
| CN105383482A (en) * | 2014-08-27 | 2016-03-09 | 三菱自动车工业株式会社 | Regenerative control device for hybrid vehicle |
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