CN1296223C - 四轮驱动电动车的再生制动控制方法和装置 - Google Patents

四轮驱动电动车的再生制动控制方法和装置 Download PDF

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Publication number
CN1296223C
CN1296223C CNB2004100912329A CN200410091232A CN1296223C CN 1296223 C CN1296223 C CN 1296223C CN B2004100912329 A CNB2004100912329 A CN B2004100912329A CN 200410091232 A CN200410091232 A CN 200410091232A CN 1296223 C CN1296223 C CN 1296223C
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electrical motor
regenerative brake
power
brake
control
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CN1618649A (zh
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崔榕珏
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Hyundai Motor Co
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Hyundai Motor Co
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
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    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
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    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)
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Abstract

本发明公开了一种四轮驱动电动车的再生制动方法，该电动车配备有前后电动机及带有离合器的手动变速器，当该四轮驱动电动车进行制动操作时，根据离合器是否啮合来对前后轮的再生制动进行不同的控制。

Description

四轮驱动电动车的再生制动控制方法和装置
相互参照的相关申请
本申请要求2003年11月18日公开的韩国专利申请No.10-2003-0081854的优先权，在此将结合其全部公开内容作为参考。
技术领域
大体而言，本发明涉及一种电动车辆。具体地说，本发明涉及电动车的制动控制。
背景技术
如本领域公知的，电动车利用储存在蓄电池中的电能来作为动力源。为了提高这种电动车的能量效率以及里程数，该电动车的制动通常是由再生制动方式来进行控制的，从而一些能量可以在制动过程中被回收转化为电能。
电动车通常配有自动变速器或者无级变速器(continuously variabletransmission，CVT)。
在电动车上配设手动变速器的情况下，驾驶员需要手动地操作离合器，因而驾驶员对由起动再生制动而引起的车辆性状变化将更加敏锐。因此，配设手动变速器的电动车的再生制动控制会更加精确。
可以在前后轮上都施加驱动力的四轮驱动配置的动力系具有很多内在的优点。当电动车的动力系也被配置为四轮驱动形式时，电动车也将具备这些优点。
在电动车上随四轮驱动动力系还一同配备手动变速器的情况下，前后轮再生制动的适用性基本上取决于驾驶员是否操作了离合器。
美国专利文献US5,294,191A是与本发明较为相关的现有技术，其中披露了一种电动车辆的制动系统。
本发明背景技术部分中公开的内容仅仅是为了有助于更好地理解本发明的发明背景，而不应被认为是已经承认或者暗示这些信息构成了已被这个国家的本领域普通技术人员所公知的现有技术。
发明内容
本发明的目的是提供控制配备有前后电动机及手动变速器的四轮驱动电动车的再生制动的方法及系统，其具有控制稳定性得以提高的非限制性优点。
根据本发明一个实施方案的控制四轮驱动电动车再生制动的一个方法实例包括：判断该四轮驱动电动车是否被进行了制动操作；当该四轮驱动电动车被进行了制动操作时，判断离合器是啮合状态还是分离状态；以及，在对离合器的啮合/分离状态判断的基础上，控制前后电动机的再生制动。
在一个进一步的实施方案中，当离合器处于啮合状态时，该前后电动机的再生制动控制对前后电动机二者都进行再生制动。
在另一个进一步实施方案中，当离合器处于分离状态时，该前后电动机的再生制动控制只对前后电动机中的后电动机进行再生制动。
在一个进一步的实施方案中，离合器分离时后电动机上的再生制动力小于离合器啮合时的后电动机上的再生制动力。
在另一个进一步实施方案中，前后电动机的再生制动控制包括：计算离合器分离时后轮的滑移率；判断该后轮的滑移率是否小于参考滑移率；以及当该后轮滑移率不小于该参考滑移率时，停止后电动机的再生制动。
在另一个进一步实施方案中，前后电动机的再生制动控制包括判断在该四轮驱动电动车的制动操作过程中车速是否变为0(零)，其中，当该四轮驱动电动车的车速变为0时，停止后电动机的再生制动直至离合器啮合且手动变速器处于前进档。
根据本发明一个实施方案的控制四轮驱动电动车再生制动的系统实例，是一种用于控制配备有前后车轮以及向该前后车轮施加机械制动力的制动机构的四轮驱动电动车的再生制动的系统。
这种控制四轮驱动电动车再生制动的系统包括：用于向前轮施加驱动力以及再生制动力的前电动机；用于向后轮施加驱动力以及再生制动力的后电动机；置于前电动机与前轮之间的手动变速器及离合器；用于检测离合器啮合与否的离合器啮合检测器；用于检测制动机构的操作的制动操作检测器；用于基于上述检测器来对前后电动机进行再生制动控制的控制器，
其中该控制器执行一种用于控制再生制动的方法的指令，该方法包括：判断该四轮驱动电动车是否被进行了制动操作；当该四轮驱动电动车被进行了制动操作时，判断离合器是啮合状态还是分离状态；以及在离合器的啮合/分离状态判断的基础上，控制前后电动机的再生制动。
在一个进一步的实施方案中，当离合器处于啮合状态时，该前后电动机的再生制动控制对前后电动机二者都进行再生制动。
在另一个进一步实施方案中，当离合器处于分离状态时，该前后电动机的再生制动控制只对前后电动机中的后电动机进行再生制动。
在一个进一步的实施方案中，离合器分离时后电动机上的再生制动力小于离合器啮合时的后电动机上的再生制动力。
在另一个进一步实施方案中，进一步包括用于检测前轮转速的前轮转速检测器和用于检测后轮转速的后轮转速检测器，其中前后电动机的再生制动控制包括：计算离合器分离时后轮的滑移率；判断该后轮的滑移率是否小于参考滑移率；以及当该后轮滑移率不小于该参考滑移率时，停止后电动机的再生制动。
在另一个进一步实施方案中，还包括用于检测手动变速器的换档位置的换档检测器，其中前后电动机的再生制动控制包括判断在该四轮驱动电动车的制动操作过程中车速是否变为0(零)，其中，当该四轮驱动电动车的车速变为0时，停止后电动机的再生制动直至离合器啮合且手动变速器处于前进档。
附图说明
附图与本发明的说明书相结合、并作为本发明的说明书的一个组成部分，其示出本发明的一个实施方案，并和说明书一起用以解释本发明的发明原理。
图1是根据本发明的一个实施方案的控制四轮驱动电动车再生制动的系统的示意图；
图2是根据本发明的一个实施方案的控制四轮驱动电动车再生制动的系统的方块图；
图3是根据本发明的一个实施方案的控制四轮驱动电动车再生制动的方法的流程图；
具体实施方式
下面将参照附图，详细描述本发明的一个实施方案。
图1是根据本发明的一个实施方案的控制四轮驱动电动车再生制动的系统的示意图，图2是根据本发明的一个实施方案的控制四轮驱动电动车再生制动的系统的方块图。
如图1和图2所示，根据本发明的一个实施方案的四轮驱动电动车100包括前轮102和后轮104以及制动装置180，该制动装置180用于向前轮102和后轮104施加机械制动力。
图1示出一种特定类型的电动车，即四轮驱动的混合动力电动车(下文中称作4WD-HEV)。然而应理解本发明的范围不限于此。本发明除了可应用于混合动力电动车之外，还可以应用在纯电动车上。此外，并联式混合动力电动车以及串联式混合动力电动车二者都可以应用本发明。
根据本发明的控制上述4WD-HEV 100再生制动的系统包括：向前轮102施加驱动力及再生制动力的前电动机112；向后轮104施加驱动力及再生制动力的后电动机114；设置在前电动机112和前轮102之间的手动变速器140及离合器142；用于检测离合器142的啮合状态的离合器啮合检测器210；用于检测制动装置180的操作状况的制动操作检测器220；用于检测前轮102的转速的前轮转速检测器132；用于检测后轮104的转速的后轮速度检测器134；用于检测手动变速器140的换档位置的换档检测器230；和在检测器210、220、230、132和134的基础上控制前电动机112和后电动机114的再生制动的控制器150。
离合器啮合检测器210可以由，例如设置在离合器踏板(未示)上的、检测离合器踏板(未示)的操作的开/关传感器，来实现。
制动操作检测器220可以由，例如设置在制动踏板175上、用于检测制动踏板175操作的开/关传感器，来实现。
前轮转速传感器132和后轮转速传感器134可以由，例如齿圈和磁传感器，来实现。
换档检测器230可由，例如用于检测手动变速器140的手动换档变速杆(未示)的杆位置的传感器，来实现。
控制器150可以由一个或多个通过预定程序启动的处理器来实现，而该预定程序可被编程以执行根据本发明的一个实施方案的方法的每一个步骤。
更具体地说，制动装置180包括：用于根据制动踏板175的操作来向前轮102施加液压制动力的前轮制动装置122，用于根据制动踏板175的操作来向后轮104施加液压制动力的后轮制动装置124，和用于根据制动踏板175的操作来将液压制动力分配给前轮制动装置122和后轮制动装置124的液压模块(hydraulic module，HM)170。
控制器150包括：用于控制前电动机112的前电动机控制器(MCU_F)152；用于控制后电动机114的后电动机控制器(MCU_R)；用于控制蓄电池160的蓄电池管理系统(BMS)153；用于控制4WD-HEV 100的发动机144的发动机控制单元(ECU)156；用于控制液压制动力的制动控制单元(BCU)157；以及用于全面控制4WD-HEV 100的混合控制单元(HCU)158。该控制器152及154、管理系统153和控制单元156、157及158通过控制器区域网络(controller area network，CAN)的通信方式来互相通信。
下面将详细描述根据本发明的一个实施方案的四轮驱动电动车的再生制动控制方法。
图3是根据本发明的一个实施方案的控制四轮驱动电动车再生制动的方法的流程图。
首先在步骤S305中，控制器150确定该4WD-HEV 100是否进行了制动操作。
当该4WD-HEV 100进行了制动操作时，控制器150随即在步骤S310中确定离合器的啮合/分离状态。
随后，在步骤S320中，控制器150在对离合器的啮合/分离状态的判断的基础上，控制前电动机112和后电动机113的再生制动。
更具体地说，在步骤320中，在离合器处于啮合状态的条件下，控制器150对前电动机112和后电动机114二者同时进行再生制动，而在离合器处于分离状态的条件下，控制器150只对后电动机114进行再生制动。
控制器150将在离合器分离状态下的后电动机114的再生制动力FR1控制为小于在离合器啮合状态下的后电动机114的再生制动力FR2。
下面将更详细地描述步骤320中的再生制动控制。
当离合器142分离时(S310-否)，即当前电动机112和前轮102间的动力传递被切断时，控制器150在步骤S322中计算后电动机114的目标再生制动力FR1。在步骤322中，不计算前电动机112的目标再生制动力。
后电动机114的目标再生制动力FR1被计算为小于在离合器啮合状态下的后电动机114的目标再生制动力。该离合器啮合状态下的后电动机114的目标再生制动力将在下文进行说明。
当仅在前轮102上施加机械制动力而在后轮104上除了施加机械制动力外再施加一个额外的再生制动力时，车辆制动时的性状会有所恶化。因此，可以通过在离合器142未啮合时施加一个比在离合器142啮合时的制动力更小的制动力来防止这种车辆性状的恶化。
然后，在步骤S325中，控制器150在计算出的目标再生制动力FR1的基础上，对后电动机114的再生制动进行控制。
随后，在步骤S330中，控制器150通过前轮速检测器132和后轮速检测器134来检测前轮102和后轮104各自的转速，并在此基础上计算车速。
接下来，在步骤S332中，控制器150根据车速及车轮102和104各自的转速来计算后轮104的滑移率S_cal。
根据车轮102和104的转速计算车速以及计算后轮104的滑移率，对于本领域普通技术人员而言，都是显而易见的。
计算了后轮104的滑移率S_cal之后，在步骤S334中，控制器将计算得出的滑移率S_cal与一个参考滑移率S_limit相比较，以确定计算得出的滑移率是否小于参考滑移率S_limit。
当计算得出的滑移率S_cal小于参考滑移率S_limit时，控制器在步骤S336中继续进行后轮104的再生制动。
然而，当计算得出的滑移率S_cal不小于参考滑移率S_limit时，在步骤S338中，控制器停止对后轮104的再生制动。从而，在该情况下，该4WD-HEV 100只由液压制动力这种机械制动力来进行减速。
如上所述，连续的再生制动过程可以根据后轮104的滑移率S_cal而中断。因此，其可以避免该4WD-HEV 100在只在后轮上进行再生制动时由于施加在后轮104上的额外再生制动力而导致的性能恶化。
随后在步骤S340中，控制器150判断车速是否变为0(零)。
当车速变为0时，控制器150执行一个停止后控制步骤S370。在该停止后控制步骤S370中，控制器150阻止后电动机114的再生制动，直到离合器142啮合且手动变速器处于前进加速档。下文将进一步具体描述该停止后控制步骤S370。
当车速还未变为0(零)时，控制器150在步骤345中判定驾驶员是否停止了制动操作。驾驶员制动操作是否停止可以通过制动操作检测器220的输出信号来确定。
当驾驶员的制动操作还未停止时，控制器150返回至计算后电动机114的目标制动力FR1的步骤S322。因此，即便离合器142是分离的，后电动机114的再生制动也可以根据驾驶员的制动操作而持续地进行。
当驾驶员的制动操作已停止时，控制器150返回至步骤S305，从而准备好对下一个制动操作进行再生制动控制。
上述说明主要是关于步骤310中离合器142未啮合时的情况。
下文说明主要是关于当离合器142啮合时，即在前电动机112和前轮102之间存在动力传递时，控制器150的控制过程。
在离合器142啮合的情况下(S310-是)，首先在步骤S352中，控制器150响应驾驶员对制动踏板的操作，计算前电动机112的目标再生制动力FF2以及后电动机114的目标再生制动FR2。
随后，在步骤S355中，控制器150在计算出的前电动机112的目标再生制动力FF2以及后电动机114的目标再生制动力FR2的基础上对前电动机112和后电动机114进行再生制动。
随后，在步骤S360中，控制器150通过前轮速检测器132和后轮速检测器134来检测前轮及后轮的各自转速，并在此基础上计算车速。
在下一步骤S362中，控制器150判断车速是否已变为0(零)。
当车速变为0时，控制器150执行一个停止后控制步骤S370。如上文所描述过的，在该停止后控制步骤S370中，控制器150阻止后电动机114的再生制动，直到离合器142啮合且手动变速器处于前进加速档。下文将进一步具体描述该停止后控制步骤S370。
当车速还未变为0(零)时，控制器150在步骤365中判定驾驶员是否停止了制动操作。驾驶员制动操作是否停止是通过制动操作检测器220的输出信号来进行判断的。
当驾驶员的制动操作还未停止时，控制器150返回到计算前电动机112、后电动机114的目标制动力FF2、FR2的步骤S352。因此，当离合器142啮合时，前后电动机112、114的再生制动也可以根据驾驶员的制动操作而持续地进行。
当驾驶员的制动操作已停止时，控制器150返回至步骤S305，从而可以准备好对下一个制动操作进行再生制动控制。
下文将具体描述在4WD-HEV 100的制动过程中当车速变为0(零)之后控制器150的停止后控制步骤S370。
首先，在步骤S372中，控制器150判断离合器是否是啮合的。
当离合器142是啮合的时候，控制器150在步骤S374中判断当前的档位是空档(Neutral，N)还是倒档(Reverse，R)。
若当前档位既不是空档N也不是倒档R，在当前档位为前进档例如一档、二档、三档或者四档的情况下，控制器150返回到步骤S305，从而可以准备好对下一个制动操作进行再生制动控制。
如果当前档位是空档N或者是倒档R，控制器150就在步骤S376中判断当前档位是否为空档N。
若在步骤S376中判定当前档位为空档N，或者在步骤S372中发现离合器142已分离，控制器150就在步骤S380中判断车辆速度是否仍然保持为0(零)。
在车速保持为0的情况下，控制器150返回到步骤S372，以判断离合器的啮合/分离状态。
若在步骤S380中判断出车速不为0时，或者在步骤S376中判断出当前档位不是空档N(意味着当前档位为倒档R)，控制器150在步骤S390中响应驾驶员的制动操作，仅通过机械制动力来对4WD-HEV 100进行减速。
下面将进一步具体描述步骤S390。
在车速从0开始变化的情况下(S380-否)，或者在当前档位为倒档R的情况下(S376-否)，控制器150在步骤S392中判断该4WD-HEV100是否被进行了制动操作。
在该4WD-HEV 100未被进行制动操作的情况下，控制器150返回到步骤S372中来进行离合器啮合/分离状态的判断。
在该4WD-HEV 100已进行被制动操作的情况下，控制器150在步骤S394中继续中止前后电动机112、114的再生制动。从而，在这种情况下，前后轮102、104上仅施加有机械制动力，因为前后电动机112、114的再生制动已被停止。
随后在步骤S396中，控制器150再次对车速进行检测。然后在步骤S398中，控制器150判断车速是否等于0或者对该4WD-HEV 100的制动操作是否已被停止。
在车速没有变为0且制动操作仍在继续的情况下，控制器返回到步骤S394中，从而继续机械制动。
在车速已经变为0或者制动操作已被停止的情况下，控制器150返回到步骤S372中，从而可以再次执行停止后控制步骤S370。
根据本发明的一个实施方案，前后电动机的再生制动可以根据离合器的啮合/分离状态来进行不同的控制。
当离合器啮合时，在前后轮上都被施加再生制动力，从而可提高能量的再生率。
当离合器未啮合时，后轮上仍然被施加有再生制动力，因而在此种情况下也可以进行能量再生。
当离合器未啮合时，在后轮上施加的再生制动力比离合器啮合时施加的再生制动力小。因此，在制动情况下的四轮驱动电动车的车辆动力可以变得更稳定。
在离合器未啮合时的再生制动过程中，后轮的滑移率被控制为一直比参考滑移率小。因而，在制动情况下的四轮驱动电动车的车辆动力可以变得更稳定。
为了再生制动而对电动车制动过程中车速为0的情况进行了单独考虑。因此，无论是在正常前进中的驱动条件下还是在倒档或空档的驱动条件下，电动车的再生制动都被优化了。
虽然结合了被认为是最实用以及最优选的实施方案对本发明进行了阐述，但应理解本发明并不仅限于这些已公开的实施方案，而是正相反，本发明理应涵盖包括在所附权利要求的精神和范围内各种改型和等效设计。

Claims (8)

1.一种用于控制配备有前后电动机的四轮驱动电动车的再生制动的方法，该前电动机与前轮相连，其间设有一个带有离合器的手动变速器，该方法包括：
判断该四轮驱动电动车是否被进行了制动操作；
当该四轮驱动电动车被进行了制动操作时，判断离合器是在啮合状态还是在分离状态；以及
在离合器的啮合/分离状态判断的基础上，控制前后电动机的再生制动，其中当离合器处于啮合状态时，该前后电动机的再生制动控制对前后电动机都进行再生制动；其中当离合器处于分离状态时，该前后电动机的再生制动控制只对前后电动机中的后电动机进行再生制动。
2.如权利要求1所述的方法，其中离合器分离时后电动机上的再生制动力小于离合器啮合时的后电动机上的再生制动力。
3.如权利要求1所述的方法，其中前后电动机的再生制动控制包括：
计算离合器分离时后轮的滑移率；
判断该后轮的滑移率是否小于参考滑移率；以及
当该后轮滑移率不小于该参考滑移率时，停止后电动机的再生制动。
4.如权利要求1所述的方法，其中前后电动机的再生制动控制包括判断在该四轮驱动电动车的制动操作过程中车速是否变为0(零)，
其中，当该四轮驱动电动车的车速为0时，停止后电动机的再生制动直至离合器啮合且手动变速器处于前进档。
5.一种用于控制四轮驱动电动车的再生制动的系统，该电动车配备有前后车轮以及向该前后车轮施加机械制动力的制动机构，该系统包括：
用于向前轮施加驱动力以及再生制动力的前电动机；
用于向后轮施加驱动力以及再生制动力的后电动机；
用于检测制动机构的操作的制动操作检测器；
用于基于上述检测器来对前后电动机进行再生制动控制的控制器；
其特征在于还包括：
置于前电动机与前轮之间的手动变速器及离合器；
用于检测离合器啮合与否的离合器啮合检测器；
其中该控制器执行一种用于控制再生制动的方法的指令，该方法包括：
判断该四轮驱动电动车是否被进行了制动操作；
当该四轮驱动电动车被进行了制动操作时，判断离合器是在啮合状态还是在分离状态；以及
在离合器的啮合/分离状态判断的基础上，控制前后电动机的再生制动，其中当离合器处于啮合状态时，该前后电动机的再生制动控制对前后电动机都进行再生制动；其中当离合器处于分离状态时该前后电动机的再生制动控制只对前后电动机中的后电动机进行再生制动。
6.如权利要求5所述的系统，其中离合器分离时后电动机上的再生制动力小于离合器啮合时的后电动机上的再生制动力。
7.如权利要求5所述的系统，还包括检测前轮转速的前轮速检测器和检测后轮转速的后轮速检测器，
其中对前后电动机的再生制动的控制包括：
计算离合器分离时后轮的滑移率；
判断该后轮的滑移率是否小于参考滑移率；以及
当该后轮滑移率不小于该参考滑移率时，停止后电动机的再生制动。
8.如权利要求7所述的系统，还包括用于检测手动变速器的换档位置的换档检测器，
其中前后电动机的再生制动控制包括判断在该四轮驱动电动车的制动操作过程中车速是否变为0(零)，
其中，当该四轮驱动电动车的车速为0时，停止后电动机的再生制动直至离合器啮合且手动变速器处于前进档。
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