JP6396465B2 - 電気自動車またはハイブリッド車における、回生ブレーキの制御 - Google Patents
電気自動車またはハイブリッド車における、回生ブレーキの制御 Download PDFInfo
- Publication number
- JP6396465B2 JP6396465B2 JP2016532713A JP2016532713A JP6396465B2 JP 6396465 B2 JP6396465 B2 JP 6396465B2 JP 2016532713 A JP2016532713 A JP 2016532713A JP 2016532713 A JP2016532713 A JP 2016532713A JP 6396465 B2 JP6396465 B2 JP 6396465B2
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- value
- brake
- vehicle
- regenerative
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
- B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/104—Indicating wheel slip ; Correction of wheel slip by indirect measurement of vehicle speed
-
- 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
-
- 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
-
- 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
- B60T8/17616—Microprocessor-based systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/608—Electronic brake distribution (EBV/EBD) features related thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
- B60W2520/263—Slip values between front and rear axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- 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)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Fluid Mechanics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Description
回生ブレーキに関連付けられるスリップを表すパラメータ値を、第1の車輪の速度値の関数及び第2の車輪の速度値の関数として推定すること、
回生ブレーキに関連付けられるスリップを表すパラメータ値の関数として、回生ブレーキ設定点値を形成すること。
W2は第2の車輪の中心の速度値であり、θvはハンドル角度センサから得られるハンドルの角度値であり、Kはステアリングコラムの減速係数値である。
第1の車輪の速度値及び第2の車輪の速度値を受信する受信手段、
回生ブレーキに関連付けられるスリップを表すパラメータ値を、第1の車輪の速度値の関数及び第2の車輪の速度値の関数として推定するための、第1の処理手段、
回生ブレーキに関連付けられるスリップを表すパラメータの推定値の関数として、回生ブレーキ設定点値を形成するための、第2の処理手段。
及び
Rは、1つの車輪と他の車輪とで同一と仮定される、車輪の半径である。
wRLは、左後輪の中心の回転角速度である。
wFLは、左前輪の中心の回転角速度である。
wRRは、右後輪の中心の回転角速度である。
wFRは、右前輪の中心の回転角速度である。
θvは、ステップ30で受領した、ハンドルの角度値である。
Kは、ステアリングコラムの減速係数値である。
Claims (9)
- 回生ブレーキである第1のブレーキ手段及び、前記第1のブレーキ手段とは別の第2のブレーキ手段を装備する車両における、回生ブレーキを制御する方法であって、前記車両は少なくとも1つの第1の車輪及び少なくとも1つの第2の車輪を備え、前記第2のブレーキ手段は前記少なくとも1つの第1の車輪及び前記少なくとも1つの第2の車輪に適用され、前記第1のブレーキ手段は前記少なくとも1つの第1の車輪のみに適用され、前記方法は
前記第1の車輪の速度値及び前記第2の車輪の速度値を受信すること(30)、
前記回生ブレーキに関連付けられるスリップを表すパラメータ値を、前記第1の車輪の前記速度値の関数及び前記第2の車輪の前記速度値の関数として推定すること(31)、
前記回生ブレーキに関連付けられるスリップを表す前記パラメータの推定値の関数として、回生ブレーキ設定点値を形成すること(32、33)
を含み、
前記推定すること(31)が、
前記第2の車輪の中心の速度値に基づいて、前記第2の車輪の疑似速度値、すなわち
を計算することを含み、w 2 は前記第2の車輪の中心の速度値であり、θ v はハンドル角度センサから来るハンドルの角度の値であり、Kはステアリングコラムの減速係数の値である、
方法。 - 前記回生ブレーキに関連付けられる前記スリップを表す前記パラメータ値と、スリップ閾値とを比較すること(32)、及び
前記パラメータ値が前記スリップ閾値以上である場合、前記回生ブレーキ設定点値の低減を開始すること(33)
を含む、請求項1に記載の方法。 - 前記受信すること(30)、前記回生ブレーキに関連付けられる前記スリップを表す前記パラメータ値を推定すること(31)、前記パラメータ値と前記スリップ閾値とを比較すること(32)、及び前記回生ブレーキ設定点値の低減を開始すること(33)が、オプションで規則的に反復される、請求項2に記載の方法。
- 第1の車輪の前記回生ブレーキに関連付けられる前記スリップを表す前記パラメータ値は、前記第1の車輪と前記車両の同じ側にある前記第2の車輪の速度値の関数として推定される、請求項1から3の何れか一項に記載の方法。
- プロセッサにより実行された時に、請求項1から4の何れか一項に記載の方法の処理を実行する指示を有する、コンピュータプログラム。
- 回生ブレーキである第1のブレーキ手段及び、前記第1のブレーキ手段とは別の第2のブレーキ手段を装備する車両における、回生ブレーキを制御する装置(12)であって、前記車両は少なくとも1つの第1の車輪及び少なくとも1つの第2の車輪を備え、前記第2のブレーキ手段は前記少なくとも1つの第1の車輪及び前記少なくとも1つの第2の車輪に適用され、前記第1のブレーキ手段は前記少なくとも1つの第1の車輪のみに適用され、前記制御装置は、
前記第1の車輪の速度値及び前記第2の車輪の速度値を受信する受信手段、
前記回生ブレーキに関連付けられるスリップを表すパラメータ値を、前記第1の車輪の前記速度値の関数及び前記第2の車輪の速度値の関数として推定するための、第1の処理手段、及び
前記回生ブレーキに関連付けられるスリップを表す前記パラメータの推定値の関数として、回生ブレーキ設定点値を形成するための、第2の処理手段
を含み、
前記第1の処理手段は、前記第2の車輪の中心の速度値に基づいて、前記第2の車輪の疑似速度値、すなわち
を計算することにより、前記パラメータ値を推定し、w 2 は前記第2の車輪の中心の速度値であり、θ v はハンドル角度センサから来るハンドルの角度の値であり、Kはステアリングコラムの減速係数の値である、
装置。 - 回生ブレーキである第1のブレーキ手段(10)及び、前記第1のブレーキ手段とは別の第2のブレーキ手段を装備する自動車両(1)であって、前記車両は、少なくとも1つの第1の車輪(11RL、11RR)及び少なくとも1つの第2の車輪(11FL、11FR)を備え、前記第2のブレーキ手段は前記少なくとも1つの第1の車輪及び前記少なくとも1つの第2の車輪に適用され、前記第1のブレーキ手段は前記少なくとも1つの第1の車輪のみに適用され、前記車両が請求項6に記載の制御装置(12)を備える、自動車両(1)。
- 電気アクチュエータ(10)を備える、請求項7に記載の自動車両(1)。
- 前記第1の車輪が後輪(11RL、11RR)である、請求項7または8に記載の自動車両(1)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1357803 | 2013-08-06 | ||
FR1357803A FR3009524B1 (fr) | 2013-08-06 | 2013-08-06 | Controle du freinage regeneratif dans un vehicule electrique ou hybride |
PCT/FR2014/051732 WO2015018994A2 (fr) | 2013-08-06 | 2014-07-04 | Controle du freinage regeneratif dans un vehicule electrique ou hybride |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016527867A JP2016527867A (ja) | 2016-09-08 |
JP6396465B2 true JP6396465B2 (ja) | 2018-09-26 |
Family
ID=49578435
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016532713A Active JP6396465B2 (ja) | 2013-08-06 | 2014-07-04 | 電気自動車またはハイブリッド車における、回生ブレーキの制御 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10052957B2 (ja) |
EP (1) | EP3030449B1 (ja) |
JP (1) | JP6396465B2 (ja) |
KR (1) | KR102030714B1 (ja) |
CN (1) | CN105593052B (ja) |
FR (1) | FR3009524B1 (ja) |
WO (1) | WO2015018994A2 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ITTO20130307A1 (it) | 2013-04-17 | 2014-10-18 | Itt Italia Srl | Metodo per realizzare un elemento frenante, in particolare una pastiglia freno, sensorizzato, pastiglia freno sensorizzata, impianto frenante di veicolo e metodo associato |
US9939035B2 (en) | 2015-05-28 | 2018-04-10 | Itt Italia S.R.L. | Smart braking devices, systems, and methods |
ITUB20153706A1 (it) | 2015-09-17 | 2017-03-17 | Itt Italia Srl | Dispositivo frenante per veicolo pesante e metodo di prevenzione del surriscaldamento dei freni in un veicolo pesante |
ITUB20153709A1 (it) | 2015-09-17 | 2017-03-17 | Itt Italia Srl | Dispositivo di analisi e gestione dei dati generati da un sistema frenante sensorizzato per veicoli |
ITUA20161336A1 (it) * | 2016-03-03 | 2017-09-03 | Itt Italia Srl | Dispositivo e metodo per il miglioramento delle prestazioni di un sistema antibloccaggio e antiscivolamento di un veicolo |
IT201600077944A1 (it) | 2016-07-25 | 2018-01-25 | Itt Italia Srl | Dispositivo per il rilevamento della coppia residua di frenatura in un veicolo equipaggiato con freni a disco |
IT201900015839A1 (it) | 2019-09-06 | 2021-03-06 | Itt Italia Srl | Pastiglia freno per veicoli e suo processo di produzione |
CN113071326B (zh) * | 2021-05-06 | 2022-05-03 | 东风汽车集团股份有限公司 | 一种四驱新能源汽车再生能量回收扭矩分配方法及系统 |
EP4326586A1 (en) | 2021-05-25 | 2024-02-28 | ITT Italia S.r.l. | A method and a device for estimating residual torque between the braked and braking elements of a vehicle |
Family Cites Families (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5615933A (en) * | 1995-05-31 | 1997-04-01 | General Motors Corporation | Electric vehicle with regenerative and anti-lock braking |
JP3622395B2 (ja) * | 1997-01-17 | 2005-02-23 | トヨタ自動車株式会社 | 制動装置 |
JP3442266B2 (ja) * | 1997-09-16 | 2003-09-02 | トヨタ自動車株式会社 | 車両用制動装置 |
EP1040034B1 (de) * | 1997-12-20 | 2005-06-29 | Continental Teves AG & Co. oHG | Verfahren und vorrichtung zur verbesserung der fahreigenschaft eines fahrzeugs bei gebremster kurvenfahrt |
JP3763231B2 (ja) * | 1999-06-04 | 2006-04-05 | トヨタ自動車株式会社 | 制動装置 |
US6575870B2 (en) * | 2000-07-21 | 2003-06-10 | Honda Giken Kogyo Kabushiki Kaisha | Driving force control system for front-and-rear wheel drive vehicles |
JP4108258B2 (ja) * | 2000-07-27 | 2008-06-25 | 本田技研工業株式会社 | 前後輪駆動車両の駆動力制御装置 |
JP3811372B2 (ja) * | 2001-05-30 | 2006-08-16 | トヨタ自動車株式会社 | 車輌の制動力制御装置 |
JP4039146B2 (ja) * | 2001-09-27 | 2008-01-30 | 日産自動車株式会社 | 制動制御装置 |
JP2004155390A (ja) * | 2002-11-08 | 2004-06-03 | Nissan Motor Co Ltd | 車両用制動装置 |
US7159954B2 (en) * | 2003-12-29 | 2007-01-09 | Bendix Commercial Vehicle Systems, Llc | ABS control system for off-road driving conditions |
US8066339B2 (en) * | 2004-03-09 | 2011-11-29 | Ford Global Technologies, Llc | Vehicle and method for controlling regenerative braking |
JP2006081343A (ja) * | 2004-09-10 | 2006-03-23 | Nissan Motor Co Ltd | 車両の回生制動制御装置 |
JP4631477B2 (ja) * | 2005-03-04 | 2011-02-16 | 日産自動車株式会社 | 車両の回生制動制御装置 |
KR101006987B1 (ko) * | 2005-12-07 | 2011-01-12 | 주식회사 만도 | 전기모터가 장착된 차량의 회생제동방법 |
US8315751B2 (en) * | 2008-02-29 | 2012-11-20 | GM Global Technology Operations LLC | Methods, program products, and systems for controlling braking in a hybrid vehicle |
JP2009278840A (ja) * | 2008-05-19 | 2009-11-26 | Nissan Motor Co Ltd | 電動車両の回生制動制御装置 |
US8239112B2 (en) * | 2008-07-16 | 2012-08-07 | Ford Global Technologies | Pressure, tire force and friction estimation during antilock control |
DE112009005233B4 (de) * | 2009-10-19 | 2020-12-17 | Toyota Jidosha Kabushiki Kaisha | Antriebsregelung für Standby-Vierradantrieb-Fahrzeug |
US8818627B2 (en) | 2010-03-02 | 2014-08-26 | Toyota Jidosha Kabushiki Kaisha | Regeneration control system for vehicle |
DE102010033496B4 (de) * | 2010-08-05 | 2024-03-28 | Zf Active Safety Gmbh | Technik zum Betreiben einer Bremsanlage in einer μ-Split-Situation |
US9175701B2 (en) * | 2010-09-02 | 2015-11-03 | Kelsey-Hayes Company | Speed control strategy |
JP5768352B2 (ja) * | 2010-10-08 | 2015-08-26 | 日産自動車株式会社 | 電動車両のブレーキ制御装置 |
US8639402B2 (en) * | 2010-11-04 | 2014-01-28 | Caterpillar Inc. | System and method for controlling wheel motor torque in an electric drive system |
US20120133202A1 (en) * | 2010-11-29 | 2012-05-31 | Gm Global Technology Operations, Inc. | Dynamic regenerative braking torque control |
JP5387597B2 (ja) * | 2011-03-02 | 2014-01-15 | トヨタ自動車株式会社 | 車両の制御装置 |
JP5699041B2 (ja) * | 2011-06-15 | 2015-04-08 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
KR20140053701A (ko) * | 2012-10-26 | 2014-05-08 | 현대자동차주식회사 | E-4wd 하이브리드 전기자동차의 제어장치 및 방법 |
US8862358B2 (en) * | 2013-03-15 | 2014-10-14 | Ford Global Technologies, Llc | Vehicle and method for controlling regenerative braking |
JP6115944B2 (ja) * | 2013-05-27 | 2017-04-19 | 日立オートモティブシステムズ株式会社 | ブレーキ装置及びブレーキシステム |
JP6049540B2 (ja) * | 2013-05-31 | 2016-12-21 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
JP6063824B2 (ja) * | 2013-06-21 | 2017-01-18 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
JP6167364B2 (ja) * | 2013-09-17 | 2017-07-26 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置及びブレーキ制御方法 |
KR101519227B1 (ko) * | 2013-10-18 | 2015-05-11 | 현대자동차주식회사 | 차량의 abs 동작 제어 방법 및 시스템 |
US9457777B2 (en) * | 2014-07-16 | 2016-10-04 | Ford Global Technologies, Llc | System and method for applying regenerative braking during high friction coefficient braking |
US9308824B1 (en) * | 2014-10-31 | 2016-04-12 | GM Global Technology Operations LLC | Active brake retraction during regeneration |
ITUA20161336A1 (it) * | 2016-03-03 | 2017-09-03 | Itt Italia Srl | Dispositivo e metodo per il miglioramento delle prestazioni di un sistema antibloccaggio e antiscivolamento di un veicolo |
-
2013
- 2013-08-06 FR FR1357803A patent/FR3009524B1/fr active Active
-
2014
- 2014-07-04 CN CN201480051505.9A patent/CN105593052B/zh active Active
- 2014-07-04 US US14/909,206 patent/US10052957B2/en active Active
- 2014-07-04 WO PCT/FR2014/051732 patent/WO2015018994A2/fr active Application Filing
- 2014-07-04 KR KR1020167005765A patent/KR102030714B1/ko active IP Right Grant
- 2014-07-04 JP JP2016532713A patent/JP6396465B2/ja active Active
- 2014-07-04 EP EP14748241.8A patent/EP3030449B1/fr active Active
Also Published As
Publication number | Publication date |
---|---|
WO2015018994A2 (fr) | 2015-02-12 |
KR102030714B1 (ko) | 2019-10-10 |
US10052957B2 (en) | 2018-08-21 |
CN105593052B (zh) | 2018-06-05 |
FR3009524B1 (fr) | 2016-11-18 |
US20160257204A1 (en) | 2016-09-08 |
JP2016527867A (ja) | 2016-09-08 |
EP3030449B1 (fr) | 2017-08-30 |
KR20160040667A (ko) | 2016-04-14 |
EP3030449A2 (fr) | 2016-06-15 |
CN105593052A (zh) | 2016-05-18 |
WO2015018994A3 (fr) | 2015-04-16 |
FR3009524A1 (fr) | 2015-02-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6396465B2 (ja) | 電気自動車またはハイブリッド車における、回生ブレーキの制御 | |
JP6818481B2 (ja) | 車両用回生制動協調制御システムの制動制御方法 | |
JP5035418B2 (ja) | 路面摩擦係数推定装置及び路面摩擦係数推定方法 | |
CN107933563B (zh) | 用于确定地面与车辆轮胎之间摩擦的方法和系统 | |
JP5993804B2 (ja) | タイヤ接地状態推定方法 | |
CN108025651A (zh) | 具有制动系统的电动车辆以及用于制动系统的方法、控制器和计算机程序 | |
EP3331739B1 (en) | Traction control considering wheel slip, pitch and heave | |
KR100811943B1 (ko) | 전기 자동차의 독립구동 주행 시스템과 그 제어 방법 | |
JP7235426B2 (ja) | 路面の摩擦係数ポテンシャルを決定するための方法およびコントロールユニット | |
JP2019535594A5 (ja) | ||
KR102107003B1 (ko) | 전기 차량 또는 하이브리드 차량에서의 회생 제동 제어 | |
JP5263068B2 (ja) | 車両のスリップ判定装置 | |
Chang-fu et al. | A control strategy of electronic braking system based on brake comfort | |
KR20220086734A (ko) | 최대 노면 마찰계수 추정방법 | |
KR20150043579A (ko) | 노면마찰계수 측정방법 | |
JP5686363B2 (ja) | 路面摩擦係数推定装置 | |
GB2548597A (en) | A system for use in a vehicle | |
JP4729891B2 (ja) | 車両用差動制限制御装置 | |
US9102316B2 (en) | Method for assisting in the calculation of a vehicle speed in a vehicle | |
KR20120137033A (ko) | 차량의 자세제어방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20170703 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20180411 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180417 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180710 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20180731 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20180829 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6396465 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |