JP6818481B2 - 車両用回生制動協調制御システムの制動制御方法 - Google Patents
車両用回生制動協調制御システムの制動制御方法 Download PDFInfo
- Publication number
- JP6818481B2 JP6818481B2 JP2016184135A JP2016184135A JP6818481B2 JP 6818481 B2 JP6818481 B2 JP 6818481B2 JP 2016184135 A JP2016184135 A JP 2016184135A JP 2016184135 A JP2016184135 A JP 2016184135A JP 6818481 B2 JP6818481 B2 JP 6818481B2
- Authority
- JP
- Japan
- Prior art keywords
- braking force
- value
- wheel
- road surface
- regenerative braking
- 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
- 230000001172 regenerating effect Effects 0.000 title claims description 82
- 238000000034 method Methods 0.000 title claims description 33
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000000446 fuel Substances 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
Images
Classifications
-
- 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
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- 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
- B60L3/102—Indicating wheel slip ; Correction of wheel slip of individual wheels
-
- 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
- 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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
-
- 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
- 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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
-
- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
-
- 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
-
- 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
Description
運転者がブレーキペダルを踏んでペダルストロークまたはブレーキの踏力が検出されると、運転者の要求制動力と同じ制動力の分配を決定するためのパラメータを計算する段階が行われる。
Claims (8)
- ブレーキペダルを操作したか否かを検出する段階と、
ブレーキペダルの操作時、運転者の要求制動力、車輪の減速度、及び車輪のスリップを計算する段階と、
計算された前記車輪の減速度値と前記車輪のスリップ値を、それぞれの所定の臨界減速度値(A)と所定の第1臨界スリップ値(B)と比較する段階と、
前記車輪の減速度値が前記臨界減速度値(A)よりも大きく、前記車輪のスリップ値が前記第1臨界スリップ値(B)よりも大きい場合、路面の最大摩擦力を計算し、計算された路面の最大摩擦力により駆動輪の回生制動力を決定する段階と、
前記車輪の減速度値が前記臨界減速度値(A)よりも大きく、前記車輪のスリップ値が前記第1臨界スリップ値(B)よりも大きい場合は、前記要求制動力と最大回生制動力を比較する段階と、を含み、
前記要求制動力が前記最大回生制動力よりも小さい場合のみ路面の最大摩擦力により駆動輪の回生制動力を決定する段階に進むことを特徴とする車両用回生制動協調制御システムの制動制御方法。 - 前記車輪の減速度値が前記臨界減速度値(A)よりも小さいか同じである場合、または前記車輪のスリップ値が前記第1臨界スリップ値(B)よりも小さいか同じである場合は、路面の最大摩擦力を考慮することなく、所定の制動力分配マップにより制動力を分配することを特徴とする請求項1に記載の車両用回生制動協調制御システムの制動制御方法。
- 前記要求制動力が前記最大回生制動力よりも大きいか同じである場合は、ABSが作動するように設定されることを特徴とする請求項1に記載の車両用回生制動協調制御システムの制動制御方法。
- 前記ブレーキペダルを操作したか否かを検出する段階では、ブレーキペダルストロークまたはブレーキペダルの踏力を検出してブレーキペダルを操作したか否かを決定するように行われ、前記ブレーキペダルストロークまたは前記ブレーキペダルの踏力からペダルの踏入速度を決定する段階をさらに含むことを特徴とする請求項1に記載の車両用回生制動協調制御システムの制動制御方法。
- 決定された前記ペダルの踏入速度を所定のペダル速度臨界値(C)と比較する段階をさらに含み、前記ペダルの踏入速度が所定のペダル速度臨界値(C)よりも大きいか同じである場合はABSを作動させ、前記ペダルの踏入速度が所定のペダル速度臨界値(C)よりも小さい場合のみ路面の最大摩擦力により駆動輪の回生制動力を決定する段階に進むことを特徴とする請求項4に記載の車両用回生制動協調制御システムの制動制御方法。
- 前記ペダルの踏入速度が所定のペダル速度臨界値(C)よりも小さい場合であっても、計算された前記車輪のスリップが所定の第2臨界スリップ値(D)よりも大きい場合は、路面の最大摩擦力により駆動輪の回生制動力を決定する段階に進まず、ABSを作動させることを特徴とする請求項5に記載の車両用回生制動協調制御システムの制動制御方法。
- 前記路面の最大摩擦力により駆動輪の回生制動力を決定する段階では、路面摩擦係数を決め、決定された路面摩擦係数から駆動輪の路面の最大摩擦力を算出し、
要求制動力が路面の最大摩擦力よりも大きい場合は、算出された路面の最大摩擦力に該当する制動力を駆動輪の回生制動力として分配し、前記要求制動力から路面の最大摩擦力を減算した値を被駆動輪の摩擦制動力として分配することを特徴とする請求項1から6の何れか1項に記載の車両用回生制動協調制御システムの制動制御方法。 - 前記路面摩擦係数は、駆動輪の減速度が所定の臨界値以上となる時の車両減速度値を重力加速度で割った値であると定義されることを特徴とする請求項7に記載の車両用回生制動協調制御システムの制動制御方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150140361A KR101714232B1 (ko) | 2015-10-06 | 2015-10-06 | 차량용 회생제동 협조제어 시스템의 제동 제어 방법 |
KR10-2015-0140361 | 2015-10-06 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017071385A JP2017071385A (ja) | 2017-04-13 |
JP6818481B2 true JP6818481B2 (ja) | 2021-01-20 |
Family
ID=58355580
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016184135A Active JP6818481B2 (ja) | 2015-10-06 | 2016-09-21 | 車両用回生制動協調制御システムの制動制御方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20170096070A1 (ja) |
JP (1) | JP6818481B2 (ja) |
KR (1) | KR101714232B1 (ja) |
CN (1) | CN106560359A (ja) |
DE (1) | DE102016215912A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107323271A (zh) * | 2017-06-16 | 2017-11-07 | 北京新能源汽车股份有限公司 | 电动车辆的制动控制系统、方法及装置 |
KR102345394B1 (ko) * | 2017-06-21 | 2021-12-31 | 주식회사 만도 | 전자식 브레이크 시스템 및 제어 방법 |
CN108583566B (zh) * | 2018-03-30 | 2020-04-24 | 吉利汽车研究院(宁波)有限公司 | 用于混合动力车辆的制动能量回收方法及系统 |
SE541907C2 (en) * | 2018-05-21 | 2020-01-07 | Scania Cv Ab | Method and control device for controlling operation of a brake system of a motor vehicle |
CN108725214A (zh) * | 2018-05-31 | 2018-11-02 | 武汉理工大学 | 混合制动的四轮毂电机驱动车辆制动防滑控制方法 |
FR3088281B1 (fr) * | 2018-11-08 | 2020-10-16 | Continental Automotive France | Procede de controle de la chaine de traction d'un vehicule automobile |
CN111547036A (zh) * | 2019-01-24 | 2020-08-18 | 罗伯特·博世有限公司 | 用于车辆的电子驻车制动系统、控制装置及控制方法 |
KR20200129448A (ko) * | 2019-05-08 | 2020-11-18 | 현대자동차주식회사 | 후륜 구동 환경차용 단계별 회생 협조 제어 방법 |
JP2021027603A (ja) * | 2019-07-31 | 2021-02-22 | 株式会社アドヴィックス | 車両の制動制御装置 |
KR20210052605A (ko) | 2019-10-29 | 2021-05-11 | 현대자동차주식회사 | 회생 제동 시스템 및 방법 |
KR20210052622A (ko) * | 2019-10-29 | 2021-05-11 | 현대자동차주식회사 | 친환경 자동차 및 그를 위한 제동 제어 보정 방법 |
KR20210076489A (ko) * | 2019-12-16 | 2021-06-24 | 현대자동차주식회사 | 전기자동차의 회생제동토크 제어 장치 및 그 방법 |
JP7396056B2 (ja) | 2020-01-10 | 2023-12-12 | 株式会社アドヴィックス | 制動制御装置 |
CN111824095B (zh) * | 2020-06-14 | 2022-07-05 | 长春理工大学 | 四轮轮毂电动汽车电液复合制动防抱死协调优化控制方法 |
KR20220007812A (ko) | 2020-07-10 | 2022-01-19 | 현대자동차주식회사 | 차량 회생제동 안정성 제어 시스템 및 방법 |
CN112224213B (zh) * | 2020-10-22 | 2022-02-18 | 东风汽车集团有限公司 | 一种实时监测车轮摩擦力及估计最大摩擦力的方法 |
US11511753B2 (en) * | 2020-10-26 | 2022-11-29 | Aptiv Technologies Limited | Driving surface friction characteristic determination |
CN113291280B (zh) * | 2021-05-07 | 2022-05-10 | 交控科技股份有限公司 | 一种列车电摩擦混合制动力分配的减速度控制方法及系统 |
CN114771271B (zh) * | 2022-05-20 | 2024-04-09 | 安徽工程大学 | 一种纯电动汽车再生制动力分配优化方法 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10322803A (ja) * | 1997-05-12 | 1998-12-04 | Toyota Motor Corp | 車両用制動装置 |
JP3379397B2 (ja) * | 1997-08-12 | 2003-02-24 | トヨタ自動車株式会社 | 液圧ブレーキ装置 |
JP4665489B2 (ja) * | 2004-11-11 | 2011-04-06 | 日産自動車株式会社 | 車両の路面摩擦係数判別装置 |
JP2012025389A (ja) * | 2005-03-31 | 2012-02-09 | Advics Co Ltd | 車両用ブレーキ制御装置 |
JP4901503B2 (ja) * | 2007-01-24 | 2012-03-21 | 日立オートモティブシステムズ株式会社 | 制動制御装置 |
KR100937854B1 (ko) * | 2007-10-29 | 2010-01-21 | 주식회사 만도 | 전기 차량의 회생제동 제어방법 |
JP5120297B2 (ja) * | 2009-02-27 | 2013-01-16 | 三菱自動車工業株式会社 | 電気自動車の回生制動制御装置 |
WO2012029100A1 (ja) * | 2010-08-30 | 2012-03-08 | トヨタ自動車株式会社 | 車両の制動力制御装置 |
US20120133202A1 (en) * | 2010-11-29 | 2012-05-31 | Gm Global Technology Operations, Inc. | Dynamic regenerative braking torque control |
FR2971460B1 (fr) * | 2011-02-14 | 2015-05-22 | Renault Sa | Systeme et procede de freinage d'un vehicule a traction electrique ou hybride |
KR101405754B1 (ko) * | 2012-09-07 | 2014-06-10 | 성균관대학교산학협력단 | 노면 조건을 고려한 차량의 제동 제어 방법 |
JP5885693B2 (ja) * | 2013-03-22 | 2016-03-15 | 株式会社アドヴィックス | ブレーキ制御装置 |
-
2015
- 2015-10-06 KR KR1020150140361A patent/KR101714232B1/ko active IP Right Grant
-
2016
- 2016-08-09 US US15/232,663 patent/US20170096070A1/en not_active Abandoned
- 2016-08-24 DE DE102016215912.7A patent/DE102016215912A1/de active Pending
- 2016-08-26 CN CN201610737784.5A patent/CN106560359A/zh active Pending
- 2016-09-21 JP JP2016184135A patent/JP6818481B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
JP2017071385A (ja) | 2017-04-13 |
US20170096070A1 (en) | 2017-04-06 |
DE102016215912A1 (de) | 2017-04-06 |
CN106560359A (zh) | 2017-04-12 |
KR101714232B1 (ko) | 2017-03-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6818481B2 (ja) | 車両用回生制動協調制御システムの制動制御方法 | |
CN108099615B (zh) | 控制电动车辆的制动的系统和方法 | |
EP3375656B1 (en) | Braking/driving force control method and braking/driving force control device | |
US8744713B2 (en) | Method for controlling braking of vehicle | |
CN103764461B (zh) | 用于对机动车的减速装置进行控制的方法 | |
JP5302749B2 (ja) | 電気自動車の制御装置 | |
KR101404087B1 (ko) | 회생 제동 제어 방법 | |
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 | |
CN105599616B (zh) | 制动能量回收控制方法、装置和电动车 | |
CN107009914B (zh) | 电动汽车的辅助制动系统、控制方法及电动汽车 | |
CN103171444A (zh) | 电动车辆再生制动系统 | |
US9174549B2 (en) | Driving force control device for electric vehicle | |
JP2007282406A (ja) | 自動車の制動力制御システム | |
CN109466536A (zh) | 用于控制电动四轮驱动混合动力车辆的方法 | |
JP5824650B2 (ja) | 車両用回生制動制御装置 | |
CN110816281B (zh) | 用于车辆回收式制动控制的控制单元、装置和方法 | |
JP6153857B2 (ja) | 車両用制動装置 | |
JP5803594B2 (ja) | 出力特性制御方法 | |
CN112805193B (zh) | 用于将驾驶员所请求的制动力矩分配到机动车的车桥上的方法 | |
JP6124123B2 (ja) | 回生協調ブレーキ制御システム | |
JP5971186B2 (ja) | 車輪制御装置、車両 | |
JP5760489B2 (ja) | 車両のブレーキシステム | |
Mutoh et al. | Braking control method for front-and-rear-wheel-independent-drive-type electric vehicles (FRID EVs) on low-friction-coefficient roads | |
JP6209144B2 (ja) | 車両用制御システム | |
KR20200124578A (ko) | 조향 제어 성능을 위한 친환경 차량의 토크 제어 시스템 및 방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190806 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20200807 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200908 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20201208 |
|
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: 20201222 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20201228 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6818481 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |