KR101780066B1 - Regenerative Brake Apparatus and High Efficiency Regenerative Braking Performance Thereof - Google Patents

Regenerative Brake Apparatus and High Efficiency Regenerative Braking Performance Thereof Download PDF

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Publication number
KR101780066B1
KR101780066B1 KR1020100114373A KR20100114373A KR101780066B1 KR 101780066 B1 KR101780066 B1 KR 101780066B1 KR 1020100114373 A KR1020100114373 A KR 1020100114373A KR 20100114373 A KR20100114373 A KR 20100114373A KR 101780066 B1 KR101780066 B1 KR 101780066B1
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South Korea
Prior art keywords
braking
regenerative braking
hydraulic pressure
regenerative
front wheel
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KR1020100114373A
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Korean (ko)
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KR20120053216A (en
Inventor
김종성
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현대모비스 주식회사
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Priority to KR1020100114373A priority Critical patent/KR101780066B1/en
Publication of KR20120053216A publication Critical patent/KR20120053216A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4077—Systems in which the booster is used as an auxiliary pressure source
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/326—Hydraulic systems
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4081—Systems with stroke simulating devices for driver input

Abstract

The braking device for regenerative braking of the present invention is operated by the electric booster 5 controlled through the ECU 3 that calculates the braking hydraulic pressure required by the information of the pedal sensor 2 that detects the stroke of the pedal 1, And a pair of hydraulic lines 11 and 12 connected to the master cylinder 6 to lead to an ESC (Electronic Stability Control) 40 for distributing the braking hydraulic pressure to the wheel cylinders of the front wheel and the rear wheel, A pair of first and second valves 15 and 17 which are respectively installed in the first and second valves 15 and 17 to control the flow of the hydraulic fluid; And a master cylinder connected to the pedal simulator 30, and through which the amount of front wheel braking and the amount of rear wheel braking are all used for regenerative braking, the front braking and the rear wheel braking Implement , Which maximizes the efficiency of the regenerative braking and maximizes the efficiency of regenerative braking to maximize fuel economy reduction performance.

Description

Regenerative Brake Apparatus and High Efficiency Regenerative Braking Performance Thereof "

The present invention relates to a braking apparatus for regenerative braking, and more particularly, to a braking apparatus for regenerative braking capable of maximizing the efficiency of regenerative braking through adjustment of an entire section in which braking is performed, and a highly efficient regenerative braking method using the same.

Generally, a hybrid vehicle, a fuel cell vehicle, or an electric vehicle is a regenerative braking vehicle that implements regenerative braking to increase fuel economy.

The braking device for regenerative braking includes a main master cylinder that forms hydraulic pressure by an electric booster (motor) and a sub master cylinder which is operated by a pedal to form an oil pressure, and the regenerative braking It is a way to implement.

In addition, by providing a solenoid valve as a hydraulic line connecting the main master cylinder and the wheel, a fail or a fail-safe can be realized in the event of failure of an electric fail or flow path connection.

In addition, by providing the pedal simulator to the sub-master cylinder, a reaction force is provided to enable the driver to feel the pedal feeling when depressing the brake pedal.

Normally, the vehicle braking is carried out in both the front and rear wheels, while the regenerative braking is limited to the amount of braking on the front wheel side.

As described above, the regenerative braking limited to the amount of braking on the front wheel consumes all of the braking amount on the rear wheel side as frictional energy, thereby losing an opportunity to further increase the efficiency of the regenerative braking. There is also the opportunity to lose fuel efficiency.

In view of the above, the present invention, which has been made in view of the above, maximizes the efficiency of regenerative braking by adjusting the ranks of the front braking and the rear braking after the front wheel braking amount and the rear wheel braking amount are preferentially used for regenerative braking A regenerative braking device for regenerative braking which maximizes the efficiency of regenerative braking and maximizes fuel economy by maximizing the efficiency of regenerative braking, and a high efficiency regenerative braking method using the same.

In order to achieve the above object, a braking device for regenerative braking according to the present invention comprises a master cylinder operated by an electric booster controlled by an ECU for calculating a braking hydraulic pressure required as information of a pedal sensor for detecting a stroke of a pedal,

A pair of first and second valves respectively installed in a pair of hydraulic lines connected to the master cylinder so as to lead to ESC (Electronic Stability Control) for distributing braking hydraulic pressure to wheel cylinders of front and rear wheels, respectively,

And a master cylinder connected to a pedal simulator which is operated by the pedal to form a hydraulic pressure and transmit a reaction force to the pedal to make the driver feel a pedal feel.

And the pair of first and second valves comprises a solenoid valve which is on / off-controlled by the ECU.

The ESC sends hydraulic pressure to the front wheel cylinder when the hydraulic pressure is supplied through the first hydraulic line and sends hydraulic pressure to the rear wheel cylinder when the hydraulic pressure is supplied through the second hydraulic line, When the hydraulic pressure is supplied through the hydraulic line, the hydraulic pressure is supplied to both the front wheel and the rear wheel.

In order to achieve the above object, a high efficiency regenerative braking method using the regenerative braking apparatus of the present invention for calculating the total regulated amount Bt during operation of the pedal, and calculating a regenerative braking amount (Brt ), A regenerating agent producing step;

Calculating a friction agent flow rate (Brm) required for the front wheel and the rear wheel in consideration of the regenerative braking amount (Brt);

After dividing the total braking amount (Bt), the regenerative braking amount (Brt) and the frictional braking amount (Brm), the entire braking period is divided into a regenerative braking period and a friction braking period, An actual braking preparation step for performing friction braking;

A braking oil pressure forming step of driving the electric booster after the determination of the regenerative braking period and the frictional braking period to form a hydraulic pressure through the master cylinder;

A regenerative brake implementation step of opening both the first and second hydraulic control valves of the first and second hydraulic lines connected to the master cylinder in the regenerative braking mode to supply hydraulic pressure to the ESC and braking the front wheel and the rear wheel together with the oil pressure through the ESC ;

The frictional braking of the front wheels and the frictional braking of the rear wheels are determined after completion of the regenerative braking mode and the hydraulic pressure of the master cylinder is supplied to the ESC through the first and second hydraulic lines opened in accordance with the opening order of the first and second control valves A friction braking implementation step of implementing braking on the side of a wheel connected to an open hydraulic line of the first and second hydraulic lines;

As shown in FIG.

The total control amount Bt is calculated by the operated stroke of the pedal.

The friction agent flow rate (Brm) is calculated by subtracting the regenerative braking amount (Brt) from the total flow control amount (Bt).

The regenerative braking section brakes the front wheel and the rear wheel at the same time, and the frictional braking section brakes rear wheels and brakes the front wheels or vice versa.

In the present invention, since the front wheel braking amount and the rear wheel braking amount are preferentially used for the regenerative braking, the braking is performed by adjusting the ranks of the friction braking between the front wheel and the rear wheel so that the efficiency of regenerative braking can be maximized. The efficiency of regenerative braking maximizes fuel economy reduction performance as well.

2 is a flow chart of a high-efficiency regenerative braking of the braking device for regenerative braking according to the present invention, and Fig. 3 is a block diagram showing a high-efficiency regenerative braking device according to the present invention, And Fig. 4 to Fig. 6 are braking state diagrams of the braking device for regenerative braking.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. The present invention is not limited to these embodiments.

Fig. 1 shows a configuration diagram of a braking device for regenerative braking that realizes high-efficiency regenerative braking according to the present embodiment.

As shown in the figure, the braking device for regenerative braking includes a main body (not shown) operated by an electric booster 5 controlled by an ECU that calculates braking hydraulic pressure required by information of a pedal sensor 2 that detects a stroke of the pedal 1, And a pair of first and second hydraulic cylinders provided in an oil pressure line 10 connected to an ESC (Electronic Stability Control) 40 for distributing the braking hydraulic pressure to the wheel cylinders 50 of the front wheels and the rear wheels, 2 valves 15 and 17 and sub braking means 20 for forming a hydraulic pressure by the pedal 1 and transmitting a reaction force to the pedal to make the driver feel a pedal feel.

The ECU 3 calculates the required braking hydraulic pressure according to the stroke of the pedal 1 detected via the pedal sensor 2 and drives the electric booster 5 so as to generate the calculated braking hydraulic pressure, Information is provided to perform the required and required control.

The main braking means 4 is constituted by an electric booster 5 driven by the ECU 3 and a master cylinder 6 provided with an oil reservoir to be actuated through the electric booster 5 to generate a braking oil pressure .

The electric booster 5 is composed of a motor controlled and driven through the ECU 3 and a spindle having a screw-nut structure for pressing and operating the master cylinder 6 by switching the rotation of the motor back and forth linearly , Which is a conventional structure.

The pair of first and second valves 15 and 17 are respectively connected to first and second hydraulic lines 11 and 12 connected to a pair of outlets formed in the master cylinder 6 and connected to the ESC 40, And a solenoid valve which is on / off-controlled by the ECU 3.

The sub braking means 20 is constituted by another master cylinder which is pushed by the pedal 1 to form a hydraulic pressure and a pedal simulator 30 having elastic masses and springs is connected to the master cylinder to transmit a reaction force to the pedal .

As described above, the sub braking means 20 including the pedal simulator 30 connected to the master cylinder and the hydraulic line further includes a hydraulic line provided with a solenoid valve, so that when the electric booster 5 fails, Fail-safe with the hydraulic pressure generated in the master cylinder of the means 20.

When the hydraulic pressure is supplied through the first hydraulic line 11, the ESC 40 sends hydraulic pressure to the wheel cylinder on the front wheel side. When the hydraulic pressure is supplied through the second hydraulic line 12, And when hydraulic pressure is supplied through the first and second hydraulic pressure lines 11.12, hydraulic pressure is supplied to both the front wheel and the rear wheel.

Fig. 2 shows a high-efficiency regenerative braking flow chart of the braking device for regenerative braking according to the present embodiment.

As shown in the figure, when the ECU 3 senses the operation of the pedal 1 via the pedal sensor 2 as in S10, the ECU 3 proceeds to step S20, The total control amount Bt required by the stroke of the engine 1 is calculated.

Next, the ECU 3 proceeds to step S30 and calculates the amount of the regenerative braking amount Brt in the total control amount Bt calculated.

The ECU 3 consecutively proceeds to step S40 and calculates the frictional dynamic range Brm required for the front and rear wheels in consideration of the total control amount Bt and the regenerative braking amount Brt thus calculated.

At this time, the frictional braking amount (Brm) = the total braking amount (Bt) - the regenerative braking amount (Brt).

As described above, the total control amount Bt, the regenerative braking amount Brt, and the friction control amount Brm are calculated in the ECU 3, so that the entire braking period includes the regenerative braking period, the rear wheel friction braking period, Braking section, front-wheel friction braking section and rear-wheel friction braking section.

Fig. 3 shows an example of a braking diagram which is divided and sequenced.

As shown in the figure, when the braking is performed, the braking is sequentially performed in three stages from the target braking time point.

In this case, the section A is a regenerative braking section in which the front wheel and the rear wheel are braked together, and the following section B is a friction braking section in which there is no front wheel braking but braking only in the rear wheel. Braking section.

Due to the braking section classification, in this embodiment, both the front wheel braking amount and the rear wheel braking amount are preferentially used for the regenerative braking, and then the front braking and the rear wheel braking are performed in a predetermined priority order to maximize the efficiency of regenerative braking The efficiency of the regenerative braking can be maximized.

After calculating the total control amount Bt, the regenerative braking amount Brt and the friction control amount Brm in the ECU 3, the ECU 3 proceeds to step S50 to drive the electric booster 5 And the hydraulic pressure is formed through the master cylinder 6.

As described above, in the braking using the hydraulic pressure generated in the master cylinder 6 by driving the electric booster 5, the regenerative braking mode for braking both the front wheel and the rear wheel is implemented first. Then, the rear wheel friction braking is followed by the front wheel friction braking And a frictional braking mode implemented in the reverse order.

S60 is a regenerative braking mode. In this step, the hydraulic pressure generated through the master cylinder 6 by the drive of the electric booster 5 is supplied to both the front wheel and the rear wheel, so that both the front wheel and the rear wheel are braked, Regenerative braking according to the braking amount (Brt) is performed.

Fig. 4 shows a braking state diagram of the braking device implementing the regenerative braking.

As shown in the figure, the hydraulic pressure generated in the master cylinder 6 operated by the electric booster 5 driven by the ECU 3 is discharged to the first and second hydraulic lines 11.12, The ESC 40 supplies the hydraulic pressure to the wheel cylinders 50 of the front wheel and the rear wheel at the same time and supplies the hydraulic pressure to the wheel cylinder 50 of the front wheel and the rear wheel via the first and second valves 15, Thereby realizing regenerative braking through front and rear wheels that are braked together.

If such a regenerative braking is implemented, it is determined whether or not the regenerative braking amount Brt calculated as in S70 has been reached. If the calculated regenerative braking amount Brt has been reached, the regenerative braking is stopped and the braking is implemented as in S80 do.

At this time, the friction braking is performed until the calculated friction bending moment (Brm) is satisfied.

When the friction braking is realized as described above, the order of the front wheel braking and the rear wheel braking is determined, and only the front wheel braking and the rear wheel braking are sequentially performed in a predetermined order.

In this embodiment, the case where the front wheel is frictionally braked after the rear wheel is firstly performed and the case where the front wheel is subjected to the friction braking is explained. However, even when the front wheel and the rear wheel are executed with priority, Priority has no significance since it has no effect on maximization.

Fig. 5 shows a braking state diagram of the braking device for realizing the above-mentioned frictional braking on the rear wheel side.

The hydraulic pressure of the master cylinder 6 operated by the electric booster 5 is supplied to the first and second hydraulic lines 11 and 12 as shown in Fig. 1 valve 15 is closed and the second valve 17 provided in the second hydraulic line 12 is opened so that the ESC 40 is supplied with the hydraulic pressure supplied through the second hydraulic line 12, (40) supplies the hydraulic pressure to the wheel cylinders of the rear wheels.

When the friction braking on the rear wheel is completed as in S102, the second valve 17 is closed to shut off the hydraulic pressure flow as in S103, and the front wheel friction braking is performed as in S104.

6 is a braking state diagram of the braking device for realizing the front wheel-side friction braking as described above.

The hydraulic pressure of the master cylinder 6 operated by the electric booster 5 is supplied to the first and second hydraulic lines 11 and 12 as shown in Fig. The second valve 17 provided on the line 12 closes and the first valve 15 provided on the first hydraulic line 11 is opened so that the hydraulic pressure supplied through the first hydraulic line 11 is supplied to the ESC 40 So that the ESC 40 supplies the hydraulic pressure toward the wheel cylinder of the front wheel.

When the friction braking only in the rear wheel is completed as in step S106, the first valve 15 is closed to shut off the hydraulic pressure flow as in step S107 to complete the friction braking of the front wheels, thereby completing the overall braking.

The control procedure related to step S200 of FIG. 2 is a process in which rear wheel friction braking is performed after front wheel friction braking, unlike front wheel friction braking after the above-described rear wheel friction braking. This is a process in which only front wheel braking, rear wheel braking after front wheel braking, The sequence of operation of the first valve 15 and the second valve 17 is the same as that of the closing and opening of the first valve 15 and the second valve 17. Accordingly,

As described above, in the present embodiment, both of the front wheel braking amount and the rear wheel braking amount are preferentially used for the regenerative braking, and then the front and rear wheel friction braking is implemented in a predetermined priority order, thereby maximizing the efficiency of regenerative braking, The efficiency of fuel economy can be maximized.

1: Pedal 2: Pedal sensor
3: ECU 4: main braking means
5: Electric booster 6: Master cylinder
10: Hydraulic lines 11 and 12: First and second hydraulic lines
15, 17: first and second valves 20: sub braking means
30: pedal simulator 40: ESC (Electronic Stability Control)
50,60: Front and rear wheel brakes

Claims (7)

A master cylinder operated by an electric booster controlled by an ECU (Electronic Control Unit) for calculating a braking hydraulic pressure required by information of a pedal sensor for detecting a stroke of the pedal,
A pair of first valves respectively installed in a pair of hydraulic lines connected to the master cylinder so as to lead to ESC (Electronic Stability Control) for distributing the braking hydraulic pressure to the wheel cylinders of the front wheel and the rear wheel to control the hydraulic flow of the braking hydraulic pressure; Two valves,
And another master cylinder connected to a pedal simulator which is operated by the pedal to form a hydraulic pressure and transmit a reaction force to the pedal to make the driver feel a pedal feel,
The ECU divides the entire braking period into a regenerative braking period and a frictional braking period, performs regenerative braking first, and then opens the second valve for braking only the rear wheel when performing friction braking Closing the first valve, opening the first valve for braking only the front wheel, while closing the second valve
And a braking device for regenerative braking.
The braking device for regenerative braking according to claim 1, wherein the pair of first and second valves is a solenoid valve that is on / off-controlled by the ECU.
The ESC system according to claim 1, wherein the ESC sends hydraulic pressure to a front wheel cylinder when the hydraulic pressure is supplied through the first hydraulic line of the first hydraulic line and the second hydraulic line constituting the pair of hydraulic lines, And when the hydraulic pressure is supplied through the first hydraulic line and the second hydraulic line, the hydraulic pressure is transmitted to the front wheel and the rear wheel when the hydraulic pressure is supplied through the first hydraulic line and the second hydraulic line. Braking device for regenerative braking.
A regenerating agent isotope calculating step of calculating a total controlled amount (Bt) during operation of the pedal and calculating a regenerative braking amount (Brt) in the total controlled amount (Bt) by an ECU (Electronic Control Unit);
Calculating a friction agent flow rate (Brm) required for the front wheel and the rear wheel in consideration of the regenerative braking amount (Brt);
The total duration of braking by the ECU after the total control amount Bt, the regenerative braking amount Brt and the frictional control amount Brm are respectively calculated are divided into a regenerative braking period and a friction braking period, An actual braking preparation step for performing friction braking after first performing the braking operation;
A braking oil pressure forming step of driving the electric booster after the determination of the regenerative braking period and the frictional braking period to form a hydraulic pressure through the master cylinder;
When the regenerative braking mode of the regenerative braking period is established, the ECU opens both the master cylinder and the first control valve of the first hydraulic line connected to the front wheel and the second control valve of the second hydraulic line connected to the master cylinder and the rear wheel A regenerative brake implementation step of supplying hydraulic pressure with ESC (Electronic Stability Control) and braking the front wheel and the rear wheel together with the hydraulic pressure through the ESC;
Wherein the control unit determines the frictional braking of the front wheel and the frictional braking of the rear wheel after completion of the regenerative braking mode and controls the frictional braking of the front wheel and the rear wheel through the first and second hydraulic lines opened according to the opening order of the first and second valves, And a friction braking implementation step in which the hydraulic pressure is supplied to implement braking,
The braking order for the front wheel braking of the front wheel and the rear wheel braking of the rear wheel is determined by the friction braking of the front wheel and the friction braking of the rear wheel in the friction braking step, The second control valve is opened but the first control valve is closed so that the first control valve is opened but the second control valve is closed during the braking of the front wheel braking only, The braking of only the front braking is performed, or vice versa
Wherein said regenerative braking device is a regenerative braking device.
The high-efficiency regenerative braking method according to claim 4, wherein the total control amount (Bt) is calculated by the operated stroke of the pedal.
5. The high-efficiency regenerative braking method according to claim 4, wherein the frictional brake angle (Brm) is calculated by subtracting the regenerative braking amount (Brt) from the total brake assist amount (Bt).
delete
KR1020100114373A 2010-11-17 2010-11-17 Regenerative Brake Apparatus and High Efficiency Regenerative Braking Performance Thereof KR101780066B1 (en)

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Publication number Priority date Publication date Assignee Title
KR101316874B1 (en) * 2012-06-12 2013-10-10 현대자동차주식회사 Brake pressure compensation system and method thereof
KR101592166B1 (en) 2014-09-02 2016-02-11 현대모비스 주식회사 Brake device for vehicle
KR101704176B1 (en) 2015-03-23 2017-02-07 현대자동차주식회사 Brake control method for hybrid electric vehicle
KR102460853B1 (en) * 2016-04-28 2022-10-31 현대모비스 주식회사 Method for controlling brake of vehicle
CN108081960B (en) * 2017-11-09 2020-01-17 简式国际汽车设计（北京）有限公司 Method and system for recovering braking energy of electric automobile
KR102440010B1 (en) 2018-03-21 2022-09-05 현대모비스 주식회사 Pressure control valve for vehicle

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Publication number Priority date Publication date Assignee Title
JP3321991B2 (en) * 1994-06-03 2002-09-09 トヨタ自動車株式会社 Electric vehicle braking system
JP4333205B2 (en) 2003-04-24 2009-09-16 日産自動車株式会社 Combined brake coordination controller

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Publication number Priority date Publication date Assignee Title
JP3321991B2 (en) * 1994-06-03 2002-09-09 トヨタ自動車株式会社 Electric vehicle braking system
JP4333205B2 (en) 2003-04-24 2009-09-16 日産自動車株式会社 Combined brake coordination controller

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