KR102518735B1 - System and method for guiding regenerative braking of eco-friendly vehicle - Google Patents

Abstract

The present invention relates to an apparatus and method for inducing regenerative braking of an eco-friendly vehicle, and thus minimizes the amount of frictional braking through active control of a brake pedal mechanism, rather than a passive method of simply guiding information related to regenerative braking and inducing regenerative braking in a vehicle. A main object of the present invention is to provide a regenerative braking induction device and method capable of inducing a driver's brake pedal operation (driver's brake input) so as to be able to do so. In order to achieve the above object, a driving information detection unit for detecting a brake pedal position and a current vehicle driving state; a total braking torque determination unit which determines a total braking torque from the detected brake pedal position and determines a regenerative limit torque from the detected current vehicle driving state; a foot force controller generating and outputting a control signal for adjusting a foot force for inducing a driver's brake pedal operation based on the total braking torque and the regenerative limit torque determined by the total braking torque determiner; An apparatus for inducing regenerative braking of an eco-friendly vehicle, including a pedal force adjusting device for adjusting a pedal force of a brake pedal according to a control signal output from the pedal force control unit, and a method thereof are disclosed.

Description

System and method for guiding regenerative braking of eco-friendly vehicle}

The present invention relates to an apparatus and method for inducing regenerative braking of an eco-friendly vehicle, and more particularly, to an apparatus and method for inducing regenerative braking capable of maximizing the use of regenerative braking when operating a driver's brake in an eco-friendly vehicle.

As is well known, in an eco-friendly vehicle that runs using a motor as a driving source for driving the vehicle, regenerative braking is performed by the motor during braking or deceleration.

That is, in the case of a hybrid vehicle, pure electric vehicle, or fuel cell vehicle, when the driver brakes or decelerates the vehicle by pressing the brake pedal, the vehicle's kinetic energy is recovered as electrical energy through the power generation of the motor to charge the battery. braking is performed.

Such regenerative braking greatly contributes to improving vehicle fuel efficiency because it converts the vehicle's kinetic energy into electrical energy during vehicle braking, stores it in a battery, and then reuses it to drive a motor while the vehicle is driving.

In a vehicle where regenerative braking is performed, the sum of the regenerative braking torque (regenerative braking force) generated by the motor during braking and the friction braking torque (friction braking force) generated by the friction braking device is calculated as the driver's brake pedal operation (i.e., the driver's brake input). A regenerative braking cooperative control technology that equals the total braking torque (target braking force) required by

At this time, it is essential to properly distribute the braking force between the electric braking force generated by the motor's power generation and rotational resistance, that is, the regenerative braking force, and the frictional braking force by the friction braking device.

A hydraulic braking device is used as a normal friction braking device, and the braking force requested by the driver is based on a brake signal corresponding to the driver's brake operation, that is, a signal from a brake pedal position sensor (BPS) according to the brake pedal operation. A target braking force is calculated, and regenerative braking force and hydraulic braking force (friction braking force) that satisfy the target braking force are distributed.

In addition, when the regenerative braking torque and the hydraulic braking torque are determined through the braking force distribution, the regenerative operation of the motor and the hydraulic braking device are controlled to generate the respective torque values.

On the other hand, the actual road fuel efficiency of eco-friendly cars is closely related to the amount of regenerative braking. Regenerative braking recovers the kinetic energy of the vehicle through the power generation of the motor, stores it in the battery, and then reuses it in the form of electrical energy. Since the kinetic energy of the brake caliper-rotor (friction pad-disc) is converted into heat, reuse is impossible.

Therefore, minimizing the amount of friction braking and maximizing the amount of regenerative braking compared to the amount of regenerative braking when braking a vehicle is an important task for improving fuel efficiency.

However, in spite of this fact, due to the regenerative limit, if the driver precisely applies the brake input to minimize the amount of friction braking by himself for braking or deceleration while driving, driving fatigue may increase and control accuracy may be insufficient.

Recently, a technology for inducing and guiding the driver's brake input, which can minimize the amount of friction braking and maximize the amount of regenerative braking by displaying various information related to regenerative braking in the current vehicle through a display device such as a cluster or a monitor, has been applied. there is.

However, this is merely inducing regenerative braking and guiding brake input to the driver. Even if the vehicle is guiding and guiding regenerative braking for optimal braking, in reality, the driver is guided by the vehicle's guidance and guidance. Optimum braking can be achieved only when the brake pedal can be operated properly.

In other words, only when the driver operates the brake pedal according to the guidance and guidance of the vehicle, the optimum braking that can maximize the actual vehicle fuel efficiency can be achieved. Driver's will is required.

Therefore, when the driver wants to brake or decelerate the vehicle by stepping on the brake pedal to generate the necessary amount of braking torque, the driver's brake pedal operation is induced to increase the ratio of the regenerative braking amount in the vehicle and minimize the amount of friction braking. A control technology that can do this is required.

Therefore, the present invention has been created to solve the above problems, and provides active control (pedal effort control) of the brake pedal mechanism, rather than a passive method of simply guiding information related to regenerative braking and inducing regenerative braking in a vehicle. An object of the present invention is to provide an apparatus and method for inducing regenerative braking capable of inducing a driver's brake pedal operation (driver's brake input) to minimize the amount of frictional braking.

In order to achieve the above object, according to an aspect of the present invention, the driving information detection unit for detecting the brake pedal position and the current vehicle driving state; a total braking torque determination unit which determines a total braking torque from the detected brake pedal position and determines a regenerative limit torque from the detected current vehicle driving state; a foot force controller generating and outputting a control signal for adjusting a foot force for inducing a driver's brake pedal operation based on the total braking torque and the regenerative limit torque determined by the total braking torque determiner; and a pedal force adjusting device for adjusting the pedal force of a brake pedal according to a control signal output from the pedal force control unit.

And, according to another aspect of the present invention, the step of detecting the brake pedal position and the current vehicle driving state by the driving information detection unit; determining a total braking torque from the detected brake pedal position by a total braking torque determining unit and determining a regenerative limit torque from the detected current vehicle driving state; Generating a control signal for adjusting the pedal force for inducing a driver's brake pedal operation based on the determined total braking torque and regenerative limit torque by a pedal force control unit; and adjusting the pedal force of the brake pedal according to the control signal output from the pedal force controller by the pedal force control device.

Thus, according to the apparatus and method for inducing regenerative braking of an eco-friendly vehicle according to the present invention, operation of the brake pedal (driver's brake input) is induced to minimize the amount of frictional braking through active control of the brake pedal mechanism (pedal effort control). It can be done, and it can induce the driver to drive economically and improve fuel efficiency.

1 is a block diagram showing the configuration of a regenerative braking induction device according to an embodiment of the present invention.
2 is a diagram showing an example of a leg force adjusting device in a regenerative braking induction device according to an embodiment of the present invention.
3 and 4 are diagrams for explaining a conventional braking control state and a braking control state according to the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms.

Throughout the specification, when a certain component is said to "include", it means that it may further include other components without excluding other components unless otherwise stated.

The present invention is a driver's brake pedal to increase the ratio of regenerative braking and minimize the amount of frictional braking through the control of the brake pedal mechanism in an eco-friendly vehicle that drives using a motor and performs regenerative braking and friction braking (hydraulic braking). An apparatus and method for inducing regenerative braking capable of inducing manipulation (a driver's brake input).

To this end, the present invention controls the pedal effort felt by the driver when operating the brake pedal to induce an increase in the regenerative braking ratio, so that the driver can recognize the brake pedal input amount corresponding to the limit of regenerative braking. And, through this, it induces fuel economy driving of the driver.

As will be described later, the control process for inducing regenerative braking of the present invention is preferably performed when the driver selects and activates the regenerative braking induction function.

In addition, the regenerative braking induction process according to the present invention is performed during the braking control process when the driver operates the brake pedal. A brake pedal operation is induced, and at this time, the braking control process may be performed under cooperative control between a plurality of in-vehicle controllers.

An eco-friendly vehicle is equipped with a hybrid control unit (HCU, or vehicle control unit (VCU)) as a top-level controller that controls overall vehicle operation, and is equipped with several controllers for controlling various devices of the vehicle.

For example, a brake controller (BCU: Brake Control Unit, or iBAU: integrated brake actuation unit) that performs braking control of a vehicle and controls the operation of a hydraulic brake system, and a motor controller (MCU: Motor Control Unit) that controls the operation of a motor. Unit), a transmission control unit (TCU) that controls the operation of the transmission, a battery management system (BMS) that collects battery state information and performs control to manage the battery, and the like.

The controllers perform cooperative control while exchanging information with each other through a vehicle network for vehicle braking, and this is the same in performing braking control in the present invention.

That is, in the present invention, the braking control process may also be performed by cooperative control between the vehicle controller (HCU) and other controllers.

In addition, in the present invention, there is no difference compared to known device configurations in the device configuration and method for determining the total braking torque (total braking amount) when the driver operates the brake pedal.

In addition, after the total braking torque, which is the braking torque requested by the driver, is determined, the present invention sets the total braking torque as a target value (target braking torque) and distributes and determines regenerative braking torque and friction braking torque that satisfy the total braking torque. In terms of the method, there is no difference compared to the known technology.

However, the main feature of the present invention is that the pedal force of the brake pedal is controlled based on the regenerative limit torque value so as to induce an increase in the regenerative braking ratio out of the total braking torque when the brake pedal is operated.

In addition, the present invention allows the driver to feel the pedal effort controlled according to the regenerative limit torque value when operating the brake, so that the total braking torque according to the brake pedal operation can be a value less than the regenerative limit torque as much as possible. The driver's brake pedal It is characterized by the fact that it induces manipulation.

Hereinafter, a regenerative braking induction device according to the present invention will be described with reference to the drawings.

1 is a block diagram showing the configuration of a regenerative braking induction device according to an embodiment of the present invention, and FIG. 2 is a diagram showing an example of a foot force adjusting device in a regenerative braking induction device according to an embodiment of the present invention.

As shown, the regenerative braking induction device according to an embodiment of the present invention includes a driving information detector 11, a driver control unit 14, a total braking torque determiner 21, a foot force control value generator 25, and a foot force control unit. It is configured to include a device (26).

In the present invention, vehicle driving state information is detected by the driving information detection unit 11 while the vehicle is driving, and the total braking torque determining unit 21 is based on the vehicle driving state information collected from the vehicle through the driving information detection unit 11. to determine the target total braking torque (target braking torque).

In the present invention, the vehicle driving state information may include the current vehicle speed, which is information indicating the current driving state value of the vehicle, together with the driver brake input value, and the current driver brake input value and the vehicle speed are determined by the driving information detector 11 If detected, first, the total braking torque determination unit 21 determines the total braking torque based on the current driver brake input value input from the driving information detection unit 11 .

Further, in the present invention, the total braking torque determining unit 21 determines the regenerative limit torque value based on the current vehicle speed input from the driving information detecting unit 11 .

Here, the motor speed or wheel speed may be used instead of the vehicle speed. In this case, the total braking torque determining unit 21 uses the motor speed or wheel speed representing the current driving state of the vehicle instead of the vehicle speed together with the current driver brake input value. Thus, the regenerative limit torque value is determined.

The driving information detector 11 may include a sensor 12 that detects a driver's brake input value and a vehicle speed sensor 14 that detects a vehicle speed (which may be motor speed or wheel speed in the following description). Among them, the sensor 12 for detecting the driver's brake input value is a conventional brake pedal sensor for detecting the position of the brake pedal (reference numeral 1 in FIG. 2) operated by the driver (which may be pedal displacement in the following description) ( BPS) can be

Accordingly, the driver's brake input value may be a sensor value indicating a brake pedal position (or brake pedal displacement), that is, a BPS (brake pedal sensor) value.

In the present invention, the total braking torque (target braking torque), which is the driver's braking request value, is determined as a function of the BPS value.

At this time, setting information indicating a correlation between the total braking torque and the BPS value (driver's brake input value) may be used in the total braking torque determination unit 21 .

If the driver increases the operation amount of the brake pedal 1, that is, the more deeply the brake pedal is pressed (the greater the pedal depth), the larger the BPS value, the total braking torque has a proportional relationship with the BPS value in the setting information. It can be set so that the total braking torque increases linearly as the BPS value increases.

Also, the driving information detector 11 may include a sensor for detecting a wheel speed instead of a sensor for detecting a vehicle speed, or may include a sensor for detecting a motor speed.

Although the sensor for detecting the vehicle speed and the sensor for detecting the wheel speed are distinguished above, since vehicle speed information can be obtained from a signal of a wheel speed sensor installed on each vehicle wheel in a normal vehicle, the two sensors may mean the same thing.

In addition, the sensor for detecting the motor speed may be a conventional resolver installed in the motor of an eco-friendly vehicle, and current motor speed information may be acquired from a signal of the resolver.

Hereinafter, an example of using vehicle speed among vehicle speed, wheel speed, and motor speed will be described, and in the following description, vehicle speed may be replaced with wheel speed or motor speed as described above.

In this way, there is no difference in results between using the vehicle speed, using the wheel speed, and using the motor speed, because the braking power considering the transmission ratio is the same.

In the present invention, the regenerative limit torque may be determined as a value according to the vehicle speed (or motor speed or wheel speed) as described above. can be used

In the setting information, the regenerative limit torque may be set to have a larger value as the vehicle speed decreases based on the absolute value.

The driver control unit 14 is provided to turn on/off the regenerative braking induction function of the present invention, and the regenerative braking induction function of the present invention operates when the driver operates the brake pedal 1. It is preferable to operate the regenerative braking induction function of the present invention only when the driver turns on the function at will.

Therefore, the driver's control unit 14 is provided as a means that the driver can operate to selectively turn on/off the regenerative braking induction function according to the present invention, which determines the total braking torque by using an electric signal according to the driver's operation. Anything that can be applied to the unit 21 is applicable, and may be a switch, button, or touch screen.

Accordingly, the driver can turn on the regenerative braking induction function of the present invention by manipulating the driver control unit 14 only when the driver desires, and only in the on state, as will be described later, the brake pedal position value (BPS value) and Control for inducing regenerative braking is performed by adjusting the pedal force of the brake pedal 1 using vehicle speed (or wheel speed or motor speed) as a variable.

In the present invention, the foot force control unit 25 is provided to receive the total braking torque determined by the total braking torque determining unit 21, the regenerative limit torque, the BPS value, and the on/off information of the regenerative braking induction function, and in particular, determine the total braking torque. A control signal for controlling the pedal force of the brake pedal 1 is generated and output based on the total braking torque and the regenerative limit torque value input in the unit 21 .

At this time, the pedal force control unit 25 generates a control signal for controlling the pedal force of the brake pedal 1 only when the driver's control unit 14 receives an input of the regenerative braking induction on state.

In addition, the pedal force control unit 25 compares the total braking torque with the regenerative limit torque when the BPS value increases, and when the total braking torque becomes greater than the regenerative limit torque, the pedal force of the brake pedal 1 is reduced by a set amount or a predetermined amount at the time of the increase. A control signal for increasing the slope is generated and output.

Alternatively, when the BPS value increases, when the absolute value of the torque value obtained by subtracting the regenerative limit torque from the total braking torque is greater than or equal to the set value, the pedal force control unit 25 adjusts the pedal force of the brake pedal 1 at the time when the set value is greater than or equal to the set value. It generates and outputs a control signal to increase by a set amount or by a predetermined slope.

In addition, the pedal force controller 25 performs control to increase the pedal force of the brake pedal 1 and then decrease the pedal force of the brake pedal again by a set amount or a predetermined slope.

At this time, the pedal effort control unit 25 may determine and control a target final pedal effort after controlling to reduce the pedal effort of the brake pedal 1 as a value according to the BPS value.

Here, the increase in the BPS value means that the amount the driver is stepping on the brake pedal 1 gradually increases, and rather than maintaining the position of the brake pedal 1 at a constant position, the brake pedal 1 gradually It means stepping deep and pressing a little more.

In addition, the pedal force adjusting device 26 is installed in the brake pedal mechanism. In the present invention, the brake pedal mechanism includes the pedal force adjusting device 26, and the pedal force adjusting device 26 outputs the pedal force control unit 25. It operates to adjust the pedal force of the brake pedal 1 according to an electrical signal, that is, the control signal for controlling the pedal force of the brake pedal 1.

Basically, the brake pedal mechanism in a normal vehicle includes a spring 2 for generating a leg force on the brake pedal 1, as shown in FIG. It is provided to increase the pressing force.

In addition, in the normal brake pedal mechanism, as the driver presses the brake pedal 1 more and more as described above, the pedal force of the brake pedal 1 increases by the spring 2, but the pedal operation amount (pedal pressing amount) increases. If the pedal position is kept constant, the pedal force does not increase.

However, in the present invention, the brake pedal mechanism has a pedal force control device 26, and the pedal force controller 26 operates according to a control signal output from the pedal force controller 25 to adjust the pedal force of the brake pedal 1. It consists of

In the present invention, the pedal force adjusting device 26 may be configured to be coupled to the spring 2, as shown in FIG. 2, and brake pedal 1 ) can be configured to adjust the leg power.

For example, the pedal force adjusting device 26 changes the position of the other side of the spring 2 in a state in which one side of the spring 2 supports the brake pedal 1, so that the brake pedal provided by the spring 2 ( 1) can be configured to adjust the effort.

As an example, FIG. 2 is to adjust the pedal effort acting on the brake pedal 1 through the spring 2 by varying the support position for the spring 2 or the force acting on the spring using the motor 27. A configuration is illustrated.

At this time, the leg force control device 26 is coupled with the motor 27 whose driving is controlled according to the control signal output from the leg force control unit 25, and the gear unit 28 for converting the rotational force of the motor 27 into linear movement force. ), and a support block coupled to the output side of the gear unit 28 and coupled to support the spring 2 and having a variable support position for the spring 2 while moving linearly by the gear unit 28 (29) may be included.

Here, the gear unit may be configured to include a known gear combination, for example, a rack and a pinion capable of converting rotational force into linear moving force, although not illustrated in the drawings.

In addition, the leg force adjusting device 26 may further include a detecting element capable of measuring the position or movement displacement of the support block or a detecting element detecting the rotational position of the motor so as to precisely control the position of the support block. , Information detected by the detecting element may be input to the leg force controller 25 and used to control driving of the motor 27 .

The pedal force adjusting device 26 is an example of a device for varying the pedal force of the brake pedal according to an electrical signal output by the pedal force control unit 25, that is, a control signal for adjusting the pedal force of the brake pedal 1 in the present invention. 2 is exemplary, and the present invention is not limited thereto, and an electrical signal applied from the outside, such as a configuration capable of adjusting the leg force through a brake booster, etc. As long as it is possible to adjust the pedal force of the brake pedal by, it can be adopted without limitation.

In addition, since various pedal force devices applied to accelerator pedals are known in the art, it is also possible to apply the configuration of a known pedal force control device applied to an accelerator pedal to a brake pedal.

In this way, the regenerative braking induction device according to the present invention controls the braking force of the brake pedal based on the total braking torque determined according to the driver's brake input value (BPS value) and the regenerative limit torque value determined according to the vehicle speed It consists of

In particular, the regenerative braking induction device according to the present invention compares the total braking torque and the regenerative limit torque value when the brake input value is increasing, and if the total braking torque is greater than the regenerative limit torque (or the difference between the two torques based on the absolute value) above this set value), the brake pedal effort is increased so that the driver can recognize that the brake pedal effort is increased, and the total braking torque is felt through the sudden increase in pedal effort and the resulting pedal repulsion. It induces the driver's brake pedal operation so that is maintained at a value below the regenerative limit torque.

For example, when the driver feels a sudden increase in pedal effort while increasing the operation amount (pressing amount) of the brake pedal (when the pedal feels suddenly heavy while operating the brake pedal), regenerative braking and fuel economy driving in the vehicle is understood to be inducing, and from that point on, the pedal position is maintained without further stepping on the brake pedal.

In addition, when the vehicle speed decreases thereafter and the regenerative limit torque increases, the regenerative braking torque can be increased by performing more regenerative braking, thereby reducing the brake pedal effort, leading the driver to operate the brake pedal more.

In addition, in the present invention, after the total braking torque determination unit 21 determines the total braking torque as described above, a control process of performing regenerative braking and friction braking using the determined total braking torque as a total braking target value is usually performed. is carried out in the same way as in

That is, when the regenerative braking torque and the friction braking torque that satisfy the total braking torque, which is the driver's requested torque, are determined through the braking force distribution from the determined total braking torque, and the regenerative braking torque and the friction braking torque are determined through the braking force distribution, the distributed Control of the regenerative operation of the motor 24 and control of the friction brake device for generating each torque value are performed.

Here, the final regenerative braking torque to satisfy the total braking torque may be determined by the regenerative braking torque determining unit 22 of FIG. 1 , and then regeneration of the motor 24 to generate the determined final regenerative braking torque Operation is controlled by the motor controller 23 of FIG. 1 .

Next, FIGS. 3 and 4 are views for explaining a conventional braking control state and a braking control state according to the present invention.

3 and 4, regenerative braking torque, friction braking torque, total braking torque, and regenerative limit torque are all shown as negative torques, and in the following description, large torque values mean that the absolute value of torque is large, Decreasing and increasing the torque value means decreasing and increasing the absolute value.

As can be seen in FIGS. 3 and 4 , in the braking control of a conventional eco-friendly vehicle, a regenerative limit torque value, which is a limit torque value of regenerative braking, is set, and this regenerative limit torque value is set to a larger value as the vehicle speed decreases. .

In addition, as described above, the total braking torque (total braking amount) is determined as a function of the BPS value (brake pedal position value), and at this time, the total braking torque may be set to linearly increase in proportion to the BPS value.

If the BPS value is kept constant, that is, if the driver continues to step on the brake pedal by the same amount without increasing or decreasing the brake pedal position value, as can be seen from FIGS. The corresponding value is kept constant without increasing or decreasing.

At this time, since the regenerative limit torque value, which is the maximum possible amount of regenerative braking, is set to gradually increase as the vehicle speed decreases during deceleration, conventionally, as shown in FIG. Torque is greatly increased.

Accordingly, the regenerative limit torque value may be small and insufficient compared to the total braking torque, and at this time, friction braking should be performed in addition to regenerative braking to satisfy the total braking torque.

That is, as shown in FIG. 3 , the total braking amount must be satisfied by the sum of the regenerative braking torque (regenerative braking amount) and the friction braking torque (friction braking amount).

Of course, as can be seen from FIG. 3 , when the vehicle speed is lower than the specific vehicle speed, the total braking torque can be satisfied only with the regenerative braking torque below the regenerative limit torque without the friction braking torque.

However, since the vehicle speed has already been greatly reduced by friction braking, regenerative braking does not need to be performed for a long time even if the regenerative limit torque increases in a state where the vehicle speed is low.

That is, the kinetic energy of the vehicle is quickly consumed as heat by friction braking, and a considerable amount of friction braking is used until the vehicle stops.

As a result, in the case of the prior art, compared to the present invention, the ratio of the regenerative braking amount to the total braking amount is small and the ratio of the friction braking amount is large compared to the present invention until the vehicle is braked. Therefore, when the driver presses the brake pedal in the same vehicle, less regenerative braking and more friction braking are used until the vehicle stops.

On the other hand, in the present invention, when the driver gradually increases the operation amount (pressing amount) of the brake pedal by stepping on the brake pedal little by little to stop the vehicle, the pedal force control unit 25 adjusts the pedal force at the time when the total braking torque becomes greater than the regenerative limit torque. Device 26 is controlled to increase brake pedal effort.

Accordingly, the driver, recognizing the sudden increase in leg power, decelerates the vehicle at a level where the brake pedal operation amount is maintained without increasing the brake pedal operation amount, and finally, the driver's pedal operation to maximize the use of the regenerative braking amount can be induced.

In this way, since the driver does not operate the brake pedal much compared to the case of FIG. 3, the vehicle speed decreases more gently, and the total braking torque is determined at a value below the regenerative limit as much as possible, so that only regenerative braking without friction braking or minimal Vehicle deceleration using mostly regenerative braking together with friction braking can be achieved.

In addition, when the pedal effort controller 25 increases and then decreases the pedal effort again, and then the driver presses the brake pedal further in a state where the total braking torque is smaller than the regenerative limit torque, the BPS value increases. The total braking torque will increase.

Thereafter, when the total braking torque becomes greater than the regenerative limit torque, the pedal force control unit 25 controls the pedal force adjusting device 26 again to increase the pedal force of the brake pedal.

Accordingly, the driver, recognizing the sudden increase in leg power, decelerates the vehicle at a level where the brake pedal operation amount is maintained without further increase, and thus the driver's pedal operation to maximize the use of regenerative braking can be induced.

Since the regenerative limit torque is determined as a large value in a state where the vehicle speed is greatly reduced, the vehicle can be decelerated only with the regenerative braking torque.

As a result, compared to the conventional case shown in FIG. 3, the vehicle speed decreases relatively slowly, but when the vehicle speed gradually decreases, the driver's pedal effort is adjusted so that the total braking torque is mostly determined as a value below the regenerative limit torque. Brake pedal operation can be induced, and eventually the vehicle can be braked using regenerative braking as much as possible without using friction braking.

In addition, in the case of the present invention shown in FIG. 4, compared to the conventional case shown in FIG. 3, the vehicle can be decelerated only with regenerative braking without using friction braking.

In addition, when on is selected in the driver control unit 12 so that the regenerative braking induction function of the present invention operates, the vehicle speed decelerates relatively gently at the beginning of braking, and the vehicle deceleration may be smaller than before. Although the driver may not feel that the vehicle is decelerating as much as stepping on the brake pedal, and the driver may feel that the response of vehicle braking is slower than pedal operation, there is an advantage in that the amount of regenerative braking can be increased compared to the prior art Bar, it is possible to improve vehicle fuel efficiency.

In addition, according to the present invention, since the brake pedal operation is guided so that the total braking torque follows a value equal to or less than the regenerative limit torque, a driver's driving habit that is economical and can improve fuel efficiency can be induced.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention defined in the following claims It is also included in the scope of the present invention.

1 : brake pedal
2 : spring
11: driving information detection unit
12: Brake pedal sensor (BPS)
13: vehicle speed sensor
14: driver control unit
21: total braking torque determining unit
22: regenerative braking torque determining unit
23: motor control
24: motor
25: effort control
26: pedal force control device

Claims (15)

a driving information detection unit that detects a brake pedal position and a current vehicle driving state;
a total braking torque determination unit which determines a total braking torque from the detected brake pedal position and determines a regenerative limit torque from the detected current vehicle driving state;
a foot force controller generating and outputting a control signal for adjusting a foot force based on the total braking torque and the regenerative limit torque determined by the total braking torque determiner; and
An apparatus for inducing regenerative braking of an eco-friendly vehicle including a pedal force adjusting device for adjusting a pedal force of a brake pedal according to a control signal output from the pedal force control unit.
The method of claim 1,
Further comprising a driver control unit that the driver manipulates to turn on / off the regenerative braking induction function,
The regenerative braking induction device of an eco-friendly vehicle, characterized in that, when the foot force control unit receives a regenerative braking induction on state of the driver's control unit, it generates a control signal for adjusting the foot force.
The method of claim 1,
The regenerative braking induction device of an eco-friendly vehicle, characterized in that the pedal force control unit generates a control signal for increasing the pedal force of the brake pedal when the determined total braking torque is greater than the regenerative limit torque.
The method of claim 3,
The pedal force control unit generates a control signal for increasing the pedal force of the brake pedal by a set amount or by a predetermined slope.
The method of claim 1,
The pedal force controller generates a control signal for increasing the pedal force of the brake pedal when an absolute value of a value obtained by subtracting the regenerative limit torque from the determined total braking torque is greater than or equal to a set value. .
The method of claim 5,
The pedal force control unit generates a control signal for increasing the pedal force of the brake pedal by a set amount or by a predetermined slope.
The method of any one of claims 3 to 6,
The pedal force control unit outputs a control signal for decreasing the pedal force of the brake pedal again after outputting a control signal for increasing the pedal force of the brake pedal.
The method of claim 1,
The pressure control device is
a motor whose driving is controlled according to a control signal output from the foot force control unit;
a gear unit for converting the rotational force of the motor into a linear moving force; and
It is coupled to the output side of the gear unit and is coupled to support a spring for generating a pedal force of the brake pedal, characterized in that it includes a support block that is linearly moved by the gear unit and the support position for the spring is variable. A device for inducing regenerative braking of an eco-friendly vehicle.
detecting a brake pedal position and a current vehicle driving state by a driving information detection unit;
determining, by a total braking torque determining unit, total braking torque from the detected brake pedal position and determining regenerative limit torque from the detected current vehicle driving state;
Generating, by a foot force controller, a control signal for adjusting a foot force based on the determined total braking torque and regenerative limit torque; and
A method for inducing regenerative braking of an eco-friendly vehicle, comprising the step of adjusting the pedal force of a brake pedal by operating a pedal force adjusting device according to a control signal output from the pedal force control unit.
The method of claim 9,
Further comprising the step of turning on the regenerative braking induction function by the driver manipulating the driver's control panel,
The method of inducing regenerative braking of an eco-friendly vehicle, characterized in that, when the foot force control unit receives a regenerative braking induction on state of the driver's control unit, it generates a control signal for adjusting the foot force.
The method of claim 9,
The method of inducing regenerative braking of an eco-friendly vehicle, characterized in that the pedal force control unit generates a control signal for increasing the pedal force of the brake pedal when the determined total braking torque is greater than the regenerative limit torque.
The method of claim 11,
The method of inducing regenerative braking of an eco-friendly vehicle, characterized in that the pedal force control unit generates a control signal for increasing the pedal force of the brake pedal by a set amount or by a predetermined slope.
The method of claim 9,
The pedal force control unit generates a control signal for increasing the pedal force of the brake pedal when an absolute value of a value obtained by subtracting the regenerative limit torque from the determined total braking torque is greater than or equal to a set value .
The method of claim 13,
The method of inducing regenerative braking of an eco-friendly vehicle, characterized in that the pedal force control unit generates a control signal for increasing the pedal force of the brake pedal by a set amount or by a predetermined slope.
The method of any one of claims 11 to 14,
The method of inducing regenerative braking of an eco-friendly vehicle, characterized in that the pedal force control unit outputs a control signal for decreasing the pedal force of the brake pedal again after outputting a control signal for increasing the pedal force of the brake pedal.

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