KR20120002318A - Method of regeneration controlling for hybrid vehicle - Google Patents

Method of regeneration controlling for hybrid vehicle Download PDF

Info

Publication number
KR20120002318A
KR20120002318A KR1020100063137A KR20100063137A KR20120002318A KR 20120002318 A KR20120002318 A KR 20120002318A KR 1020100063137 A KR1020100063137 A KR 1020100063137A KR 20100063137 A KR20100063137 A KR 20100063137A KR 20120002318 A KR20120002318 A KR 20120002318A
Authority
KR
South Korea
Prior art keywords
regenerative braking
hybrid vehicle
solenoid valve
braking control
pressure
Prior art date
Application number
KR1020100063137A
Other languages
Korean (ko)
Other versions
KR101558345B1 (en
Inventor
최진환
Original Assignee
현대자동차주식회사
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 현대자동차주식회사 filed Critical 현대자동차주식회사
Priority to KR1020100063137A priority Critical patent/KR101558345B1/en
Publication of KR20120002318A publication Critical patent/KR20120002318A/en
Application granted granted Critical
Publication of KR101558345B1 publication Critical patent/KR101558345B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)

Abstract

PURPOSE: A method for controlling regenerative braking of a hybrid vehicle is provided to minimize noise generation at the time to finish control of the regenerative braking. CONSTITUTION: A method for controlling regenerative braking of a hybrid vehicle comprises: a step of determining the entrance of the hybrid vehicle to a condition of finishing regenerative braking control at a state of practicing the regenerative braking control; a step of reducing a pump motor and solenoid valve duty by stages in case of the entrance of the hybrid vehicle; and a step of finishing the regenerative braking control in case of the pump motor and solenoid valve duty is calculated by "0".

Description

하이브리드 차량의 회생제동 제어방법{METHOD OF REGENERATION CONTROLLING FOR HYBRID VEHICLE} Regenerative braking control method for hybrid vehicle {METHOD OF REGENERATION CONTROLLING FOR HYBRID VEHICLE}

본 발명은 하이브리드 차량에 관한 것으로, 보다 상세하게는 회생제동 과정에서 노이즈(Noise)가 발생되지 않도록 하는 하이브리드 차량의 회생제동 제어방법에 관한 것이다.The present invention relates to a hybrid vehicle, and more particularly, to a regenerative braking control method of a hybrid vehicle such that noise is not generated during the regenerative braking process.

하이브리드 차량에 적용되는 회생제동 시스템은 차량의 제동 시 구동축에 연결된 모터를 이용하여 차량의 운동에너지를 전기에너지로 변환하여 배터리에 충전하고, 충전된 에너지를 모터 구동에 사용하는 에너지 회수 장치이다. The regenerative braking system applied to the hybrid vehicle is an energy recovery device that converts the kinetic energy of the vehicle into electrical energy and charges the battery by using a motor connected to the drive shaft when the vehicle is braked, and uses the charged energy to drive the motor.

회생제동의 실행에 따라 운동에너지를 전기에너지로 변환하는 과정에서 추가적인 제동력이 발생하게 되는데 이로 인하여 운전자가 느끼는 감속도가 증가하게 되고 제동에 이질감을 느끼게 된다.As the regenerative braking is executed, additional braking force is generated in the process of converting the kinetic energy into electrical energy, thereby increasing the deceleration felt by the driver and feeling heterogeneity in the braking.

회생제동용 브레이크는 제동 시 운전자가 느끼는 차량 감속도 및 제동감이 일반 차량과 차이가 없도록 전체 제동력을 운전자 요구 제동력에 맞도록 유압 제동 토크를 제어한다. The regenerative braking brake controls the hydraulic braking torque so that the entire braking force can be matched to the driver's braking force so that the vehicle deceleration and braking feeling that the driver feels during braking is not different from that of a general vehicle.

도 1은 하이브리드 차량에 적용되는 회생제동 개념을 도시한 도면이다.1 is a diagram illustrating a regenerative braking concept applied to a hybrid vehicle.

회생제동은 운전자의 요구 제동력(마스터 실린더 압력)에 대하여 휠을 구속하는 유압 제동력과 배터리를 충전하기 위한 모터의 회생제동력 합으로 실행된다.Regenerative braking is performed by the sum of the hydraulic braking force that restrains the wheel to the required braking force (master cylinder pressure) of the driver and the regenerative braking force of the motor for charging the battery.

도 2는 하이브리드 차량에 적용되는 회생제동 브레이크 시스템의 일 실시예를 도시한 도면이다.2 is a diagram illustrating an embodiment of a regenerative braking brake system applied to a hybrid vehicle.

도 2에서 알 수 있는 바와 같이, 브레이크 페달(BLS)의 작동에 따른 회생제동시 전륜(FL/FR) 및 후륜(RL/RR)의 각각에 구성되는 유압 실린더에 대응되어 유체를 공급하는 제1솔레노이드 밸브(INLET), 전륜(FL/FR) 및 후륜(RL/RR)의 각각에 구성되는 유압 실린더 공급된 유체를 배출시키는 제2솔레노이드 밸브(OUTLET), 상기 유압 실린더에 공급되는 유체에 압력을 형성시키는 모터펌프(P), 회생제동시에 상기 제2솔레노이드 밸브(INLET)에 공급되는 유체의 압력을 조절하는 제3솔레노이드 밸브(SUC1,SUC2), 유체의 흐름을 차단시키는 제4솔레노이드 밸브(CUT OF) 및 유체의 압력을 검출하는 유압센서(P/V)를 포함하여 구성된다.As can be seen in Figure 2, during the regenerative braking according to the operation of the brake pedal (BLS) the first to supply the fluid corresponding to the hydraulic cylinder configured in each of the front wheel (FL / FR) and the rear wheel (RL / RR) Pressure is applied to the fluid supplied to the hydraulic cylinder, the second solenoid valve (OUTLET) for discharging the fluid supplied to the hydraulic cylinder composed of each of the solenoid valve (INLET), front wheel (FL / FR) and the rear wheel (RL / RR) The motor pump (P) to be formed, the third solenoid valve (SUC1, SUC2) for adjusting the pressure of the fluid supplied to the second solenoid valve (INLET) during regenerative braking, the fourth solenoid valve (CUT) to block the flow of the fluid OF) and a hydraulic pressure sensor P / V for detecting the pressure of the fluid.

도 3은 하이브리드 차량에서 회생제동 유압모드를 도시한 도면이다.3 is a diagram illustrating a regenerative braking hydraulic pressure mode in a hybrid vehicle.

도면에서 알 수 있는 바와 같이, 하이브리드 차량이 설정속도 이상으로 주행되는 상태에서 브레이크 페달을 작동이 발생되면 회생제동이 시작된다.As can be seen in the figure, regenerative braking is started when the brake pedal is operated in a state in which the hybrid vehicle is traveling at a set speed or more.

회생제동이 시작되면 회생 제동력을 제공하기 위하여 각 차륜의 유압 실린더에 공급된 유체를 배출시키는 강압(①)를 실행한다.When regenerative braking is started, the pressure (①) is executed to discharge the fluid supplied to the hydraulic cylinder of each wheel to provide the regenerative braking force.

이때의 압력조건은 전륜의 유압 실린더에 발생하는 압력이 목표압력을 초과하는 상태이며, 유체의 압력을 조절하는 솔레노이드 밸브의 작동에 의해 휠 압력의 감소가 발생한다.At this time, the pressure condition is that the pressure generated in the hydraulic cylinder of the front wheel exceeds the target pressure, the wheel pressure decreases by the operation of the solenoid valve for adjusting the pressure of the fluid.

상기와 같이 휠 압력이 감소되는 강압(①) 모드에서는 모터펌프는 정지 상태를 유지한다.In the step (1) mode in which the wheel pressure is reduced as described above, the motor pump maintains the stopped state.

상기한 강압(①)에 따라 전륜압력이 목표압력의 범위에 포함되면 유체의 압력을 조절하는 솔레노이드 밸브의 작동으로 휠 압력을 유지하여 현재의 압력으로 유지하고(③)한다.When the front wheel pressure is included in the target pressure range according to the above-mentioned pressure drop (①), the wheel pressure is maintained by the operation of the solenoid valve that controls the pressure of the fluid and maintained at the current pressure (③).

브레이크 페달의 작동 압력의 변화에 따라 마스터 압력이 증가하면 전륜압력이 목표압력 미만으로 형성되면 유체의 압력을 조절하는 솔레노이드 밸브의 작동으로 휠 압력을 증압(②)한다.When the master pressure increases according to the change of the operating pressure of the brake pedal, if the front wheel pressure is lower than the target pressure, the wheel pressure is increased by the operation of the solenoid valve that controls the pressure of the fluid.

그리고, 회생제동 차속이 회생제동 토크 감속 차속 미만이고 전륜압력이 목표압력 미만으로 형성되는 경우 모터펌프와 솔레노이드 밸브를 작동시켜 휠 압력을 급속하게 증압시키며(④), 차량이 정차함에 따라 회생제동이 종료되면 솔레노이드 밸브 및 펌프모터의 작동을 중지시켜 압력 제어를 종료한다(⑤).When the regenerative braking vehicle speed is less than the regenerative braking torque deceleration vehicle speed and the front wheel pressure is formed below the target pressure, the motor pressure and the solenoid valve are operated to rapidly increase the wheel pressure (④), and the regenerative braking is performed as the vehicle stops. When it is finished, stop the operation of solenoid valve and pump motor to end the pressure control (⑤).

상기한 절차에 대하여 정리하면 하기의 표 1과 같이 표현될 수 있다.The above procedure can be summarized as shown in Table 1 below.

Figure pat00001
Figure pat00001

그러나, 이와 같은 회생제동 제어방식은 회생제동이 종료되는 경우 솔레노이드 밸브 및 모터펌프의 동작을 동시에 중지시키고 있어 잔존하는 유체의 압력에 의해 작동 노이즈가 심하게 발생되는 문제점이 있다.However, the regenerative braking control system stops the operation of the solenoid valve and the motor pump at the same time when the regenerative braking is terminated, and thus there is a problem in that operation noise is severely generated by the pressure of the remaining fluid.

본 발명은 상기한 문제점을 해결하기 위하여 제안된 것으로서, 본 발명의 목적은 회생제동이 종료되는 경우 솔레노이드 밸브 및 펌프모터를 일정지연을 갖고 단계적으로 정지시켜 노이즈가 발생되지 않도록 하는데 있다.The present invention has been proposed to solve the above problems, and an object of the present invention is to stop the solenoid valve and the pump motor step by step with a certain delay so that noise is not generated when regenerative braking is terminated.

상기한 바와 같은 목적을 달성하기 위하여 본 발명의 일 실시예에 따르면, 하이브리드 차량이 회생제동 제어를 실행하는 상태에서 회생제동 제어 종료조건에 진입되는지 판단하는 과정; 회생제동 제어 종료조건에 진입되면 펌프모터 및 솔레노이드 밸브 듀티를 제어주기 마다 단계적으로 감소시키는 과정; 펌프모터 및 솔레노이드 밸브 듀티가 "0"으로 계산되면 회생제동 제어종료를 완료하는 과정을 포함하는 하이브리드 차량의 회생제동 제어방법을 제공한다.According to an embodiment of the present invention to achieve the above object, the process of determining whether the hybrid vehicle enters the regenerative braking control termination condition in the state of performing the regenerative braking control; Reducing the pump motor and solenoid valve duty step by step every control cycle when the regenerative braking control end condition is entered; When the pump motor and solenoid valve duty is calculated as "0", the regenerative braking control method of the hybrid vehicle including the process of completing the regenerative braking control termination is provided.

상기 회생제동 제어 종료조건은 정차 후 일정시간이 경과하였거나 회생제동 토크가 발생되지 않은 상태에서 일정시간이 경과한 조건으로 설정되는 것을 특징으로 하는 하이브리드 차량의 회생제동 제어방법을 제공한다.The regenerative braking control termination condition provides a regenerative braking control method for a hybrid vehicle, wherein the regenerative braking control end condition is set to a condition that a predetermined time has elapsed after a predetermined time has elapsed or no regenerative braking torque has been generated.

이와 같이 본 발명은 하이브리드의 차량이 회생제동 제어를 종료하는 시점에서 노이즈 발생을 최소화함으로써, 신뢰성을 제공하는 효과가 기대된다.As described above, the present invention is expected to have an effect of providing reliability by minimizing noise generation at the time when the hybrid vehicle terminates regenerative braking control.

도 1은 하이브리드 차량에 적용되는 회생제동 개념을 도시한 도면이다.
도 2는 하이브리드 차량에 적용되는 회생제동 브레이크 시스템의 일 실시예를 도시한 도면이다.
도 3은 하이브리드 차량에서 회생제동 유압모드를 도시한 도면이다.
도 4는 본 발명의 실시예에 따른 하이브리드 차량의 회생제동 제어절차를 도시한 흐름도이다.1 is a diagram illustrating a regenerative braking concept applied to a hybrid vehicle.
2 is a diagram illustrating an embodiment of a regenerative braking brake system applied to a hybrid vehicle.
3 is a diagram illustrating a regenerative braking hydraulic pressure mode in a hybrid vehicle.
4 is a flowchart illustrating a regenerative braking control procedure for a hybrid vehicle according to an exemplary embodiment of the present invention.

이하, 첨부된 도면을 참조하여 본 발명의 바람직한 실시예를 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자가 용이하게 실시할 수 있도록 상세하게 설명하면 다음과 같다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains can easily carry out the embodiments.

본 발명은 여러 가지 상이한 형태로 구현될 수 있으므로, 여기에서 설명하는 실시예에 한정되지 않으며, 도면에서 본 발명을 명확하게 설명하기 위하여 설명과 관계없는 부분은 생략하였다.The present invention can be embodied in various different forms, and thus the present invention is not limited to the embodiments described herein.

도 4은 본 발명의 실시예에 따른 하이브리드 차량의 회생제동 제어절차를 도시한 흐름도이다.4 is a flowchart illustrating a regenerative braking control procedure for a hybrid vehicle according to an exemplary embodiment of the present invention.

본 발명은 하이브리드 차량에서 회생제동이 종료될 때 실행되는 제어방법으로 브레이크 페달의 작동에 따라 회생제동을 실행하는 동작은 통상적인 방법과 동일 내지 유사하게 실행되므로, 이에 대한 구체적인 동작은 생략한다.The present invention is a control method performed when the regenerative braking is terminated in the hybrid vehicle, and the regenerative braking according to the operation of the brake pedal is performed in the same or similar manner to the conventional method, and thus a detailed operation thereof will be omitted.

본 발명이 적용되는 하이브리드 차량이 회생제동이 실행되는 상태에서 하이브리드 제어기는 차속과 회생제동토크를 검출하여(S101) 차속이 0KPH, 즉 차량의 정지로 검출되는지 판단한다(S102).In the state in which the hybrid vehicle to which the present invention is applied, the regenerative braking is performed, the hybrid controller detects the vehicle speed and the regenerative braking torque (S101) and determines whether the vehicle speed is detected as 0 KPH, that is, the stop of the vehicle (S102).

상기 S102에서 차량 정지로 검출되면 차속 제로 카운터를 1증가시키고(S103) 회생제동토크가 "0"로 검출되는지 판단한다(S104).If the vehicle stop is detected in S102, the vehicle speed zero counter is increased by one (S103), and it is determined whether the regenerative braking torque is detected as "0" (S104).

상기 S104에서 회생제동 토크가 "0"로 검출되면 회생제동 토크 제로 카운터를 1증가시킨다(S105).When the regenerative braking torque is detected as "0" in S104, the regenerative braking torque zero counter is increased by one (S105).

이후, 차속 제로 카운터가 설정된 기준횟수를 초과하였거나 회생제동 토크 제로 카운터가 설정된 기준횟수를 초과하였는지 판단한다(S106).Thereafter, it is determined whether the vehicle speed zero counter has exceeded the set reference number or the regenerative braking torque zero counter has exceeded the set reference number (S106).

상기 기준횟수는 회생제동의 종료를 판정하기 위한 기준횟수로 반복적인 실험을 통해 결정된다.The reference number of times is determined by an iterative experiment as a reference number for determining the end of the regenerative braking.

상기 S106에서 차속 제로 카운터가 설정된 기준횟수를 초과하였거나 회생제동 토크 제로 카운터가 설정된 기준횟수를 초과하였으면 회생제동이 종료된 것으로 판정하고, 제어해제 모듈의 동작을 온 시킨다(S107).If the vehicle speed zero counter exceeds the set reference number or the regenerative braking torque zero counter exceeds the set reference number in step S106, it is determined that the regenerative braking is completed and the operation of the control release module is turned on (S107).

이후, 회생제동 해제제어를 실행시키기 위하여 펌프모터 구동 듀티와 솔레노이브 밸브 구동 듀티를 계산한 다음(S108) 계산된 듀티로 펌프모터 및 솔레노이드 밸브를 작동시킨다(S109).Thereafter, the pump motor driving duty and the solenoid valve driving duty are calculated to execute the regenerative braking release control (S108), and the pump motor and the solenoid valve are operated with the calculated duty (S109).

상기 S108에서 계산되는 펌프모터 구동 듀티와 솔레노이드 밸브 구동 듀티는 단계적인 감소 듀티로 계산된다.The pump motor drive duty and the solenoid valve drive duty calculated in S108 are calculated as step reduction duty.

상기 단계적으로 감소되는 펌프모터 구동 듀티 혹은 솔레노이드 밸브 구동 듀티가 "0"으로 계산되었는지를 판단하여(S110), "0" 이상의 값이면 상기 S108의 과정으로 리턴되어 단계적인 감소 계산을 반복적으로 실행한다.It is determined whether the pump motor driving duty or solenoid valve driving duty that is gradually reduced is calculated as "0" (S110). If the value is "0" or more, the process returns to the process of S108 to repeatedly execute the stepwise reduction calculation. .

그러나, 펌프모터 구동 듀티 혹은 솔레노이드 밸브 구동 듀티가 "0"로 계산되면 회생제동 제어 해제를 완료한다(S111).However, when the pump motor driving duty or solenoid valve driving duty is calculated as "0", the regenerative braking control release is completed (S111).

이상에서 설명한 바와 같이 본 발명은 회생제동 제어 종료조건에 진입되면 제어주기 마다 솔레노이드 밸브 듀티 및 펌프모터의 듀티를 일정 양(%) 단계적으로 감소시켜 노이즈가 발생되지 않도록 한다.As described above, when the regenerative braking control end condition is entered, the duty of the solenoid valve duty and the pump motor is reduced in steps (%) step by step in order to prevent noise from occurring.

이상에서는 본 발명의 실시예에 대하여 설명하였으나, 본 발명의 사상은 본 명세서에 제시되는 실시 예에 제한되지 아니하며, 본 발명의 사상을 이해하는 당업자는 동일한 사상의 범위 내에서 구성요소의 부가, 변경, 추가, 삭제 등에 의해서 다른 실시 예를 용이하게 제안할 수 있을 것이나, 이 또한 본 발명의 사상범위 내에 포함된다고 할 것이다.While the present invention has been particularly shown and described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, , Additions, deletions, and so on, other embodiments may be easily suggested, but this is also included in the spirit of the present invention.

Claims (2)

하이브리드 차량이 회생제동 제어를 실행하는 상태에서 회생제동 제어 종료조건에 진입되는지 판단하는 과정;
회생제동 제어 종료조건에 진입되면 펌프모터 및 솔레노이드 밸브 듀티를 제어주기 마다 단계적으로 감소시키는 과정;
펌프모터 및 솔레노이드 밸브 듀티가 "0"으로 계산되면 회생제동 제어종료를 완료하는 과정;
을 포함하는 하이브리드 차량의 회생제동 제어방법.Determining whether the hybrid vehicle enters the regenerative braking control termination condition while the hybrid vehicle executes the regenerative braking control;
Reducing the pump motor and solenoid valve duty step by step every control cycle when the regenerative braking control end condition is entered;
Completing regenerative braking control when the pump motor and solenoid valve duty is calculated as "0";
Regenerative braking control method of a hybrid vehicle comprising a. 제1항에 있어서,
상기 회생제동 제어 종료조건은 정차 후 일정시간이 경과하였거나 회생제동 토크가 발생되지 않은 상태에서 일정시간이 경과한 조건으로 설정되는 것을 특징으로 하는 하이브리드 차량의 회생제동 제어방법.The method of claim 1,
The regenerative braking control method is a regenerative braking control method of a hybrid vehicle, characterized in that the predetermined time has elapsed after the stop or the regenerative braking torque does not occur.
KR1020100063137A 2010-06-30 2010-06-30 Method of regeneration controlling for hybrid vehicle KR101558345B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020100063137A KR101558345B1 (en) 2010-06-30 2010-06-30 Method of regeneration controlling for hybrid vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100063137A KR101558345B1 (en) 2010-06-30 2010-06-30 Method of regeneration controlling for hybrid vehicle

Publications (2)

Publication Number Publication Date
KR20120002318A true KR20120002318A (en) 2012-01-05
KR101558345B1 KR101558345B1 (en) 2015-10-07

Family

ID=45609757

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020100063137A KR101558345B1 (en) 2010-06-30 2010-06-30 Method of regeneration controlling for hybrid vehicle

Country Status (1)

Country Link
KR (1) KR101558345B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150117898A (en) * 2014-04-11 2015-10-21 주식회사 만도 Apparatus for controlling oil pressure in vehicle and method for controlling oil pressure thereof

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004345558A (en) 2003-05-23 2004-12-09 Calsonic Kansei Corp Servo motor control device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150117898A (en) * 2014-04-11 2015-10-21 주식회사 만도 Apparatus for controlling oil pressure in vehicle and method for controlling oil pressure thereof

Also Published As

Publication number Publication date
KR101558345B1 (en) 2015-10-07

Similar Documents

Publication Publication Date Title
KR101704176B1 (en) Brake control method for hybrid electric vehicle
CN104159775B (en) Brake control
CN102529925B (en) Braking force control system
US10272902B2 (en) Brake control device
JP5970953B2 (en) Brake control device for vehicle and brake control method for vehicle
US9233668B2 (en) Vehicle braking control device
US20110266106A1 (en) Brake control apparatus and brake control method
CN107487323B (en) Control method of electric vehicle cruise system
JP2013517987A (en) Brake system operating method and brake system for automobile
CN111907495B (en) Bypass energy storage device for electric control hydraulic braking system
US9669717B2 (en) Vehicle
CN103213575A (en) Relay valve control method and device in hill starting process and air braking system
KR101371898B1 (en) Brake system and method for brake controlling of hybrid vehicle
JP5781854B2 (en) Vehicle control device
JP2007276655A (en) Vehicular brake control device
KR20150071568A (en) System and method for autonomous emergency braking
JP2007276683A (en) Vehicular brake control device
JP6015170B2 (en) Brake control device for vehicle
KR101126243B1 (en) Apparatus and method for brake controlling of hybrid vehicle
KR20060091488A (en) System for distributing a regenerating brake force and an oil pressure brake force in hev and method thereof
JP2008100588A (en) Braking device
KR20120002318A (en) Method of regeneration controlling for hybrid vehicle
JP6036251B2 (en) Braking control device
JP2013133006A (en) Brake control device of vehicle
KR20190114213A (en) Braking apparatus and braking control method of vehicle

Legal Events

Date Code Title Description
A201 Request for examination
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20180928

Year of fee payment: 4