WO2023180884A1 - Procédé et système d'application de couple de rotation à un véhicule - Google Patents

Procédé et système d'application de couple de rotation à un véhicule Download PDF

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Publication number
WO2023180884A1
WO2023180884A1 PCT/IB2023/052606 IB2023052606W WO2023180884A1 WO 2023180884 A1 WO2023180884 A1 WO 2023180884A1 IB 2023052606 W IB2023052606 W IB 2023052606W WO 2023180884 A1 WO2023180884 A1 WO 2023180884A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
brake
controller
battery
braking
Prior art date
Application number
PCT/IB2023/052606
Other languages
English (en)
Inventor
Ran Dekel
Original Assignee
Ree Automotive Ltd.
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 Ree Automotive Ltd. filed Critical Ree Automotive Ltd.
Publication of WO2023180884A1 publication Critical patent/WO2023180884A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/15—Preventing overcharging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/545—Temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/62—Vehicle position
    • B60L2240/622—Vehicle position by satellite navigation
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems

Definitions

  • the present invention relates to methods and systems of regulating a wheel rotation torque of a vehicle, and particularly to methods and systems for applying a rotation torque to a vehicle wheel using reverse excitation of a drive motor of the vehicle.
  • frictional brakes were the means used to slow vehicles, typically by the driver pressing a brake-pedal to engage the frictional brakes.
  • Use of frictional brakes typically causes wear of the brake pads, requiring that they be periodically replaced.
  • the wear of the frictional brakes also causes the formation of dust from the brakes or brake pads, which dust pollutes the environment.
  • regenerative braking which is an energy recovery mechanism
  • the vehicle is slowed down by converting its kinetic energy to electricity, that can be stored in the vehicle ’ s battery.
  • the electric motor of the vehicle functions as an electric generator, generating electricity to be stored in the battery.
  • Regenerative braking has several deficiencies. First, regenerative braking is often not sufficient to safely bring a vehicle to a complete standstill, or to prevent a stationary vehicle from rolling down a hill. As such, regenerative braking is typically used in conjunction with frictional braking. Additionally, regenerative braking systems must be associated with a motor.
  • Some embodiments of the invention relate to methods and systems for braking of a vehicle using reverse excitation of a drive motor of the vehicle.
  • a method for regulating wheel rotation torque of at least one wheel assembly of a vehicle including (i) an electric drive system including a drive motor, (ii) a battery, (iii) the at least one wheel assembly, (iv) a controller, and (v) a braking system associated the at least one wheel assembly, the braking system including a frictional brake assembly, a regenerative braking subsystem, and a reverse -excitation braking subsystem, the braking system being functionally associated with the electric drive system
  • the method including: a. computing, by the controller, a brake-operation function for the braking system, based on a charge level of the vehicle battery; and b.
  • a controller for control of a braking system of a vehicle the braking system being functionally associated with at least one wheel assembly of the vehicle and including (i) a frictional brake assembly, (ii) a regenerative braking subsystem, and (iii) a reverse -excitation braking subsystem
  • the vehicle further including (I) an electric drive system including a drive motor, functionally associated with the braking system, and (II) a battery
  • the controller including: a. one or more processors; and b. a non-transitory computer readable storage medium for instructions execution by the one or more processors, the non-transitory computer readable storage medium having stored: i.
  • a system for regulation rotation torque of at least one wheel assembly of a vehicle including an electric drive system including a drive motor, and a battery
  • the system including: a. a braking system, including: i. a frictional braking assembly; ii. a regenerative braking subsystem, functionally associated with the electric drive motor and with the battery, the regenerative braking subsystem adapted, in an operational mode, to store charge in the battery while reducing rotation speed of the wheel forming part of the at least one wheel assembly; and iii.
  • a reverse-excitation braking subsystem functionally associated with the electric drive motor and with the battery, the reverse-excitation braking system adapted, in an operation mode, to draw electrical current from the battery and to generate reverse torque of the electric drive motor, thereby to both (i) apply a resistive torque to the wheel forming part of the at least one wheel assembly and (ii) deplete the vehicle battery according to the amount of electric current drawn therefrom; and b. a controller, functionally associated with the braking system, the controller adapted to: i .
  • a brake-operation function for the braking system, based on a charge level of the battery, such that within the brake-operation function, assignment of the regenerative braking subsystem or of the reverse -excitation subsystem is determined at least on a charge level of the battery; and ii. in response to receipt of a brake input, operate the braking system in accordance with the brake -operation function.
  • vehicle including: a. at least one motion assembly; b. an electric drive system including a drive motor; c. a batery; d. a braking system, including: i. a frictional braking assembly; ii. a regenerative braking subsystem, functionally associated with the electric drive motor and with the batery, the regenerative braking subsystem adapted, in an operational mode, to store charge in the batery while reducing rotation speed of a motion element of the at least one motion assembly; and iii.
  • a reverse-excitation braking subsystem functionally associated with the electric drive motor and with the batery, the reverse-excitation braking system adapted, in an operation mode, to draw electrical current from the batery and to generate reverse torque of the electric drive motor, thereby to both (i) apply a resistive torque to a motion element of the at least one motion assembly and (ii) deplete the vehicle batery according to the amount of electric current drawn therefrom;
  • a controller functionally associated with the frictional braking assembly, the regenerative braking assembly, and the reverse excitation braking assembly, the controller adapted to: i.
  • a brake-operation function for the braking system, based on a charge level of the batery, such that within the brake-operation function, assignment of the regenerative braking subsystem or of the reverse -excitation subsystem is determined at least on a charge level of the batery; and ii. in response to receipt of a brake input, operate the braking system in accordance with the brake -operation function.
  • Fig. 1 is a schematic block diagrams of implementations a system for slowing motion of a vehicle according to an embodiment of the disclosed technology
  • Figs. 2A and 2B are schematic block diagrams of implementations of a system for slowing motion of a vehicle using Vehicle Comer Modules (VCMs) according to additional embodiments of the disclosed technology
  • VCMs Vehicle Comer Modules
  • Fig. 3 is a flow chart of a method of decelerating motion of a vehicle according to embodiments of the disclosed technology.
  • the invention in some embodiments, relates to methods and systems for controlling the wheel torque of a vehicle using reverse excitation of a motor of the vehicle.
  • a system and a method for regulating wheel rotation torque of at least one wheel assembly of a vehicle includes (i) an electric drive system including a drive motor, (ii) a battery, (iii) the at least one wheel assembly, (iv) a controller, and (v) a braking system associated the at least one wheel assembly.
  • the braking system including a frictional brake assembly, a regenerative braking subsystem, and a reverse -excitation braking subsystem, the braking system being functionally associated with the electric drive system.
  • the method includes computing, by the controller, a brake-operation function for the braking system, based on a charge level of the vehicle battery.
  • the braking system In response to receipt of a brake input, the braking system is operated in accordance with the brake-operation function.
  • electrical current drawn from the vehicle battery generates reverse torque of the drive system motor to both (i) apply a resistive torque to a wheel forming part of the at least one wheel assembly and (ii) deplete the vehicle battery according to the amount of electric current drawn therefrom.
  • charge is stored in the vehicle battery while reducing rotation speed of the wheel forming part of the at least one wheel assembly.
  • operation of the regenerative braking subsystem or of the reverseexcitation subsystem is determined based at least on the charge level of the battery.
  • brake input is taken as including any input signal provided to a braking system to indicate that the torque of one or more wheels of the vehicles must be controlled. For example, applying a wheel rotation resisting torque in order to decelerate the vehicle or to engage a vehicle control system such as an antilock braking system (ABS), or increasing a wheel rotation by a rotation torque for electronic stability control (ESC).
  • ABS antilock braking system
  • ESC electronic stability control
  • the brake input may be received from a human user, or may be or include an electrical impulse provided from a controller, for example based on a suitable algorithm or based on an input the controller received from a sensor.
  • a “vehicle comer module” or “VCM” as used herein means an assembly for supporting a wheel of a vehicle and regulating the motion of a vehicle according to any of the embodiments disclosed herein.
  • the VCM assembly includes components such as (and not exhaustively): steering systems, suspension systems, braking systems including hydraulic subsystems, gearing assemblies, drive motors, drive shafts, wheel hub assemblies, thermal subsystems, controllers, communications arrangements, and electrical wiring.
  • a VCM can include a wheel and tire.
  • a VCM can be mounted to a ‘reference frame’ of a vehicle, e.g., a chassis or similar vehicle frame or a platform.
  • a VCM When a VCM is described as being installed in/on a vehicle, then the VCM is mounted to the reference frame.
  • a VCM may include a ‘sub-frame’ to which some or all of the VCM components are mounted or otherwise attached. In some cases, the sub-frame mediates between the reference frame and the various VCM components.
  • sub-frame should be understood to mean any rigid frame or one or more structural elements in fixed combination.
  • the ‘sub’ prefix is intended to distinguish the sub-frame from a main frame or reference frame of the vehicle.
  • a VCM may or may not include one or more electric motors and/or the wheel itself (and tire).
  • vehicle When used in this specification and in the claims appended hereto, the word “vehicle” is to be understood as referring to a vehicle having one or more wheels.
  • a vehicle according to this definition, are a vehicle with motive power provided by an onboard engine, and an ‘electric vehicle’ powered, when in motion, by one or more electric motors and a battery or other energy storage device onboard.
  • the battery need not be provided with the vehicle, or installed in the vehicle, unless and until the vehicle is in motion.
  • vehicle should also be understood as encompassing a “vehicle platform” comprising at least a chassis (or other ‘reference frame’ to which VCMs can be mounted) and one or more wheels.
  • a ‘vehicle platform’ need not necessarily comprise, at the time of providing the vehicle platform, all of the accoutrements required for transport of passengers and/or cargo such as vehicle-body components or interior furnishings.
  • controller means a computing device configured for monitoring, controlling, regulating and/or actuating one or more components, systems or subsystems.
  • a controller should be understood to include any or all of (and not exhaustively): one or more processors, one or more computer-readable media, e.g., transient and/or non-transient storage media, communications arrangements, a power source and/or a connection to a power source, and firmware and/or software.
  • the term means a controller for controlling the vehicle and/or components and/or subsystems of the vehicle, a controller for controlling a brake system and/or components and/or subsystems of the brake system, or a controller for controlling the VCM and/or components and/or subsystems of the VCM, respectively.
  • a controller is installed in or on the controlled element (vehicle, brake system, VCM, etc.) while a “control unit” is like a controller but is not installed in or on the controlled element.
  • a brake-controller is located in or on the brake system, while a brake control unit is not, and may be located elsewhere on the vehicle, e.g., on the chassis unit.
  • Controllers can be programmed in advance, e.g., by having program instructions stored in the computer-readable media for execution by one of more processors of the controller.
  • a controller ‘configured’ to perform a function is equivalent herein to the controller being programmed, i.e., having access to stored program instructions for execution, to perform the function.
  • Figure 1 is a schematic block diagram of systems for slowing motion of a vehicle according to embodiments of the disclosed technology.
  • a vehicle 10 which typically includes a vehicle platform 11, or chassis, and a vehicle capsule, includes an electric drive system 12, which includes an electric drive motor 14.
  • Electric drive system 12 is functionally associated with one or more electric batteries 16, which power the electric drive system, and with a vehicle-controller 18.
  • vehicle 10 further includes a plurality of wheel assemblies, here shown as four wheel assemblies 20a, 20b, 20c, and 20d. At least one of the wheel assemblies is functionally associated with a braking system 22. In other embodiments, the vehicle may have a different type of motion assembly, such as one or more track assemblies, each including a track rotating on a plurality of wheels, associated with the braking system.
  • Braking system 22 includes a frictional brake assembly 24, a regenerative braking subsystem 26, and a reverse -excitation braking subsystem 28. Regenerative braking subsystem 26 and reverse-excitation braking subsystem 28 are functionally associated also with drive motor 14 and with battery(ies) 16.
  • Braking system 22 may further include a brake-controller 29, adapted to control operation of frictional brake assembly 24, regenerative braking subsystem 26, and/or reverse -excitation braking subsystem 28.
  • brake -controller 29 is functionally associated with vehicle-controller 18, and is adapted to receive input from the vehicle controller.
  • more than one wheel assembly is associated with braking system 22, in which case each wheel assembly may be associated with a dedicated frictional brake assembly 24.
  • a steering system 30 is associated with at least one of wheel assemblies 20a, 20b, 20c, and 20d.
  • vehicle-controller 18 may be functionally associated with a user operated brake input device 32, such as a brake pedal or button.
  • a user operated brake input device 32 When operated by a human operator of the vehicle, the brake input device 32 provides input to vehicle-controller 18 indicating that it is necessary to decelerate, or completely stop, motion of the vehicle.
  • the vehicle-controller 18 may generate a brake input based on a an input it receives from a suitable sensor or sensing system, or based on algorithmic computations. This is particularly the case when vehicle 10 is a self-driving vehicle.
  • vehicle-controller 18 may be functionally associated with one or more sensors or sensing assemblies 34, which sense characteristics and parameters of the vehicle and/or of the vicinity of the vehicle.
  • sensor(s) 34 may provide to the controller a brake input or another input indicative of a brake input being required.
  • Sensors 34 may include environment sensors which provide input relating to conditions in the environment of the vehicle, such as temperature sensors, moisture sensors, and the like, which may provide to vehicle-controller 18 information relating to the conditions of the road on which the vehicle is travelling.
  • environment sensors which provide input relating to conditions in the environment of the vehicle, such as temperature sensors, moisture sensors, and the like, which may provide to vehicle-controller 18 information relating to the conditions of the road on which the vehicle is travelling.
  • Sensors 34 may include imaging or image capturing sensors, such as cameras, radar, lidar, and the like. Such imaging or image capturing sensors may provide to vehicle-controller 18 input relating to objects in the vicinity of the vehicle, such as the presence of obstacles or another vehicle.
  • Sensors 34 may include proximity sensors, which provide to vehicle-controller 18 input relating to the proximity of vehicle 10 to another object, such as another vehicle or an obstacle.
  • Sensors 34 may include a location system receiver, such as a receiver for signals of GPS, GLONASS, GALILEO, and the like, which provide to vehicle-controller 18 input relating to the location, on the globe, of vehicle 10, and/or information relating to the route to be taken by vehicle 10 and the terrain conditions along that route.
  • a location system receiver such as a receiver for signals of GPS, GLONASS, GALILEO, and the like, which provide to vehicle-controller 18 input relating to the location, on the globe, of vehicle 10, and/or information relating to the route to be taken by vehicle 10 and the terrain conditions along that route.
  • Sensors 34 may include sensors relating to conditions within the vehicle platform. These may include:
  • a pressure sensor providing input relating to pressure in the vehicle, such as tire pressure
  • a temperature sensor providing input relating to temperatures of vehicle components, such as temperatures of the motor, the battery, the braking assembly, and the like;
  • a battery-charge sensor providing input relating to the degree to which battery 16 is charged or rate of charging/dis-charging
  • drive system 12 may include any or all of the mechanical and/or electrical components required for actuating a drive shaft to rotate one or more of wheel assemblies 20, including, and not exhaustively: electric drive motor 14, and a transmission assembly to transmit the rotation of motor 14 to one or more of wheel assemblies 20 including, optionally, a single-gear or multi-gear transmission, as well as sensors such as a wheel speed sensor (in a non-limiting example, a rotary encoder).
  • drive system 12 is functionally associated with front wheel assemblies 20a and 20b of vehicle 10, such that the vehicle of Figure 1 is a front-wheel drive vehicle.
  • the drive system may be functionally associated with rear wheel assemblies of the vehicle 10, rendering the vehicle a rear-wheel drive vehicle. In other embodiments, the drive system may be functionally associated with all four-wheel assemblies of the vehicle 10, rendering the vehicle a four-wheel drive vehicle.
  • vehicle-controller 18 and/or brake -controller 29 is adapted to regulate an output of motor 14 and/or a rotational velocity of wheel(s) 20 and/or a selection of a transmission gear, in response to instructions received via electrical inputs, e.g., from a driver-operated drive mechanism (e.g. an accelerator pedal) or an autonomous driving unit.
  • brake -controller 29 receives inputs from vehicle -controller 18, for regulating output of motor 14 and/or rotational velocity of the wheel(s).
  • drive system 12 is adapted to cooperate with braking system 22.
  • Drive system 12 may be used in a regenerative braking function, in cooperation with regenerative braking subsystem 26, and/or in a reverse-excitation braking function, in cooperation with reverse -excitation braking subsystem 28.
  • the regenerative braking and/or the reverse-excitation braking may be boosted by friction braking using frictional braking assembly 24, as explained in further detail hereinbelow.
  • a single controller is configured (e.g., programmed) to control multiple systems of vehicle 10 in cooperation with each other.
  • vehicle-controller 18 may control operation of steering system 30 and of braking system 22, possibly by providing instructions to brake-controller 29.
  • brake-controller 29 may be associated with steering system 30.
  • steering system 30 can be used to assist in braking, i.e., in cooperation with braking system 22, for example by turning the wheels so as to increase friction with a roadway, whether by steering symmetrically by having the opposing wheels turn in the same direction in tandem (e.g. toe-in or toe-out), or asymmetrically where the opposing wheels do not turn in tandem.
  • the controller controls steering system 30 in concert with braking system 22 to mitigate the effect of brake pull caused by steering, a phenomenon also known as ‘brake steer’ or ‘steering drift’.
  • the controller controls, in concert, drive system 12, braking system 22, and steering system 30, to achieve a desired braking effect.
  • Steering system 30 may include any or all of the mechanical and/or electrical components required for steering, i.e., pivoting the wheel(s) of the vehicle around a steering axis, including, and not exhaustively: a steering actuator, steering rods, steering system controller or control unit, steering inverter and wheel-angle sensor. Steering system 30 may control steering of the front wheels, the rear wheels, or all four wheels.
  • vehicle-controller 18 receives steering instructions as electrical (including electronic) inputs from the vehicle, e.g., from a driver-operated steering mechanism or an autonomous steering unit, and carries out the instructions by causing, responsively to the received instructions, the motion of a steering rod, e.g., via a steering actuator, to effect the turning of the wheel(s), for example, by regulating a current and voltage transmitted to the steering actuator and/or transmitting high-level instructions to a steering-system controller.
  • steering instructions as electrical (including electronic) inputs from the vehicle, e.g., from a driver-operated steering mechanism or an autonomous steering unit, and carries out the instructions by causing, responsively to the received instructions, the motion of a steering rod, e.g., via a steering actuator, to effect the turning of the wheel(s), for example, by regulating a current and voltage transmitted to the steering actuator and/or transmitting high-level instructions to a steering-system controller.
  • Braking system 22 may include any or all of the mechanical and electrical components for actuating frictional brake assembly 24 (e.g., brake disk, brake caliper, etc.) including, optionally, one or more of a brake fluid pump, and a brake fluid source. Braking system 22 further includes all of the mechanical and/or electrical components for actuating regenerative braking subsystem 26, and reverse-excitation braking subsystem 28. Braking system 22 may control the front wheels, the rear wheels, or all the wheels.
  • frictional brake assembly 24 e.g., brake disk, brake caliper, etc.
  • Braking system 22 further includes all of the mechanical and/or electrical components for actuating regenerative braking subsystem 26, and reverse-excitation braking subsystem 28. Braking system 22 may control the front wheels, the rear wheels, or all the wheels.
  • vehicle-controller 18 and/or brake-controller 29 are configured to regulate deceleration of the vehicle and operation of frictional brake assembly 24, regenerative braking subsystem 26, and reverse-excitation braking subsystem 28, in response to a brake input received, typically electrically, from the vehicle, e.g., from a driver-operated braking mechanism (e.g. a brake pedal) or from an autonomous braking unit.
  • a brake input received typically electrically, from the vehicle, e.g., from a driver-operated braking mechanism (e.g. a brake pedal) or from an autonomous braking unit.
  • regenerative braking subsystem 26 is adapted to use electric drive motor 14 as a generator, storing charge generated by the motor in battery(ies) 16 while reducing a rotation speed of a wheel of the vehicle.
  • regenerative braking is only useful when it is possible to store more charge in battery 16, i.e. the battery is not full.
  • reverse-excitation braking subsystem 28 is adapted to use electrical current drawn from battery(ies) 16 to generate reverse torque of electric drive motor 14.
  • the reverse torque may accomplish two goals: (i) applying a resistance torque to the wheel of the vehicle 10; and (ii) depleting the vehicle battery at least according to the amount of electric current drawn from the battery. In this manner, the battery is depleted, or less full than prior to use of reverse-excitation braking, and thus enables additional use of regenerative braking.
  • the reverse torque of electric drive motor 14 is for applying rotation torque to the wheel of the vehicle, for example for the purpose of stability control. Such application of torque may accelerate or decelerate the rotation rate of the wheel.
  • Figs. 2A and 2B are schematic block diagrams of implementations of a system for slowing motion of a vehicle using Vehicle Comer Modules (VCMs) according to additional embodiments of the disclosed technology.
  • VCMs Vehicle Comer Modules
  • a vehicle 110 includes a vehicle platform, which is adapted to have a vehicle capsule mounted thereon.
  • the vehicle includes a vehicle reference-frame 111, having four VCM-connection interfaces 144 adapted for connection to VCMs.
  • all four VCM-connection interfaces 144 are identical to one another.
  • a single reference-frame may include multiple different types of VCM- connection interfaces, for example for connection to different types of VCMs.
  • Vehicle platform 110 may include one or more electronic subsystems mounted onto reference frame 111.
  • the electronic subsystems may include power supply, or batteries, 116 of the vehicle, a control circuit of the vehicle, a vehicle-controller 118, a network bus of the vehicle, a network interface of the vehicle, a brake input source 132, and one or more sensors or sensing mechanisms 134 of the vehicle.
  • Vehicle-controller 118 may be functionally associated with the brake input source 132 and the sensor(s) 134.
  • VCM 150 for regulating motion of the vehicle, is connectable to reference frame 111.
  • VCM 150 includes a sub-frame 152, including a vehicleconnection interface 154 adapted for reversible mechanical connection to VCM-connection interface 144 of reference frame 111.
  • VCM 150 further includes a wheel assembly 120 including a wheel-hub assembly 156, adapted to have a wheel mounted thereon.
  • Sub-frame 152 has mounted thereon one or more subsystems of the vehicle, each comprising mechanical and/or electrical components. The subsystems may also be attached to wheel-hub assembly 156.
  • VCM 150 may include a drive system 112 including a drive motor 114, a steering system 130, a suspension system 136, and/or braking system 122.
  • braking system 122 may include a frictional brake assembly 124, a regenerative brake subsystem 126, a reverse -excitation subsystem 128, and a brake-controller 129.
  • drive system 112 is functionally associated with battery(ies) 116 and with controller 118.
  • braking systems 122 of the VCMs, and specifically regenerative braking subsystem(s) 126, and reverse-excitation braking subsystem(s) 128 are functionally associated with drive motor 114 and with battery(ies) 116.
  • Braking systems 122, and specifically brakecontrollers 129 are, or may be, functionally associated with vehicle-controller 118, either directly or indirectly.
  • each VCM 150 may include a VCM-controller 160, which may be mounted on sub-frame 152.
  • vehicle-controller 118 is functionally associated with each VCM-controller 160
  • the VCM- controller is functionally associated with components of the VCM, such as braking system 122, steering system 130, and drive system 112.
  • the VCM-controller 160 provides control input to brake-controller 129, and may be a proxy between vehicle-controller 118 and brake-controller 129.
  • VCM 150 may include a dedicated battery 166, instead of, or in addition to, batteries 116 mounted onto reference-frame 111.
  • vehicle-controller 118, brake-controllers 129, and/or VCM- controllers 160 are configured to regulate wheel rotation torque of wheel(s) 120, for example for deceleration of the vehicle.
  • the controller regulate operation of frictional brake assemblies 124, regenerative braking subsystems 126, and reverse -excitation braking subsystems 128, in response to a received brake input.
  • the brake input may be received electrically, e.g., from a driver-operated braking mechanism (e.g. a brake pedal) or from a sensor or autonomous braking unit.
  • the logic for regulating operation of the components of braking systems 122 is described hereinbelow.
  • Figure 3 is a flow chart of a method of decelerating motion of a vehicle according to embodiments of the disclosed technology.
  • the following discussion relates to a single battery of the vehicle, but is equally applicable to multiple batteries.
  • step S300 one or more controllers compute a brake-operation function for the braking system, at least based on a charge level of the battery.
  • this step may be carried out by, or also by, vehicle-controller 18 or 118, with respect to battery 16 or 116 and to braking system 22 or 122.
  • this step maybe carried out by, or also by, VCM-controller 160, with respect to battery 166 and braking system 22 or 122.
  • this step may be carried out by, or also by, brake-controller 29 or 129, for example in response to an input received from vehiclecontroller 18 or 118.
  • the controller computing the function determines whether to use the regenerative braking subsystem (26, 126), the reverse-excitation braking subsystem (28, 128), or both, based on the charge level of the battery (16, 116, or 166).
  • the computation defines that when the charge level of the battery is equal to or greater than a threshold, the brake-operation function assigns use of the reverseexcitation braking subsystem, for example in order to deplete the battery and allow for additional regenerative braking.
  • the threshold for use of the reverse-excitation braking subsystem is a battery charge level of more than 90%, more than 92%, or more than 95%.
  • the computation at step S300 is carried out so as to reduce, or even minimize, use of frictional brake assembly 124, wear of the frictional brake assembly, and/or emissions or heat emanating from the frictional brake assembly during frictional braking.
  • the computation at step S300 occurs in response to receipt of a brake input, for example at a previous step S302.
  • the computation at step S300 is predictive, and occurs prior to receipt of the brake input.
  • the brake input is received at step S304, following the computation at step S300.
  • the computation at step S300 is carried out, or updated, periodically, irrespective of brake inputs.
  • the controller is functionally associated with a location system, such as GPS, which may function as one of sensors 34 or 134.
  • the computation at step S300 is predictive, and is further based on an expected route of travel of the vehicle. For example, if battery 16 is nearly full, e.g. 95% full, and the vehicle is about to go down a long hill during which regenerative braking would be beneficial, the controller may determine that the brake -operation function should activate the reverse-excitation braking subsystem 128 when decelerating the vehicle. In this manner, the vehicle will reach the down-hill stretch with the battery depleted, and will be able to use regenerative braking subsystem 126 during the down-hill drive, rather than engaging the frictional brake assembly 124.
  • the controller is functionally associated with one or more sensors (34, 134), which provide to the controller information about an aspect of the vehicle, or of the environment surrounding the vehicle.
  • the computation at step S300 may be further based on input received from the sensor(s) relating to the environment conditions in the vicinity of the vehicle, or to characteristics of the vehicle. For example, in icy road conditions, regenerative braking and reverse-excitation braking are safer than frictional braking.
  • the controller may determine that the brake -operation function should try to avoid any form of frictional braking, and would activate regenerative braking subsystem 126 or reverse-excitation braking subsystem 128 when decelerating the vehicle.
  • the controller may determine that the brake-operation function should avoid use of reverse -excitation braking subsystem 128 when decelerating the vehicle, because reverseexcitation braking releases a lot of heat into the vehicle systems.
  • the brake-operation function may be computed for each of the multiple wheel assemblies.
  • the same brake operations are assigned to all the wheel assemblies associated with the braking system.
  • the multiple wheel assemblies may be two front wheel assemblies. In some embodiments, the multiple wheel assemblies may be two rear wheel assemblies. In some embodiments, the multiple wheel assemblies may be two side wheel assemblies. In some embodiments, the multiple wheel assemblies may be all the wheel assemblies of the vehicle.
  • the computing of the brake-operation function includes computing a single brake -operation function, and within that single brake-operation function, instructing the braking system to operate in a first mode of operation, or to use a first subsystem, with respect to a first wheel assembly (20a) and to operate in a second mode of operation, or to use a second subsystem, with respect to a second wheel assembly (20b).
  • the first and second modes of operation are different modes of operation, both selected from the group consisting of reverse-excitation braking, regenerative braking, frictional braking, and braking by steering (i.e. by applying a slip angle to a tire and using the resulting drag to decelerate the vehicle).
  • the computing of the brake-operation function includes computing a dedicated brake-operation function for each wheel assembly associated with the braking system.
  • the multiple computed brake -operation functions need not include, or apply, the same braking mode of operation, or use the same braking subsystem.
  • computing of the brake-operation function includes, in the brakeoperation function, instructing the braking system to work in a mixed mode of operation.
  • the mixed mode of operation includes a first, non-zero proportion, at which the braking system is to decelerate the vehicle by using a first mode of operation, which uses the reverse-excitation braking subsystem or the regenerative braking subsystem.
  • the mixed mode of operation includes a second, non-zero proportion, at which the braking system is to decelerate the vehicle by using a second mode of operation, different from the first mode of operation.
  • the two modes of operation are to be applied to the same wheel assembly.
  • the second mode of operation may be selected from regenerative braking, reverseexcitation braking, frictional braking, or braking by steering.
  • the use of two different modes of operation, and/or the specific proportions for each of the modes of operation, may be determined based on characteristics of the vehicle, such as heating of systems of the vehicle (e.g. motor, battery, or the frictional brake assembly), a rate of charge of the battery, a quantity of braking force required, the expected current draw from the battery, a rate of rotation of the wheel assembly, a rate of rotation of the drive motor, and a velocity of the vehicle.
  • systems of the vehicle e.g. motor, battery, or the frictional brake assembly
  • the braking system is operated in accordance with the brake-operation function computed at step S300.
  • Operation of the braking system in accordance with the brake-operation function may include operation of the regenerative braking subsystem, and/or operation of the reverse-excitation braking subsystem.
  • the electric drive motor 14, 114
  • the electric drive motor is used as a generator, storing charge generated by the motor in the battery, while decelerating at least one wheel. This can apply deceleration to the vehicle, or help stabilize the vehicle.
  • electrical current drawn from the battery is used to generate reverse torque of electric drive motor 14.
  • the battery is depleted, or is less full than prior to use of reverse -excitation braking, and thus enables additional use of regenerative braking.
  • some of the electrical current drawn from the battery is released as heat, or in other ways, in order to deplete the battery.
  • the computed brake-operation function may provide added benefits, in addition to reducing use of frictional brakes and emissions therefrom.
  • heat released by reverse-excitation braking can be used to precondition the battery of the vehicle, to ensure that the battery is at the appropriate temperature for rapid charging using regenerative braking.
  • the ordered combination of reverse-excitation braking and regenerative braking is advantageous over use of one of these braking modes of operation on its own.
  • the heat released from reverse-excitation braking can be used to heat various systems of the vehicle, such as heating the cabin, rapid defrosting of ice on the window panes, and the like.
  • reverse-excitation braking subsystem is for applying rotation torque to at least one wheel of the vehicle (10, 110) for rotating in reverse direction to stabilize the vehicle.
  • Such application of torque may accelerate or decelerate the rotation rate of the wheel.
  • Example 1 A method for regulating wheel rotation torque of at least one wheel assembly of a vehicle, the vehicle including (i) an electric drive system including a drive motor, (ii) a battery, (iii) the at least one wheel assembly, (iv) a controller, and (v) a braking system associated the at least one wheel assembly, the braking system including a frictional brake assembly, a regenerative braking subsystem, and a reverse-excitation braking subsystem, the braking system being functionally associated with the electric drive system, the method including: a. computing, by the controller, a brake-operation function for the braking system, based on a charge level of the vehicle battery; and b.
  • Example 2 The method of example 1, wherein the controller includes a brake-controller forming part of the braking system, and the computing of the brake-operation function is carried out by the brake -controller.
  • Example 3 The method of example 1 or example 2, wherein the controller includes a vehiclecontroller, and the computing of the brake-operation function is carried out by the vehiclecontroller.
  • Example 4 The method of any one of examples 1 to 3, wherein the computing of the brakeoperation function includes, when a charge level of the vehicle battery is equal to or greater than a threshold, operating the reverse -excitation braking system.
  • Example 5 The method of any one of examples 1 to 4, wherein the computing of the brakeoperation function includes predictively computing the brake-operation function, prior to the receipt of the brake input.
  • Example 6 The method of any one of examples 1 to 5, wherein the computing includes periodically updating the brake-operation function.
  • Example 7 The method of any one of examples 1 to 4, wherein the computing is in response to the receipt of the brake input.
  • Example 8 The method of any one of examples 1 to 7, wherein the controller is functionally associated with a location system receiver, and the computing of the brake-operation function is also based on an expected route of travel of the vehicle.
  • Example 9 The method of any one of examples 1 to 8, wherein the controller is functionally associated with at least one sensor providing to the controller inputs relating to at least one condition within the vehicle or in the vicinity of the vehicle, and the computing of the brake - operation function is also based on the inputs received from the at least one sensor.
  • Example 10 The method of any one of examples 1 to 9, wherein the computing of the brakeoperation function includes computing the brake -operation function to reduce at least one of wear of the frictional brake assembly, brake emissions, or heat generated by use of the frictional brake assembly.
  • Example 11 The method of any one of examples 1 to 10, the vehicle further including at least two wheel assemblies functionally associated with the braking system, and wherein the computing of the brake-operation function includes, in the brake -operation function, instructing the braking system to operate in a first mode of operation with respect to a first of the at last two wheel assemblies and to operate in a second mode of operation with respect to a second of the at least two wheel assemblies.
  • Example 12 The method of example 11, wherein the vehicle includes a steering system functionally associated with the controller, the wheel assembly, and the braking system, and wherein the first and second modes of operation are different modes of operation, both selected from the group consisting of reverse -excitation braking, regenerative braking, frictional braking, and brake by steering.
  • Example 13 The method of example 11 or example 12, wherein the computing of the brakeoperation function includes computing a separate brake-operation function for each of the at least two wheel assemblies.
  • Example 14 The method of example 11 or example 12, wherein the computing of the brakeoperation function includes computing a single brake-operation function governing operation the braking system with respect to all of the at least two wheel assemblies.
  • Example 15 The method of any one of examples 1 to 14, wherein the computing of the brakeoperation function includes, in the brake-operation function, instructing the braking system to work in a mixed mode of operation, the mixed mode of operation including a first, non-zero proportion at which the braking system is to operate the reverse-excitation braking subsystem or the regenerative braking subsystem, and a second proportion at which the braking system is to operate in a second mode of operation to be applied to the at least one wheel assembly, the second mode of operation being different from the first mode of operation.
  • the computing of the brakeoperation function includes, in the brake-operation function, instructing the braking system to work in a mixed mode of operation, the mixed mode of operation including a first, non-zero proportion at which the braking system is to operate the reverse-excitation braking subsystem or the regenerative braking subsystem, and a second proportion at which the braking system is to operate in a second mode of operation to be applied to the at least one wheel assembly, the second mode of operation being different from the first
  • Example 16 The method of example 15, wherein the vehicle includes a steering system functionally associated with the controller, the wheel assembly, and the braking system, and wherein the second mode of operation is selected from the group consisting of: reverse-excitation braking, regenerative braking, frictional braking, and brake by steering.
  • Example 17 The method of example 15 or example 16, wherein the first proportion is selected based on a heating level of at least one wheel assembly, of the battery, of the motor, or of the controller.
  • Example 18 The method of example 15 or example 16, wherein the first proportion is selected based on a rate of charge or rate of discharge of the battery.
  • Example 19 The method of example 15 or example 16, wherein the first proportion is selected based on an expected draw, or rate of draw, from the battery.
  • Example 20 The method of example 15 or example 16, wherein the first proportion is selected based on a required change in torque of the at least one wheel assembly.
  • Example 21 The method of example 15 or example 16, wherein the first proportion is selected based on a rate of rotation of the at least one wheel assembly.
  • Example 22 The method of example 15 or example 16, wherein the first proportion is selected based on a rate of rotation of the drive motor.
  • Example 23 The method of example 15 or example 16, wherein the first proportion is selected based on a velocity of the vehicle.
  • Example 24 The method of any one of examples 1 to 23, wherein the computing of the brake operation function is carried out automatically.
  • Example 25 The method of any one of examples 1 to 24, further including, receiving the brake input from a user interface operated by a human operator.
  • Example 26 The method of any one of examples 1 to 24, wherein the vehicle is a self-driving vehicle, the method further including generating the brake input based on a signal received from a sensing system of the self-driving vehicle.
  • Example 27 The method of example 26, wherein the sensing system is selected from the group consisting of an imaging system, an autonomous perception sensor, radar, lidar, a GPS sensor, an acceleration sensor, a proximity sensor, a temperature sensor, and a pressure sensor.
  • the sensing system is selected from the group consisting of an imaging system, an autonomous perception sensor, radar, lidar, a GPS sensor, an acceleration sensor, a proximity sensor, a temperature sensor, and a pressure sensor.
  • Example 28 A controller for control of a braking system of a vehicle, the braking system being functionally associated with at least one wheel assembly of the vehicle and including (i) a frictional brake assembly, (ii) a regenerative braking subsystem, and (iii) a reverse -excitation braking subsystem, the vehicle further including (I) an electric drive system including a drive motor, functionally associated with the braking system, and (II) a battery, the controller including: a. one or more processors; and b. a non-transitory computer readable storage medium for instructions execution by the one or more processors, the non-transitory computer readable storage medium having stored: i.
  • Example 29 The controller of example 28, including a brake-controller forming part of the braking system.
  • Example 30 The controller of example 28, including a vehicle-controller.
  • Example 31 The controller of any one of examples 28 to 30, wherein the instructions to compute includes instructions to assign, within brake-operation function, operation of the reverse-excitation braking subsystem when a charge level of the battery is equal to or greater than a threshold.
  • Example 32 The controller of any one of examples 28 to 31 , wherein the instructions to compute the brake-operation function include instructions to predictively compute the brake-operation function, prior to the receipt of the brake input.
  • Example 33 The controller of any one of examples 28 to 32, wherein the instructions to compute include instructions to periodically update the brake-operation function.
  • Example 34 The controller of any one of examples 28 to 31 , wherein the instructions to compute include instructions to be executed is in response to the receipt of the brake input.
  • Example 35 The controller of any one of examples 28 to 34, functionally associated with a location system receiver, wherein the instructions to computing include instructions to compute the brake-operation function also based on an expected route of travel of the vehicle.
  • Example 36 The controller of any one of examples 28 to 35, functionally associated with at least one sensor adapted to provide to the controller inputs relating to at least one condition within the vehicle or in the vicinity of the vehicle, wherein the instructions to compute include instructions to compute of the brake-operation function also based on the inputs received from the at least one sensor.
  • Example 37 The controller of any one of examples 28 to 36, wherein the instructions to compute the brake-operation function include instructions to compute the brake-operation function to reduce at least one of wear of the frictional brake assembly, brake emissions, or heat generated by use of the frictional brake assembly.
  • Example 38 The controller of any one of examples 28 to 37, the vehicle further including at least two wheel assemblies functionally associated with the braking system, wherein the instruction to compute include instruction to compute the brake operation function such that, in the brake-operation function, the braking system is instructed to operate in a first mode of operation with respect to a first of the at last two wheel assemblies and to operate in a second mode of operation with respect to a second of the at least two wheel assemblies.
  • Example 39 The controller of example 38, functionally associated with a steering system of the vehicle, and wherein the first and second modes of operation are different modes of operation, both selected from the group consisting of reverse-excitation braking, regenerative braking, frictional braking, and brake by steering.
  • Example 40 The controller of example 38 or example 39, wherein the instruction to compute the brake-operation function include instructions to compute a separate brake-operation function for each of the at least two wheel assemblies.
  • Example 41 The controller of example 38 or example 39, wherein the instruction to compute include instructions to compute a single brake -operation function governing operation the braking system with respect to all of the at least two wheel assemblies.
  • Example 42 The controller of any one of examples 28 to 41 , wherein the instructions to compute includes instructions to select a first, non-zero proportion at which the braking system is to operate the reverse-excitation braking subsystem or the regenerative braking subsystem, and instructions to select a second proportion at which the braking system is to operate in a second mode of operation to be applied to the at least one wheel assembly, the second mode of operation being different from the first mode of operation.
  • Example 43 The controller of example 42, functionally associated with a steering system of the vehicle, and wherein the second mode of operation is selected from the group consisting of: reverse-excitation braking, regenerative braking, frictional braking, and brake by steering.
  • Example 44 The controller of example 42 or example 43, wherein the instructions to select the first proportion include instructions to select the first proportion based on a heating level of at least one wheel assembly, of the battery, of the motor, or of the controller.
  • Example 45 The controller of example 42 or example 43, wherein the instructions to select the first proportion include instructions to select the first proportion based on a rate of charge or rate of discharge of the battery.
  • Example 46 The controller of example 42 or example 43, wherein the instructions to select the first proportion include instructions to select the first proportion based on an expected draw, or rate of draw, from the battery.
  • Example 47 The controller of example 42 or example 43, wherein the instructions to select the first proportion include instructions to select the first proportion based on a required change in torque of the at least one wheel assembly.
  • Example 48 The controller of example 42 or example 43, wherein the instructions to select the first proportion include instructions to select the first proportion based on a rate of rotation of the at least one wheel assembly.
  • Example 49 The controller of example 42 or example 43, wherein the instructions to select the first proportion include instructions to select the first proportion based on a rate of rotation of the drive motor.
  • Example 50 The controller of example 42 or example 43, wherein the instructions to select the first proportion include instructions to select the first proportion based on a velocity of the vehicle.
  • Example 51 The controller of any one of examples 28 to 50, the non-transitory computer medium further having stored instructions to receive the brake input from a user interface operated by a human operator.
  • Example 52 The controller of any one of examples 28 to 50, wherein the vehicle is a self-driving vehicle, the non-transitory computer medium further having stored instructions to generate the brake input based on a signal received from a sensing system of the self-driving vehicle.
  • Example 53 The controller of example 52, wherein the sensing system is selected from the group consisting of an imaging system, an autonomous perception sensor, radar, lidar, a GPS sensor, an acceleration sensor, a proximity sensor, a temperature sensor, and a pressure sensor.
  • Example 54 A system for regulation rotation torque of at least one wheel assembly of a vehicle, the vehicle including an electric drive system including a drive motor, and a battery, the system including: a. a braking system, including: i. a frictional braking assembly; ii.
  • a regenerative braking subsystem functionally associated with the electric drive motor and with the battery, the regenerative braking subsystem adapted, in an operational mode, to store charge in the battery while reducing rotation speed of the wheel forming part of the at least one wheel assembly; and iii. a reverse-excitation braking subsystem, functionally associated with the electric drive motor and with the battery, the reverse-excitation braking system adapted, in an operation mode, to draw electrical current from the battery and to generate reverse torque of the electric drive motor, thereby to both (i) apply a resistive torque to the wheel forming part of the at least one wheel assembly and (ii) deplete the vehicle battery according to the amount of electric current drawn therefrom; and b.
  • a controller functionally associated with the braking system, the controller adapted to: i. compute a brake-operation function for the braking system, based on a charge level of the battery, such that within the brake-operation function, assignment of the regenerative braking subsystem or of the reverse -excitation subsystem is determined at least on a charge level of the battery; and ii. in response to receipt of a brake input, operate the braking system in accordance with the brake -operation function.
  • Example 55 The system of example 54, wherein the controller is, or includes, a brake-controller forming part of the braking system.
  • Example 56 The system of example 54, wherein the controller is, or includes, a vehicle controller.
  • Example 57 The system of any one of examples 54 to 56, wherein the controller is adapted to assign, within the brake-operation function, operation of the reverse -excitation braking subsystem when a charge level of the battery is equal to or greater than a threshold.
  • Example 58 The system of any one of examples 54 to 57, wherein the controller is adapted to predictively compute the brake -operation function, prior to the receipt of the brake input.
  • Example 59 The system of any one of examples 54 to 58, wherein the controller is adapted to periodically update the brake-operation function.
  • Example 60 The system of any one of examples 54 to 57, wherein the controller is adapted to compute the brake-operation function in response to the receipt of the brake input.
  • Example 61 The system of any one of examples 54 to 60, wherein the controller is functionally associated with a location system receiver, and is adapted to compute the brake-operation function also based on an expected route of travel of the vehicle.
  • Example 62 The system of any one of examples 54 to 61, wherein the controller is functionally associated with at least one sensor adapted to provide to the controller inputs relating to at least one condition within the vehicle or in the vicinity of the vehicle, and wherein the controller is adapted to compute the brake-operation function also based on the inputs received from the at least one sensor.
  • Example 63 The system of any one of examples 54 to 62, wherein the controller is adapted to compute the brake-operation function to reduce at least one of wear of the frictional brake assembly, brake emissions, or heat generated by use of the frictional brake assembly.
  • Example 64 The system of any one of examples 54 to 63, the vehicle including at least two wheel assemblies functionally associated with the system, wherein the controller is adapted to compute the brake operation function such that, in the brake-operation function, the system is instructed to operate in a first mode of operation with respect to a first of the at last two wheel assemblies and to operate in a second mode of operation with respect to a second of the at least two wheel assemblies.
  • Example 65 The system of example 64, functionally associated with a steering system of the vehicle, wherein the first and second modes of operation are different modes of operation, both selected from the group consisting of reverse-excitation braking, regenerative braking, frictional braking, and brake by steering.
  • Example 66 The system of example 64 or example 65, wherein controller is adapted to compute a separate brake-operation function for each of the at least two wheel assemblies.
  • Example 67 The system of example 64 or example 65, wherein the controller is adapted to compute a single brake-operation function governing operation the braking system with respect to all of the at least two wheel assemblies.
  • Example 68 The system of any one of examples 54 to 67, wherein the controller is adapted to select a first, non-zero proportion at which the braking system is to operate the reverse-excitation braking subsystem or the regenerative braking subsystem, and to select a second proportion at which the braking system is to operate in a second mode of operation to be applied to the at least one wheel assembly, the second mode of operation being different from the first mode of operation.
  • Example 69 The system of example 67, functionally associated with a steering system of the vehicle, and wherein the second mode of operation is selected from the group consisting of: reverse-excitation braking, regenerative braking, frictional braking, and brake by steering.
  • Example 70 The system of example 68 or example 69, wherein the controller is adapted to select the first proportion based on a heating level of at least one wheel assembly, of the battery, of the motor, or of the controller.
  • Example 71 The system of example 68 or example 69, wherein the controller is adapted to select the first proportion based on a rate of charge or rate of discharge of the battery.
  • Example 72 The system of example 68 or example 69, wherein the controller is adapted to select the first proportion based on an expected draw, or rate of draw, from the battery.
  • Example 73 The system of example 68 or example 69, wherein the controller is adapted to select the first proportion based on a required change in torque of the at least one wheel assembly.
  • Example 74 The system of example 68 or example 69, wherein the controller is adapted to select the first proportion based on a rate of rotation of the at least one wheel assembly.
  • Example 75 The system of example 68 or example 69, wherein the controller is adapted to select the first proportion based on a rate of rotation of the drive motor.
  • Example 76 The system of example 68 or example 69, wherein the controller is adapted to select the first proportion based on a velocity of the vehicle.
  • Example 77 The system of any one of examples 54 to 76, wherein the controller is further adapted to receive the brake input from a user interface operated by a human operator.
  • Example 78 The system of any one of examples 54 to 76, wherein the vehicle is a self-driving vehicle, and wherein the controller is adapted to generate the brake input based on a signal received from a sensing system of the self-driving vehicle.
  • Example 79 The system of example 78, wherein the sensing system is selected from the group consisting of an imaging system, an autonomous perception sensor, radar, lidar, a GPS sensor, an acceleration sensor, a proximity sensor, a temperature sensor, and a pressure sensor.
  • the sensing system is selected from the group consisting of an imaging system, an autonomous perception sensor, radar, lidar, a GPS sensor, an acceleration sensor, a proximity sensor, a temperature sensor, and a pressure sensor.
  • Example 80 A vehicle, including: a. at least one motion assembly; b. an electric drive system including a drive motor; c. a battery; d. a braking system, including: i. a frictional braking assembly; ii. a regenerative braking subsystem, functionally associated with the electric drive motor and with the battery, the regenerative braking subsystem adapted, in an operational mode, to store charge in the battery while reducing rotation speed of a motion element of the at least one motion assembly; and iii.
  • a reverse-excitation braking subsystem functionally associated with the electric drive motor and with the battery, the reverse-excitation braking system adapted, in an operation mode, to draw electrical current from the battery and to generate reverse torque of the electric drive motor, thereby to both (i) apply a resistive torque to a motion element of the at least one motion assembly and (ii) deplete the vehicle battery according to the amount of electric current drawn therefrom;
  • a controller functionally associated with the frictional braking assembly, the regenerative braking assembly, and the reverse excitation braking assembly, the controller adapted to: i .
  • a brake-operation function for the braking system, based on a charge level of the battery, such that within the brake-operation function, assignment of the regenerative braking subsystem or of the reverse -excitation subsystem is determined at least on a charge level of the battery; and ii. in response to receipt of a brake input, operate the braking system in accordance with the brake -operation function.
  • Example 81 The vehicle of example 80, wherein the at least one motion assembly includes at least one wheel assembly and the motion element includes a wheel.
  • Example 82 The vehicle of example 80, wherein the at least one motion assembly includes at least one track assembly and the motion element includes a track or a wheel on which a track is moved.
  • Example 83 The vehicle of any one of examples 80 to 82, wherein the controller includes a brake -controller forming part of the braking system, the brake-controller being adapted to compute the brake-operation function.
  • Example 84 The vehicle of any one of examples 80 to 82, wherein the controller includes a vehicle-controller forming part of the braking system, the vehicle-controller being adapted to compute the brake-operation function.
  • Example 85 The vehicle of any one of examples 80 to 84, wherein the controller is adapted to assign, within the brake-operation function, operation of the reverse -excitation braking subsystem when a charge level of the battery is equal to or greater than a threshold.
  • Example 86 The vehicle of any one of examples 80 to 85, wherein the controller is adapted to predictively compute the brake -operation function, prior to the receipt of the brake input.
  • Example 87 The vehicle of any one of examples 80 to 86, wherein the controller is adapted to periodically update the brake-operation function.
  • Example 88 The vehicle of any one of examples 80 to 85, wherein the controller is adapted to compute the brake-operation function in response to the receipt of the brake input.
  • Example 89 The vehicle of any one of examples 80 to 88, further including a location system receiver functionally associated with the controller, wherein the controller is adapted to compute the brake-operation function also based on an expected route of travel of the vehicle.
  • Example 90 The vehicle of any one of examples 80 to 89, further including at least one sensor adapted to provide to the controller inputs relating to at least one condition within the vehicle or in the vicinity of the vehicle, wherein the controller is adapted to compute the brake-operation function also based on the inputs received from the at least one sensor.
  • Example 91 The vehicle of any one of examples 80 to 90, wherein the controller is adapted to compute the brake-operation function to reduce at least one of wear of the frictional brake assembly, brake emissions, or heat generated by use of the frictional brake assembly.
  • Example 92 The vehicle of any one of examples 80 to 91, wherein the at least one motion assembly includes at least two motion assemblies functionally associated with the braking system, wherein the controller is adapted to compute the brake operation function such that, in the brakeoperation function, the braking system is instructed to operate in a first mode of operation with respect to a first of the at last two motion assemblies and to operate in a second mode of operation with respect to a second of the at least two motion assemblies.
  • Example 93 The vehicle of example 92, further including a steering system functionally associated with the controller, the at least two motion assemblies, and the braking system, and wherein the first and second modes of operation are different modes of operation, both selected from the group consisting of reverse -excitation braking, regenerative braking, frictional braking, and brake by steering.
  • Example 94 The vehicle of example 92 or example 93, wherein controller is adapted to compute a separate brake-operation function for each of the at least two motion assemblies.
  • Example 95 The vehicle of example 92 or example 93, wherein the controller is adapted to compute a single brake-operation function governing operation the braking system with respect to all of the at least two motion assemblies.
  • Example 96 The vehicle of any one of examples 80 to 95, wherein the controller is adapted to select a first, non-zero proportion at which the braking system is to operate the reverse-excitation braking subsystem or the regenerative braking subsystem, and to select a second proportion at which the braking system is to operate in a second mode of operation to be applied to the at least one motion assembly, the second mode of operation being different from the first mode of operation.
  • Example 97 The vehicle of example 96, further including a steering system functionally associated with the controller, the at least two motion assemblies, and the braking system, and wherein the second mode of operation is selected from the group consisting of: reverse-excitation braking, regenerative braking, frictional braking, and brake by steering.
  • Example 98 The vehicle of example 96 or example 97, wherein the controller is adapted to select the first proportion based on a heating level of the at least motion assembly, of the battery, of the motor, or of the controller.
  • Example 99 The vehicle of example 96 or example 97, wherein the controller is adapted to select the first proportion based on a rate of charge or a rate of discharge of the battery.
  • Example 100 The vehicle of example 96 or example 97, wherein the controller is adapted to select the first proportion based on an expected draw, or rate of draw, from the battery.
  • Example 101 The vehicle of example 96 or example 97, wherein the controller is adapted to select the first proportion based on a required change in torque of the at least one motion assembly.
  • Example 102 The vehicle of example 96 or example 97, wherein the controller is adapted to select the first proportion based on a rate of rotation of the at least motion assembly.
  • Example 103 The vehicle of example 96 or example 97, wherein the controller is adapted to select the first proportion based on a rate of rotation of the drive motor.
  • Example 104 The vehicle of example 96 or example 97, wherein the controller is adapted to select the first proportion based on a velocity of the vehicle.
  • Example 105 The vehicle of any one of examples 80 to 104, further including a user interface adapted to be operated by a human operator, and wherein the controller is further adapted to receive the brake input from the user interface.
  • Example 106 The vehicle of any one of examples 80 to 104, wherein the vehicle is a self-driving vehicle.
  • Example 107 The vehicle of example 106, further including a sensing system, adapted to provide a sensing input to the controller, and wherein the controller is adapted to generate the brake input based on the received sensing input.
  • Example 108 The vehicle of example 107, wherein the sensing system is selected from the group consisting of an imaging system, an autonomous perception sensor, radar, lidar, a GPS sensor, an acceleration sensor, a proximity sensor, a temperature sensor, and a pressure sensor.
  • the sensing system is selected from the group consisting of an imaging system, an autonomous perception sensor, radar, lidar, a GPS sensor, an acceleration sensor, a proximity sensor, a temperature sensor, and a pressure sensor.
  • Example 109 The vehicle of any one of examples 80 to 104, further including a vehicle platform and at least one vehicle comer module (VCM), each VCM including: a sub-frame including the at least one motion assembly and a vehicle connection interface for connection of the sub-frame to the vehicle platform; the braking system; and the drive system.
  • VCM vehicle comer module
  • Example 110 The vehicle of example 109, wherein the controller is a vehicle-controller mounted onto the vehicle platform, the controller being functionally associated with the braking system on the VCM.
  • Example 111 The vehicle of example 109, wherein the controller is a VCM-controller disposed on the VCM.
  • Example 112 The vehicle of example 111, further including a vehicle-controller, functionally associated with the VCM-controller.
  • Example 113 The vehicle of example 112, wherein the at least one VCM includes a plurality of VCMs, each of the plurality of VCMs including a dedicated VCM-controller, each of the dedicated VCM-controllers being functionally associated with the vehicle-controller, wherein the vehiclecontroller is adapted to send control instructions to each of the dedicated VCM-controllers.
  • Example 114 The vehicle of example 113, wherein the plurality of VCMs are functionally associated with the battery, and wherein the evaluation of charge of the battery is carried out for the shared battery.
  • Example 115 The vehicle of any one of examples 109 to 113, wherein the VCM further includes the battery.
  • Example 116 The vehicle of example 115, wherein the at least one VCM includes a plurality of VCMs, each of the plurality of VCMs including a dedicated battery.
  • any of the embodiments described above may further include receiving, sending or storing instructions and/or data that implement the operations described above in conjunction with the figures upon a computer readable medium.
  • a computer readable medium e.g. non-transitory medium

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un système et un procédé de régulation du couple de rotation de roue d'une roue d'un véhicule. Le véhicule comprend un système d'entraînement électrique comprenant un moteur d'entraînement, une batterie, la roue, un dispositif de commande et un système de freinage. Le système de freinage comprend un ensemble frein à friction, un sous-système de freinage régénératif et un sous-système de freinage à excitation inverse. Une fonction d'actionnement de freinage est calculée sur la base d'un niveau de charge de la batterie. En réponse à une entrée de frein, le système de freinage est actionné selon la fonction d'actionnement de freinage. Lors de l'actionnement du sous-système de freinage à excitation inverse, le courant électrique tiré de la batterie génère un couple inverse du moteur pour appliquer un couple résistif à la roue et pour épuiser la batterie. Lors de l'actionnement du sous-système de freinage régénératif, la charge est stockée dans la batterie. Dans la fonction d'actionnement de freinage, l'utilisation de chaque sous-système de freinage est déterminée sur la base au moins du niveau de charge de la batterie.
PCT/IB2023/052606 2022-03-20 2023-03-16 Procédé et système d'application de couple de rotation à un véhicule WO2023180884A1 (fr)

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US63/321,715 2022-03-20

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090145674A1 (en) * 2007-12-10 2009-06-11 David Warren Lee Hybrid electric vehicle
US20110125362A1 (en) * 2008-07-17 2011-05-26 Toyota Jidosha Kabushiki Kaisha Operation support apparatus and operation support method
US20150008052A1 (en) * 2011-08-31 2015-01-08 Eric Steben Tracked vehicle
US20150298680A1 (en) * 2014-04-22 2015-10-22 Alcatel-Lucent Usa Inc. System and method for control of a hybrid vehicle with regenerative braking using location awareness

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090145674A1 (en) * 2007-12-10 2009-06-11 David Warren Lee Hybrid electric vehicle
US20110125362A1 (en) * 2008-07-17 2011-05-26 Toyota Jidosha Kabushiki Kaisha Operation support apparatus and operation support method
US20150008052A1 (en) * 2011-08-31 2015-01-08 Eric Steben Tracked vehicle
US20150298680A1 (en) * 2014-04-22 2015-10-22 Alcatel-Lucent Usa Inc. System and method for control of a hybrid vehicle with regenerative braking using location awareness

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