CN102336142A - ABS (anti-lock brake system) based regenerative braking control method for electric vehicle - Google Patents
ABS (anti-lock brake system) based regenerative braking control method for electric vehicle Download PDFInfo
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- CN102336142A CN102336142A CN2011102607693A CN201110260769A CN102336142A CN 102336142 A CN102336142 A CN 102336142A CN 2011102607693 A CN2011102607693 A CN 2011102607693A CN 201110260769 A CN201110260769 A CN 201110260769A CN 102336142 A CN102336142 A CN 102336142A
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Abstract
The invention provides an ABS (anti-lock brake system) based regenerative braking control method for an electric vehicle. The regenerative brake is integrated into an ABS braking system, accordingly, the regenerative braking is coordinated and compatible with a hydraulic ABS braking system, the energy recovery rate is improved, and the anti-lock control of vehicle braking can be better achieved by fully utilizing the advantage of fast response of motor braking.
Description
Technical field
The present invention relates to a kind of automobile brake control method, relate to a kind of electronlmobil regenerating brake control method that is used for especially.
Prior art
The orthodox car hydraulic brake system has advantages such as lock torque is big, the low speed deceleration and stopping performance is good, but can't realize that braking energy reclaims.And the motor regenerative brake can reclaim and utilize braking kinetic energy, brakeless character of heat-fading problem, and the lock torque response is fast, but the low speed deceleration and stopping performance is bad, and the lock torque that can provide is less.F-w-d electronlmobil, present brake system are the hydraulic ABS brake system that four-sensor four-way four-wheel is independently controlled, and regenerative braking moment is by the motor generation and by mechanical speed change mechanism transferring power.Though the electronlmobil regeneration brake system a part of recover kinetic energy of vehicle and utilization, has improved automobile complex energy degree of utilization greatly in braking procedure.But regeneration brake system participates in having changed the original braking characteristics of vehicle after the braking, and in order to reach good braking effect, regenerative brake need be compatible with the conventional brake system coordination.
Summary of the invention
The invention provides a kind of regenerating brake control method that is used for electronlmobil based on the ABS system; Regenerative brake is fused in the abs braking system; It is compatible that regenerative brake and hydraulic ABS brake system are coordinated; Improve energy recovery rate, can also make full use of the fast advantage of motor braking response, realize the control of car brakeing anti-lock better.
Method provided by the invention is following:
Electronlmobil all has entire car controller at present, and entire car controller can intercom with the abs braking system mutually, monitors the rotating speed of each wheel, prevents glancing impact generation locking.Simultaneously, entire car controller can calculate braking requirement according to brake pedal signal, speed of a motor vehicle state etc., calculates maximum regenerative braking moment by electrokinetic cell state, power of motor etc.Wherein the brake pedal signal is from the displacement of the brake pedal of brake pedal sensor transmission, and speed of a motor vehicle state is obtained from speed checking apparatus for vehicle by entire car controller.
In braking procedure; Entire car controller obtains the electrokinetic cell status signal; Carry out comprehensive treatment to taking turns speed, the speed of a motor vehicle, brake pedal signal and line pressure signal etc.; And then definite braking mode, according to the control of braking strategy motor and conventional brake system are controlled, realize the coordinated operation of conventional brake and energy regeneration braking.
Specifically, entire car controller calculates the maximum regeneration lock torque in real time by electrokinetic cell state, power of motor on the one hand; Entire car controller is confirmed braking requirement according to brake pedal signal, speed of a motor vehicle state on the other hand, calculates required lock torque.When the motor braking ability reaches the front axle brake demand; Be that the maximum regeneration lock torque is during greater than required lock torque; Separately by motor to front wheel brake; And the vacuum servo servo brake mode of traditional fuel-engined vehicle is still taked in the rear axle braking, and the required braking force of front and back wheel can come out according to the brakig force distribution curve calculation, and when motor braking, will realize the anti-lock function.
And in the front axle brake demand during greater than the motor braking ability; Be that the maximum regeneration lock torque is during less than required lock torque; Front-wheel is braked with motor braking by conventional brake, and the vacuum servo servo brake mode of traditional fuel-engined vehicle is still taked in the trailing wheel braking.In this case, when conventional brake and motor braking use simultaneously, motor braking moment is performed to maximum, adjust the line pressure of conventional brake simultaneously, to realize meeting the requirement of brake safe performance.
In addition, because the lock torque of regeneration brake system is less with respect to the conventional brake system, and the induced electric motive force of motor is lower during low speed, and braking energy and efficient are low, are to guarantee vehicle safety, and the low speed glancing impact does not participate in moving; And when emergency braking, braking time is short, the conventional brake system consumption most of energy, regenerative brake is not participated in operation yet.
Preferably, be meant that car speed is lower than 30KM/h during low speed.
Preferably, be meant that the brake pedal rate of displacement is greater than 0.3m/s during emergency braking.
Description of drawings
Fig. 1 realizes braking method motor vehicle braking system constructional drawing of the present invention.
Fig. 2 is the control method FB(flow block) of braking method of the present invention.
The specific embodiment
Entire car controller can intercom with the abs braking system mutually, monitors the rotating speed of each wheel, prevents glancing impact generation locking.Simultaneously, entire car controller can calculate braking requirement according to brake pedal signal, speed of a motor vehicle state etc., calculates maximum regenerative braking moment by electrokinetic cell state, power of motor etc.Wherein the brake pedal signal is from the displacement of the brake pedal of brake pedal sensor transmission, and speed of a motor vehicle state is obtained from speed checking apparatus for vehicle by entire car controller.
In braking procedure; Entire car controller obtains the electrokinetic cell status signal; Carry out comprehensive treatment to taking turns speed, the speed of a motor vehicle, brake pedal signal and line pressure signal etc.; And then definite braking mode, according to the control of braking strategy motor and conventional brake system are controlled, realize the coordinated operation of conventional brake and energy regeneration braking.
Specifically, entire car controller calculates the maximum regeneration lock torque in real time by electrokinetic cell state, power of motor on the one hand; Entire car controller is confirmed braking requirement according to brake pedal signal, speed of a motor vehicle state on the other hand, calculates required lock torque.When the motor braking ability reaches the front axle brake demand; Be that the maximum regeneration lock torque is during greater than required lock torque; Separately by motor to front wheel brake; And the vacuum servo servo brake mode of traditional fuel-engined vehicle is still taked in the rear axle braking, and the required braking force of front and back wheel can come out according to the brakig force distribution curve calculation, and when motor braking, will realize the anti-lock function.
And in the front axle brake demand during greater than the motor braking ability; Be that the maximum regeneration lock torque is during less than required lock torque; Front-wheel is braked with motor braking by conventional brake, and the vacuum servo servo brake mode of traditional fuel-engined vehicle is still taked in the trailing wheel braking.In this case, when conventional brake and motor braking use simultaneously, motor braking moment is performed to maximum, adjust the line pressure of conventional brake simultaneously, to realize meeting the requirement of brake safe performance.
In addition, because the lock torque of regeneration brake system is less with respect to the conventional brake system, and the induced electric motive force of motor is lower during low speed, and braking energy and efficient are low, are to guarantee vehicle safety, do not participate in moving when car speed is lower than the 30KM/h glancing impact; And in the brake pedal rate of displacement during greater than 0.3m/s, braking time is short, the conventional brake system consumption most of energy, regenerative brake is not participated in operation yet.
The above is merely preferred embodiment of the present invention, is not to be used to limit protection scope of the present invention.All within spirit of the present invention and principle, any modification of being done, be equal to replacement and improvement etc., all should be included within protection scope of the present invention.
Those skilled in the art can make replacement or modification to contents more of the present invention according to content disclosed by the invention and the art technology of being grasped; But these replacements or modification should not be regarded as breaking away from design of the present invention, and these replacements or modification are all in the claim scope that the present invention requires to protect.
Claims (7)
1. regenerating brake control method that is used for electronlmobil based on ABS; When it is characterized in that the maximum regeneration lock torque greater than required lock torque; Separately by motor to front wheel brake; And the vacuum servo servo brake mode of traditional fuel-engined vehicle is still taked in rear axle braking, and the required braking force of front and back wheel can come out according to the brakig force distribution curve calculation, and at the maximum regeneration lock torque during less than required lock torque; Front-wheel is braked with motor braking by conventional brake, and the vacuum servo servo brake mode of traditional fuel-engined vehicle is still taked in the trailing wheel braking.
2. be used for the regenerating brake control method of electronlmobil described in the claim 1, will realize the anti-lock function when it is characterized in that motor braking based on ABS.
3. be used for the regenerating brake control method of electronlmobil described in the claim 1, it is characterized in that the maximum regeneration lock torque is calculated according to electrokinetic cell state, power of motor by entire car controller based on ABS; Required lock torque is drawn according to brake pedal signal, speed of a motor vehicle state computation by entire car controller.
4. be used for the regenerating brake control method of electronlmobil described in the claim 1, it is characterized in that when vehicle is in lower-speed state the glancing impact regenerative brake is not participated in operation based on ABS.
5. be used for the regenerating brake control method of electronlmobil described in the claim 1, it is characterized in that when emergency brake of vehicle regenerative brake is not participated in operation yet based on ABS.
6. be used for the regenerating brake control method of electronlmobil described in the claim 4, it is characterized in that wherein said lower-speed state is meant that car speed is lower than 30KM/h based on ABS.
7. be used for the regenerating brake control method of electronlmobil described in the claim 5, it is characterized in that wherein said emergency brake of vehicle is meant that the brake pedal rate of displacement is greater than 0.3m/s based on ABS.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2011102607693A CN102336142A (en) | 2011-09-06 | 2011-09-06 | ABS (anti-lock brake system) based regenerative braking control method for electric vehicle |
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| CN2011102607693A CN102336142A (en) | 2011-09-06 | 2011-09-06 | ABS (anti-lock brake system) based regenerative braking control method for electric vehicle |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057426A (en) * | 2013-01-08 | 2013-04-24 | 重庆长安汽车股份有限公司 | Acquisition method, device and system and control method, device and system for brake energy feedback efficiency parameters |
| CN104192107A (en) * | 2014-08-14 | 2014-12-10 | 济宁中科先进技术研究院有限公司 | Precursor electric automobile regenerative braking and ABS matching control method |
| CN104494585A (en) * | 2014-12-01 | 2015-04-08 | 江苏理工学院 | Braking force distribution control method for wheels on two sides of electric automobile |
| CN105059125A (en) * | 2015-08-13 | 2015-11-18 | 奇瑞汽车股份有限公司 | Brake control method and device of vehicle |
| CN105620296A (en) * | 2016-01-28 | 2016-06-01 | 北京航天发射技术研究所 | Electric vehicle braking power control method, device and system |
| CN106515462A (en) * | 2017-01-03 | 2017-03-22 | 北京长安汽车工程技术研究有限责任公司 | Brake control method, brake control device and brake system for electric vehicle |
| CN108609005A (en) * | 2018-06-14 | 2018-10-02 | 清华大学 | The control method of vehicle braking, apparatus and system |
| CN108688474A (en) * | 2018-03-22 | 2018-10-23 | 刘清河 | Braking energy of electric automobiles recycles control algolithm |
| CN109955721A (en) * | 2017-12-25 | 2019-07-02 | 陕西汽车集团有限责任公司 | A kind of electric vehicle brake control strategy based on ABS |
| US10399440B2 (en) | 2017-06-15 | 2019-09-03 | Ford Global Technologies, Llc | Methods and system for regenerative hybrid vehicle braking |
| CN111483444A (en) * | 2019-01-29 | 2020-08-04 | 郑州宇通客车股份有限公司 | Vehicle, brake control method and device |
| WO2025044614A1 (en) * | 2023-09-01 | 2025-03-06 | 中国第一汽车股份有限公司 | Vehicle braking control method and apparatus, and vehicle |
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| JP2005297962A (en) * | 2004-04-14 | 2005-10-27 | Ford Global Technologies Llc | Instrument panel of vehicle, control method for braking system indicator and vehicle |
| CN1631693A (en) * | 2005-01-19 | 2005-06-29 | 清华大学 | Tandem Braking System for Hybrid Vehicles |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057426B (en) * | 2013-01-08 | 2016-05-25 | 重庆长安汽车股份有限公司 | Braking energy feedback effectiveness parameters acquisition methods, control method, device and system |
| CN103057426A (en) * | 2013-01-08 | 2013-04-24 | 重庆长安汽车股份有限公司 | Acquisition method, device and system and control method, device and system for brake energy feedback efficiency parameters |
| CN104192107A (en) * | 2014-08-14 | 2014-12-10 | 济宁中科先进技术研究院有限公司 | Precursor electric automobile regenerative braking and ABS matching control method |
| CN104494585B (en) * | 2014-12-01 | 2017-01-18 | 江苏理工学院 | Braking force distribution control method for wheels on two sides of electric automobile |
| CN104494585A (en) * | 2014-12-01 | 2015-04-08 | 江苏理工学院 | Braking force distribution control method for wheels on two sides of electric automobile |
| CN105059125A (en) * | 2015-08-13 | 2015-11-18 | 奇瑞汽车股份有限公司 | Brake control method and device of vehicle |
| CN105620296B (en) * | 2016-01-28 | 2018-09-18 | 北京航天发射技术研究所 | Brake of electric vehicle Poewr control method, apparatus and system |
| CN105620296A (en) * | 2016-01-28 | 2016-06-01 | 北京航天发射技术研究所 | Electric vehicle braking power control method, device and system |
| CN106515462A (en) * | 2017-01-03 | 2017-03-22 | 北京长安汽车工程技术研究有限责任公司 | Brake control method, brake control device and brake system for electric vehicle |
| US10399440B2 (en) | 2017-06-15 | 2019-09-03 | Ford Global Technologies, Llc | Methods and system for regenerative hybrid vehicle braking |
| CN109955721A (en) * | 2017-12-25 | 2019-07-02 | 陕西汽车集团有限责任公司 | A kind of electric vehicle brake control strategy based on ABS |
| CN108688474A (en) * | 2018-03-22 | 2018-10-23 | 刘清河 | Braking energy of electric automobiles recycles control algolithm |
| CN108688474B (en) * | 2018-03-22 | 2021-04-09 | 刘清河 | Electric vehicle braking energy recovery control algorithm |
| CN108609005A (en) * | 2018-06-14 | 2018-10-02 | 清华大学 | The control method of vehicle braking, apparatus and system |
| CN111483444A (en) * | 2019-01-29 | 2020-08-04 | 郑州宇通客车股份有限公司 | Vehicle, brake control method and device |
| CN111483444B (en) * | 2019-01-29 | 2021-07-16 | 郑州宇通客车股份有限公司 | Vehicle, brake control method and device |
| WO2025044614A1 (en) * | 2023-09-01 | 2025-03-06 | 中国第一汽车股份有限公司 | Vehicle braking control method and apparatus, and vehicle |
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Application publication date: 20120201 |