CN107554307B - Automobile brake control method, apparatus and system - Google Patents
Automobile brake control method, apparatus and system Download PDFInfo
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- CN107554307B CN107554307B CN201710647116.8A CN201710647116A CN107554307B CN 107554307 B CN107554307 B CN 107554307B CN 201710647116 A CN201710647116 A CN 201710647116A CN 107554307 B CN107554307 B CN 107554307B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000006641 stabilisation Effects 0.000 claims abstract description 31
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- 239000000446 fuel Substances 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims description 9
- 230000001172 regenerating effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 12
- 230000006870 function Effects 0.000 description 8
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- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 6
- 235000013399 edible fruits Nutrition 0.000 description 6
- 239000001257 hydrogen Substances 0.000 description 6
- 229910052739 hydrogen Inorganic materials 0.000 description 6
- 238000004064 recycling Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 2
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- 239000000463 material Substances 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000003487 electrochemical reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
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- WLJVNTCWHIRURA-UHFFFAOYSA-N pimelic acid Chemical compound OC(=O)CCCCCC(O)=O WLJVNTCWHIRURA-UHFFFAOYSA-N 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention proposes a kind of automobile brake control method, apparatus and system, and this method includes detecting to the battery cell temperature of automobile, obtains temperature value；Temperature value and preset temperature threshold are compared, comparison result is obtained；In comparison result are as follows: when temperature value is less than or equal to preset temperature threshold, using liquid braking device, and the hydraulic braking mode of body electronics systems stabilisation is combined to carry out control for brake to automobile；In comparison result are as follows: when temperature value is greater than preset temperature threshold, determine pile output end current and pile output end voltage, and motor target feedback torque is determined according to pile output end current and pile output end voltage, and energy feeding braking control is carried out to automobile based on target feedback torque-controlled motors.Vehicle braking effect and capacity usage ratio can be effectively improved through the invention.
Description
Technical field
The present invention relates to automobile technical field more particularly to a kind of automobile brake control methods, apparatus and system.
Background technique
Fuel cell car is generated electricity using electrochemical reaction of the hydrogen in conjunction with oxygen as dynamic mainly using hydrogen as fuel
Power source, compared with orthodox car, combustion process is not present in fuel cell car, and product is water, is discharged pollution-free；With pure electric vehicle
Automobile is compared, and the fuel load time is short, and continual mileage is long.Therefore, fuel cell car is widely considered to be future by industry specialists
Most ideal vehicle.In the related technology, mainly the braking of pure electric automobile is controlled.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, system can be effectively improved an object of the present invention is to provide a kind of automobile brake control method
Dynamic effect and capacity usage ratio.
It is another object of the present invention to propose a kind of automobile brake control device.
It is another object of the present invention to propose a kind of Automobile brake control system.
In order to achieve the above objectives, the automobile brake control method that first aspect present invention embodiment proposes, the automobile are
Fuel cell car, comprising: the battery cell temperature of automobile is detected, temperature value is obtained；By the temperature value and preset
Temperature threshold compares, and obtains comparison result；In the comparison result are as follows: the temperature value is less than or equal to the default temperature
When spending threshold value, using liquid braking device, and in conjunction with the hydraulic braking mode of body electronics systems stabilisation to the automobile system
Dynamic control；In the comparison result are as follows: the temperature value be greater than the preset temperature threshold when, determine pile output end current and
Pile output end voltage, and motor target feedback torque is determined according to the pile output end current and pile output end voltage,
And energy feeding braking control is carried out to the automobile based on the target feedback torque-controlled motors.
First aspect present invention embodiment propose automobile brake control method, by the battery cell temperature to automobile into
Row detection, obtains temperature value, temperature value and preset temperature threshold is compared, obtain comparison result, in comparison result are as follows: temperature
When value is less than or equal to preset temperature threshold, using liquid braking device, and the hydraulic braking of body electronics systems stabilisation is combined
Mode carries out control for brake to automobile, in comparison result are as follows: when temperature value is greater than preset temperature threshold, determines pile output end electricity
Stream and pile output end voltage, and motor target feedback torque is determined according to heap output end current and pile output end voltage, with
And energy feeding braking control is carried out to automobile based on target feedback torque-controlled motors, effectively improve braking effect and energy
Measure utilization rate.
In order to achieve the above objectives, the automobile brake control device that second aspect of the present invention embodiment proposes, the automobile are
Fuel cell car, comprising: detection module detects for the battery cell temperature to automobile, obtains temperature value；Compare mould
Block obtains comparison result for the temperature value and preset temperature threshold to compare；Brake control module, for described
Comparison result are as follows: when the temperature value is less than or equal to the preset temperature threshold, using liquid braking device, and combine vehicle body
The hydraulic braking mode of electric stabilizing system carries out control for brake to the automobile, in the comparison result are as follows: the temperature value
When greater than the preset temperature threshold, pile output end current and pile output end voltage are determined, and export according to the pile
End electric current and pile output end voltage determine motor target feedback torque, and are based on the target feedback torque-controlled motors pair
The automobile carries out energy feeding braking control.
Second aspect of the present invention embodiment propose automobile brake control device, by the battery cell temperature to automobile into
Row detection, obtains temperature value, temperature value and preset temperature threshold is compared, obtain comparison result, in comparison result are as follows: temperature
When value is less than or equal to preset temperature threshold, using liquid braking device, and the hydraulic braking of body electronics systems stabilisation is combined
Mode carries out control for brake to automobile, in comparison result are as follows: when temperature value is greater than preset temperature threshold, determines pile output end electricity
Stream and pile output end voltage, and motor target feedback torque is determined according to heap output end current and pile output end voltage, with
And energy feeding braking control is carried out to automobile based on target feedback torque-controlled motors, effectively improve braking effect and energy
Measure utilization rate.In order to achieve the above objectives, the Automobile brake control system that third aspect present invention embodiment proposes, the automobile are
Fuel cell car, comprising: the automobile brake control device that second aspect of the present invention embodiment proposes.
Third aspect present invention embodiment propose Automobile brake control system, by the battery cell temperature to automobile into
Row detection, obtains temperature value, temperature value and preset temperature threshold is compared, obtain comparison result, in comparison result are as follows: temperature
When value is less than or equal to preset temperature threshold, using liquid braking device, and the hydraulic braking of body electronics systems stabilisation is combined
Mode carries out control for brake to automobile, in comparison result are as follows: when temperature value is greater than preset temperature threshold, determines pile output end electricity
Stream and pile output end voltage, and motor target feedback torque is determined according to heap output end current and pile output end voltage, with
And energy feeding braking control is carried out to automobile based on target feedback torque-controlled motors, effectively improve braking effect and energy
Measure utilization rate.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow diagram for the automobile brake control method that one embodiment of the invention proposes；
Fig. 2 is the flow diagram for the automobile brake control method that another embodiment of the present invention proposes；
Fig. 3 is the structural schematic diagram for the automobile brake control device that one embodiment of the invention proposes；
Fig. 4 is the structural schematic diagram for the automobile brake control device that another embodiment of the present invention proposes.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.On the contrary, this
The embodiment of invention includes all changes fallen within the scope of the spiritual and intension of attached claims, modification and is equal
Object.
Fig. 1 is the flow diagram for the automobile brake control method that one embodiment of the invention proposes.
The present embodiment is configured as in automobile brake control device illustrating with the automobile brake control method.Automobile
For fuel cell car.
The automobile brake control method is used to carry out control for brake to fuel cell car.
The automobile brake control method can be specifically used for carrying out control for brake, the increasing journey to extended range model fuel cell car
The power unit of type fuel cell car is made of power battery and distance increasing unit, and the power generation of distance increasing unit is realized by pile, pile
Internal hydrogen is produced electricl energy by the chemical reaction with oxygen, drive motor output power.
Referring to Fig. 1, this method comprises:
S101: the battery cell temperature of automobile is detected, temperature value is obtained.
In an embodiment of the present invention, before the battery cell temperature to automobile detects, it is based on gear controller
GPU identifies that the physics gear of automobile, the gear for the fuel cell electric vehicle that fuel cell car is related in the present invention include
R, tetra- gears of N, D, E, in which: 1), D grades are power gear, and meeting vehicle power performance, (that is, in D gear, automobile can have
Maximum accelerating torque, highest speed) demand, E grades are economic gear, using economy as target (that is, in E gear, the electricity of automobile
Energy and Hydrogen Energy consumption are minimum), when gear is adjusted to D/E gear by driver, three energy time are arranged by B+, B- key
Intensity (energy regenerating intensity gear includes 1/2/3 gear) is received, 1 gear is most recycling intensity adjusts vehicle economy, 2 grades of recycling intensity by force
Comfort and economy are taken into account, 3 gears emphasize vehicle comfort for minimum recycling intensity.
Automobile brake control method in the embodiment of the present invention is specifically that D/E is executed when keeping off in the physics gear of automobile,
The brake system of the automobile may include: liquid braking device, energy feeding braking device, and based on body electronics systems stabilisation
Hydraulic brake system.
That is, detecting, obtaining to the battery cell temperature of automobile when the physics gear of fuel cell car is that D/E is kept off
To temperature value.
S102: temperature value and preset temperature threshold are compared, and obtain comparison result.
Preset temperature threshold therein be it is preset, which, which can be, is in advance based on experiment and measures
, when the battery cell temperature of automobile is less than or equal to preset temperature threshold, chargeable capacity is lower.
S103: in comparison result are as follows: when temperature value is less than or equal to preset temperature threshold, using liquid braking device, and
Control for brake is carried out to automobile in conjunction with the hydraulic braking mode of body electronics systems stabilisation.
In an embodiment of the present invention, when the battery cell temperature of automobile is less than or equal to preset temperature threshold,
Chargeable capacity is lower, at this point, being not suitable for charging the battery.
If desired control for brake is carried out to automobile, liquid braking device can be used, and combine body electronics systems stabilisation
Hydraulic braking mode carries out braking compensation control to automobile, and can effectively make up noenergy regenerative braking causes to give driver's
Brake feedback difference improves braking comfort to guarantee that braking is unified.
Optionally, using liquid braking device, and the hydraulic braking mode of body electronics systems stabilisation is combined to carry out automobile
Control for brake, comprising: determine automobile current motor revolving speed, and determine the demand torque braked to automobile；Judgement is current
Whether motor speed is greater than preset rotation speed threshold value；When being greater than preset rotation speed threshold value, the output of body electronics systems stabilisation is default to be turned
Square, and demand torque is compensated based on preset torque, torque after being compensated；Liquid braking device is based on torque pair after compensation
Automobile carries out control for brake；When being less than or equal to preset rotation speed threshold value, liquid braking device is directly based upon demand torque to vapour
Vehicle carries out control for brake.
S104: in comparison result are as follows: when temperature value is greater than preset temperature threshold, determine that pile output end current and pile are defeated
Outlet voltage, and motor target feedback torque is determined according to heap output end current and pile output end voltage, and be based on target
Feedback torque-controlled motors carry out energy feeding braking control to automobile.
In an embodiment of the present invention, in comparison result are as follows: when temperature value is greater than preset temperature threshold, exported according to pile
End electric current and pile output end voltage determine motor target feedback torque, and are braked based on target feedback torque to automobile
Control can fully consider the charging ability of battery, as far as possible by energy feeding braking, carry out energy feedback in conjunction with motor
Control for brake carries out the Associated brake control mode of control for brake with body electronics systems stabilisation, effectively improves braking effect
Fruit and capacity usage ratio.
It is defeated according to pile after determining pile output end current and pile output end voltage in the embodiment of the present invention
Outlet electric current and pile output end voltage determine pile charging current, in conjunction with the current maximum chargeable power of power battery, determine
The maximum feedback braking torque that motor can carry out carries out energy feeding braking control, effectively mentions as the target feedback torque
High braking effect and capacity usage ratio
It in the present embodiment, is detected by the battery cell temperature to automobile, obtains temperature value, by temperature value and preset
Temperature threshold compares, and obtains comparison result, in comparison result are as follows: when temperature value is less than or equal to preset temperature threshold, adopts
Control for brake is carried out to automobile with the hydraulic braking mode of liquid braking device, and combination body electronics systems stabilisation, is tied comparing
Fruit are as follows: when temperature value is greater than preset temperature threshold, determine pile output end current and pile output end voltage, and export according to heap
End electric current and pile output end voltage determine motor target feedback torque, and based on target feedback torque-controlled motors to automobile
Energy feeding braking control is carried out, braking effect and capacity usage ratio are effectively improved.
Fig. 2 is the flow diagram for the automobile brake control method that another embodiment of the present invention proposes.
Referring to fig. 2, this method comprises:
S201: the battery cell temperature of automobile is detected, temperature value is obtained.
S202: temperature value and preset temperature threshold are compared, and obtain comparison result.
S203: whether judge comparison result are as follows: temperature value is less than or equal to preset temperature threshold, if so, executing
Otherwise S204-S209 executes S210-S215.
S204: motor is forbidden to carry out energy regenerating to battery.
S205: it determines automobile current motor revolving speed, and determines the demand torque braked to automobile.
S206: judging whether current motor revolving speed is greater than preset rotation speed threshold value, if so, S208-S209 is executed, otherwise,
Execute S207.
S207: liquid braking device is directly based upon demand torque and carries out control for brake to automobile.
S208: body electronics systems stabilisation exports preset torque, and is compensated based on preset torque to demand torque, obtains
Torque after to compensation.
S209: torque carries out control for brake to automobile after liquid braking device is based on compensation.
S210: the maximum charge power of battery is determined.
S211: the reality of battery is determined according to pile output end current and pile output end voltage and maximum charge power
When chargeable power.
S212: motor target feedback torque is determined according to current motor torque and real-time chargeable power.
S213: energy feeding braking control is carried out to automobile based on target feedback torque-controlled motors.
S214: pressurization control is carried out based on wheel cylinder of the body electronics systems stabilisation to automobile.
S215: automobile adjust motor target feedback torque in real time in brake control process, until adjusting
Motor target feedback torque after section is more than or equal to current motor torque.
As an example, when battery cell temperature is less than or equal to T DEG C of preset temperature threshold, at this point, power electric
The chargeable capacity in pond reduces, and is unable to satisfy the charge requirement of automobile normal running, therefore, battery management system can be to vehicle control
Device processed sends " forbidding charge flag position ", meanwhile, when drive motor controller sends " feedback braking enabler flags position ", vehicle control
Device processed determines that power battery is not suitable for charging at this time, to avoid the electric discharge wind of energy feedback caused by power battery can not charge
Danger, entire car controller send " forbidding energy regenerating flag bit " to drive motor controller, and drive motor controller forbids motor
Energy regenerating is carried out, in order to guarantee the consistency for the braking experience for giving driver when braking, liquid braking device can be used, and
Control for brake is carried out to automobile in conjunction with the hydraulic braking mode of body electronics systems stabilisation, specific example is as follows:
Automobile current motor revolving speed is determined by drive motor controller, also, is passed by entire car controller based on master cylinder pressure
" the master cylinder pressure force value " that sensor is sent, (table can be to be in advance based on a large amount of drive to test number by way of one-dimensional table look-up
Obtained according to calibration, and be stored with multiple master cylinder pressure force value and the corresponding demand torque of each master cylinder pressure force value in the table), it determines
To the demand torque that automobile is braked, it is based on current motor revolving speed, it is preset torque that body electronics systems stabilisation, which carries out torque,
Braking superposition, that is, current motor revolving speed be less than or equal to preset rotation speed threshold value when, body electronics systems stabilisation not to need
Ask torque to compensate, i.e., output valve be 0 torque, and current motor revolving speed be greater than preset rotation speed threshold value when, body electronics
Systems stabilisation exports preset torque, and is compensated based on preset torque to demand torque, and torque after being compensated is assisted
Control for brake.
When battery cell temperature is greater than T DEG C of preset temperature threshold, battery management system determines power electric at this temperature
The chargeable capacity in pond meets charge requirement, and battery management system is calculated to entire car controller by internal module and sends battery most
Big charge power further passes through formula power battery regenerative power=battery maximum charge power-(pile output end
Electric current * pile output end voltage)/1000 determining power battery regenerative powers, the charging function exported in real time due to considering pile
Rate, and the chargeable power of maximum of power battery at this time is combined, it is calculated by entire car controller internal module, can be derived that battery
Real-time chargeable power further by following formula, motor target feedback torque can be calculated, by vehicle control
The motor target feedback torque is sent to drive motor controller by device processed, and drive motor controller controls motor and carries out energy time
Present control for brake, wherein determine that the formula of motor target feedback torque is as follows:
T=9550*P/N；
Wherein, T is the feedback torque of motor target, and N is current motor torque, and P is real-time chargeable power.
Further, entire car controller can also adjust motor target feedback torque in real time, it is ensured that the motor mesh after adjusting
Mark feedback torque is more than or equal to current motor torque can go out since there are torque limits and filtering for drive motor controller
The situation that existing motor torque is cut down causes vehicle recycling torque insufficient, and therefore, in an embodiment of the present invention, entire car controller can
To be based on internal calculation, the signal of " braking deceleration request " is sent to body electronics systems stabilisation, is stablized based on body electronics
System carries out pressurization control to the wheel cylinder of automobile, to realize expected control for brake effect.
Further, in an embodiment of the present invention, " output power " hydrogen system distance increasing unit sent due to pile
Response has deviation, and it is high-power that there are transient pulses, when entire car controller sends output power to hydrogen system distance increasing unit, if really
It protects motor demand power+air-conditioning heating controller output power+motor compressor controller and currently consumes power+direct current conversion control
Device processed currently consumes power-PBat=output power+Pdelta, and (Pdelta is to be based on a large amount of vehicle data for different automobile types
The reserved numerical value of calibration), to prevent pile from exporting extra electricity, the case where power battery can not absorb whole pile electricity
Under, caused high-pressure system electric discharge risk and cause power battery irrecoverability failure.
It in the present embodiment, is detected by the battery cell temperature to automobile, obtains temperature value, by temperature value and preset
Temperature threshold compares, and obtains comparison result, in comparison result are as follows: when temperature value is less than or equal to preset temperature threshold, adopts
Control for brake is carried out to automobile with the hydraulic braking mode of liquid braking device, and combination body electronics systems stabilisation, is tied comparing
Fruit are as follows: when temperature value is greater than preset temperature threshold, determine pile output end current and pile output end voltage, and export according to heap
End electric current and pile output end voltage determine motor target feedback torque, and based on target feedback torque-controlled motors to automobile
Energy feeding braking control is carried out, braking effect and capacity usage ratio are effectively improved.The present embodiment can not pass through energy
In the case where regeneration braking control, the hydraulic braking mode of body electronics systems stabilisation is introduced, the braking of driver is improved
Comfort.Guarantee the consistency for the braking experience that driver is given when control for brake, also, the present invention is based on pile operating statuses
In pile output end current and pile output end voltage execute vehicle braking energy feedback control logic, guarantee power battery
In the case where not by moment impact, power adjustment mechanism is increased, further improves braking effect.
Fig. 3 is the structural schematic diagram for the automobile brake control device that one embodiment of the invention proposes.
Referring to Fig. 3, which includes: detection module 301, comparison module 302 and brake control module 303,
In,
Detection module 301 detects for the battery cell temperature to automobile, obtains temperature value.
Comparison module 302 obtains comparison result for temperature value and preset temperature threshold to compare.
Brake control module 303, in comparison result are as follows: when temperature value is less than or equal to preset temperature threshold, adopt
Control for brake is carried out to automobile with the hydraulic braking mode of liquid braking device, and combination body electronics systems stabilisation, is tied comparing
Fruit are as follows: when temperature value is greater than preset temperature threshold, determine pile output end current and pile output end voltage, and defeated according to pile
Outlet electric current and pile output end voltage determine motor target feedback torque, and based on target feedback torque-controlled motors to vapour
Vehicle carries out energy feeding braking control.
Optionally, in some embodiments, brake control module 303 is specifically used for:
It determines automobile current motor revolving speed, and determines the demand torque braked to automobile；
Judge whether current motor revolving speed is greater than preset rotation speed threshold value；
When being greater than preset rotation speed threshold value, body electronics systems stabilisation exports preset torque, and based on preset torque to need
Torque is asked to compensate, torque after being compensated；
Torque carries out control for brake to automobile after liquid braking device is based on compensation；
When being less than or equal to preset rotation speed threshold value, liquid braking device is directly based upon demand torque and brakes to automobile
Control.
Brake control module 303, is specifically used for:
Determine the maximum charge power of battery；
Determine that the real-time of battery fills according to pile output end current and pile output end voltage and maximum charge power
Electrical power；
Motor target feedback torque is determined according to current motor torque and real-time chargeable power.
Brake control module 303, is also used to:
In comparison result are as follows: when temperature value is less than or equal to preset temperature threshold, motor is forbidden to carry out energy to battery
Recycling.
Brake control module 303, is also used to:
In comparison result are as follows: when temperature value is greater than preset temperature threshold, based on body electronics systems stabilisation to the system of automobile
Driving wheel cylinder carries out pressurization control.
Optionally, in some embodiments, referring to fig. 4, the device 300 further include:
Adjustment module 304 carries out motor target feedback torque real-time for carrying out in brake control process to automobile
It adjusts, until the motor target feedback torque after adjusting is more than or equal to current motor torque.
It should be noted that the explanation in earlier figures 1- Fig. 2 embodiment to automobile brake control method embodiment
Suitable for the automobile brake control device 300 of the embodiment, realization principle is similar, and details are not described herein again.
It in the present embodiment, is detected by the battery cell temperature to automobile, obtains temperature value, by temperature value and preset
Temperature threshold compares, and obtains comparison result, in comparison result are as follows: when temperature value is less than or equal to preset temperature threshold, adopts
Control for brake is carried out to automobile with the hydraulic braking mode of liquid braking device, and combination body electronics systems stabilisation, is tied comparing
Fruit are as follows: when temperature value is greater than preset temperature threshold, determine pile output end current and pile output end voltage, and export according to heap
End electric current and pile output end voltage determine motor target feedback torque, and based on target feedback torque-controlled motors to automobile
Energy feeding braking control is carried out, braking effect and capacity usage ratio are effectively improved.
It should be noted that in the description of the present invention, term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " multiple "
It is two or more.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (13)
1. a kind of automobile brake control method, the automobile is fuel cell car, which comprises the following steps:
The battery cell temperature of automobile is detected, temperature value is obtained；
The temperature value and preset temperature threshold are compared, comparison result is obtained；
In the comparison result are as follows: when the temperature value is less than or equal to the preset temperature threshold, using liquid braking device,
And control for brake is carried out to the automobile in conjunction with the hydraulic braking mode of body electronics systems stabilisation；
In the comparison result are as follows: when the temperature value is greater than the preset temperature threshold, determine pile output end current and electricity
Heap output end voltage, and motor target feedback torque is determined according to the pile output end current and pile output end voltage, with
And energy feeding braking control is carried out to the automobile based on the target feedback torque-controlled motors.
2. automobile brake control method as described in claim 1, which is characterized in that it is described to use liquid braking device, and combine
The hydraulic braking mode of body electronics systems stabilisation carries out control for brake to the automobile, comprising:
It determines automobile current motor revolving speed, and determines the demand torque braked to the automobile；
Judge whether the current motor revolving speed is greater than preset rotation speed threshold value；
When being greater than the preset rotation speed threshold value, the body electronics systems stabilisation exports preset torque, and based on described default
Torque compensates the demand torque, torque after being compensated；
Torque carries out control for brake to the automobile after the liquid braking device is based on compensation；
When being less than or equal to the preset rotation speed threshold value, the liquid braking device is directly based upon the demand torque to described
Automobile carries out control for brake.
3. automobile brake control method as described in claim 1, which is characterized in that the determining pile output end current and electricity
Heap output end voltage, and motor target feedback torque is determined according to the pile output end current and pile output end voltage, it wraps
It includes:
Determine the maximum charge power of the battery；
The battery is determined according to the pile output end current and pile output end voltage and the maximum charge power
Real-time chargeable power；
The motor target feedback torque is determined according to current motor torque and the chargeable power in real time.
4. automobile brake control method as described in claim 1, which is characterized in that in the comparison result are as follows: the temperature
When value is less than or equal to the preset temperature threshold, the method also includes:
The motor is forbidden to carry out energy regenerating to the battery.
5. automobile brake control method as described in claim 1, which is characterized in that in the comparison result are as follows: the temperature
When value is greater than the preset temperature threshold, the method also includes:
Pressurization control is carried out based on wheel cylinder of the body electronics systems stabilisation to the automobile.
6. automobile brake control method as claimed in claim 3, which is characterized in that further include:
The automobile adjust the motor target feedback torque in real time in brake control process, until adjusting
Motor target feedback torque after section is more than or equal to the current motor torque.
7. a kind of automobile brake control device, the automobile is fuel cell car characterized by comprising
Detection module detects for the battery cell temperature to automobile, obtains temperature value；
Comparison module obtains comparison result for the temperature value and preset temperature threshold to compare；
Brake control module, in the comparison result are as follows: the temperature value is less than or equal to the preset temperature threshold
When, control for brake is carried out to the automobile using liquid braking device, and in conjunction with the hydraulic braking mode of body electronics systems stabilisation,
In the comparison result are as follows: when the temperature value is greater than the preset temperature threshold, determine that pile output end current and pile are defeated
Outlet voltage, and motor target feedback torque, Yi Jiji are determined according to the pile output end current and pile output end voltage
Energy feeding braking control is carried out to the automobile in the target feedback torque-controlled motors.
8. automobile brake control device as claimed in claim 7, which is characterized in that the brake control module is specifically used for:
It determines automobile current motor revolving speed, and determines the demand torque braked to the automobile；
Judge whether the current motor revolving speed is greater than preset rotation speed threshold value；
When being greater than the preset rotation speed threshold value, the body electronics systems stabilisation exports preset torque, and based on described default
Torque compensates the demand torque, torque after being compensated；
Torque carries out control for brake to the automobile after the liquid braking device is based on compensation；
When being less than or equal to the preset rotation speed threshold value, the liquid braking device is directly based upon the demand torque to described
Automobile carries out control for brake.
9. automobile brake control device as claimed in claim 7, which is characterized in that the brake control module is specifically used for:
Determine the maximum charge power of the battery；
The battery is determined according to the pile output end current and pile output end voltage and the maximum charge power
Real-time chargeable power；
The motor target feedback torque is determined according to current motor torque and the chargeable power in real time.
10. automobile brake control device as claimed in claim 7, which is characterized in that the brake control module is also used to:
In the comparison result are as follows: when the temperature value is less than or equal to the preset temperature threshold, forbid the motor pair
The battery carries out energy regenerating.
11. automobile brake control device as claimed in claim 7, which is characterized in that the brake control module is also used to:
In the comparison result are as follows: when the temperature value is greater than the preset temperature threshold, be based on the body electronics stability series
It unites and pressurization control is carried out to the wheel cylinder of the automobile.
12. automobile brake control device as claimed in claim 9, which is characterized in that further include:
Adjustment module carries out the motor target feedback torque real for carrying out in brake control process to the automobile
When adjust, until adjust after motor target feedback torque be more than or equal to the current motor torque.
13. a kind of Automobile brake control system, the automobile is fuel cell car characterized by comprising
Such as the described in any item automobile brake control devices of claim 7-12.
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| CN201710647116.8A CN107554307B (en) | 2017-08-01 | 2017-08-01 | Automobile brake control method, apparatus and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710647116.8A CN107554307B (en) | 2017-08-01 | 2017-08-01 | Automobile brake control method, apparatus and system |
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| CN107554307A CN107554307A (en) | 2018-01-09 |
| CN107554307B true CN107554307B (en) | 2019-11-22 |
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| CN201710647116.8A Active CN107554307B (en) | 2017-08-01 | 2017-08-01 | Automobile brake control method, apparatus and system |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108528234B (en) * | 2018-02-28 | 2021-08-13 | 深圳国氢新能源科技有限公司 | Fuel cell protection system and charging method thereof |
| CN109677270B (en) * | 2018-12-21 | 2020-11-03 | 潍柴动力股份有限公司 | Motor braking energy recovery method and device |
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| CN102481913A (en) * | 2009-09-03 | 2012-05-30 | 丰田自动车株式会社 | Brake control device |
| CN102490722A (en) * | 2011-12-28 | 2012-06-13 | 重庆长安汽车股份有限公司 | Method and system for recycling sliding energy of automobile |
| CN104718101A (en) * | 2012-10-11 | 2015-06-17 | 日立汽车系统株式会社 | Regeneration control device for vehicle |
| CN105774566A (en) * | 2016-05-07 | 2016-07-20 | 合肥国轩高科动力能源有限公司 | Braking energy feedback control method for pure electric vehicle |
| CN106080216A (en) * | 2016-06-30 | 2016-11-09 | 江苏大学 | A kind of brake control method based on hybrid vehicle Brake energy recovery |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4240845B2 (en) * | 2001-05-15 | 2009-03-18 | トヨタ自動車株式会社 | Hybrid car |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102481913A (en) * | 2009-09-03 | 2012-05-30 | 丰田自动车株式会社 | Brake control device |
| CN102490722A (en) * | 2011-12-28 | 2012-06-13 | 重庆长安汽车股份有限公司 | Method and system for recycling sliding energy of automobile |
| CN104718101A (en) * | 2012-10-11 | 2015-06-17 | 日立汽车系统株式会社 | Regeneration control device for vehicle |
| CN105774566A (en) * | 2016-05-07 | 2016-07-20 | 合肥国轩高科动力能源有限公司 | Braking energy feedback control method for pure electric vehicle |
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