CN101474965A - Active brake control method of hybrid power electric automobile - Google Patents
Active brake control method of hybrid power electric automobile Download PDFInfo
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- CN101474965A CN101474965A CNA2009100772006A CN200910077200A CN101474965A CN 101474965 A CN101474965 A CN 101474965A CN A2009100772006 A CNA2009100772006 A CN A2009100772006A CN 200910077200 A CN200910077200 A CN 200910077200A CN 101474965 A CN101474965 A CN 101474965A
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- 230000001133 acceleration Effects 0.000 claims description 25
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- 230000001172 regenerating effect Effects 0.000 claims description 9
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- 239000002131 composite material Substances 0.000 claims description 7
- 230000001141 propulsive effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 5
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Abstract
The invention relates to an active braking control method for a hybrid power electric automobile, suitable for the braking control of the automobile. The method comprises that: the automobile braking control is divided into an active braking driving mode and an inactive braking driving mode, wherein the active braking driving mode is used in emergent braking and traffic congestion braking control; the inactive braking driving mode is used in common braking control; the method also comprises the identification of emergent braking and traffic congestion braking; and before a braking pedal is operated, a drive motor of the electric automobile is controlled to carry out active braking. The automobile active braking control method can shorten the response time of a braking system, shorten the braking distance, reduce the manipulation strength of a driver, relieve the fatigue of the driver, carry out braking recycling in advance, increase the ratio of braking recycling, improve fuel economy of the whole automobile and has higher practical value.
Description
Technical field
The present invention relates to a kind of mixed power electric car brake control method, belong to electronlmobil braking technology field.
Background technology
Stopping distance is and the direct relevant brake efficiency index of driving safety.With reference to accompanying drawing 1, braking procedure divided generally by chaufeur by the time receives reaction time T behind the stopping-down signal
0, pedal switches and overcomes the time T of system's hysteresis
1, drg in-service time T
2With lasting braking time T
3Form.When travel in the down town, the distance between car and the car is shorter, often needs braking deceleration continually, and the chaufeur reaction then occurs slightly slowly easily such as accident such as knocking into the back, and frequent brake operating makes driver fatigue easily.
By DE1 0 2,004 030 464 known a kind of methods that deceleration of electrons is regulated that are used for, it is according to the reset speed of acceleration pedal, handle a space that pre-filling device is eliminated car side brake of servo-hydraulic brake equipment, the opening time of the car side brake when the brake activation pedal can be reduced by eliminating the space, stopping distance can be shortened thus.Known by CN 101096206A and CN 101134458A, the driving method of described servo-hydraulic brake equipment is expanded to more motoring condition, no longer be confined to the reset speed of acceleration pedal.Yet in the prior art, the brake equipment and the control method that shorten the automobile brake distance are to be achieved in the servo-hydraulic brake equipment; For the vehicle that this servo-hydraulic brake equipment or similar electric controlled brake system are not installed, need to seek other modes and shorten the automobile brake distance.
The drive wheel of mixed power electric car is all by motor-driven, or part is by motor-driven; Utilize motor to carry out the important channel that braking energy reclaims becomes hybrid power raising fuel economy.The brake energy feedback system of having developed referring to patent of invention 200610113586.8 " composite braking system for electric automobile ", has obtained successful Application on certain type HCNG series hybrid-power city bus and certain type fuel battery city carriage.Simultaneously, the retarder device is used on passenger vehicle and lorry widely, utilizes the retarder device to brake the life-span that can improve the car load brake system, improves braking safety.
Thereby also before the operation brake pedal, do not utilize the drive motor of electronlmobil or the retarder device of automobile to carry out the technology that initiatively braking is shortened the reaction time of brake system, shortened stopping distance at present; Thereby initiatively do not carry out the technology that driver fatigue is alleviated in initiatively braking at present according to the drive motor of city driving operating mode electronlmobil or the retarder device of automobile.
Summary of the invention
The purpose of this invention is to provide a kind of hybrid vehicle active brake control method, be used for solving at the automobile emergency braking and the road conditions glancing impact that blocks up, it is elongated that the slow and chaufeur of the response time of brake system reacts the stopping distance that causes slowly, and the fatigue that causes of chaufeur frequent operation; The present invention is by before the driver's operation brake pedal, and the drive motor of control electronlmobil initiatively reclaims braking, thereby shortens response time, the shortening stopping distance of brake system, alleviates driver fatigue; Before the operation brake pedal, reclaim braking simultaneously, increased the ratio that reclaims braking.
Technical scheme of the present invention is achieved in that a kind of hybrid vehicle active brake control method, this automobile active brake control method is by by wheel speed sensors 1 or motor speed sensor, brake controller 2, wheel friction brake 3, semiaxis 4, electric machine controller 5, motor 6, main reduction gear 7, braking pressure sensor 8, braking pressure control cock 9, gas cylinder 10, brake pedal position sensor 11, bicavate tandem brake activation valve 12, the composite braking system that accelerator pedal position sensor 13 is formed is realized, it is characterized in that this method is that automobile brake control is divided into " initiatively braking driving model " and " non-active braking driving model ", wherein emergency braking and use " initiatively braking driving model " when blocking up the road conditions control of braking, use " non-active braking driving model " during common control of braking, this pattern is by the calculating decision of brake controller, and its concrete controlled step is as follows:
A. calculate the emergency braking index E: gather acceleration pedal reset speed a and setting value a by brake controller
0More definite, if a 〉=a
0, E=E then
0, E wherein
0Be constant, if a＜a
0, E=0 then; Setting value a wherein
0Be defined as acceleration pedal reset speed reference value,, obtain through statistics, be used to distinguish the driver and whether will carry out emergency braking according to repeatedly gathering acceleration pedal reset speed a in calibration phase; Wherein acceleration pedal reset speed a is by the signal A of brake controller collection accelerator pedal position sensor, and differentiating as calculated obtains a=Δ A/ Δ t, is used for characterizing the speed of cancelling propulsive effort;
B. calculate total braking frequency index B: effective braking number of times of gathering in n the unit time section by brake controller calculates, wherein B is the aviation value of the braking frequency in n the unit time section, be used to judge whether automobile travels in the road conditions of blocking up, wherein n is the integer between 5～20, and the unit time section is 0.5～5 minute; Total braking frequency index B time per unit upgrades once, new total braking frequency index B=(n-1)/n*B '+1/n*b, and B is limited in [0,10], and wherein B ' is the total braking frequency index before upgrading; Wherein the braking frequency index b is the number of times of the effective braking in the unit time section, gathers the signal of brake pedal position sensor by brake controller, through calculating; Wherein effectively braking is defined as, and a complete procedure of hybrid brake assembly brake activation power is once effectively braking in vehicle traveling process; B0 is the particular value of total braking frequency index B, as judging whether automobile travels in the threshold value of road conditions of blocking up,,, obtains through statistics according to the speed of a motor vehicle of repeatedly gathering the automotive operation road condition in calibration phase, and definition E
0B
0
C. calculate braking index C, wherein C=E+B according to above-mentioned E and B;
D. judge braking index C and setting value C
0Relation, C wherein
0=B
0If, C≤C
0, then be judged as " non-active braking driving model ", do not carry out the active braking, common braking mode is adopted in the car load braking;
If C e.〉C
0, then being judged as " initiatively braking driving model ", brake controller 2 obtains the signal A of accelerator pedal position sensor, relatively A and setting value A
0Size, if A＜A
0Then carry out the active braking, brake controller 2 sends motor regenerative braking torque command to electric machine controller 5, electric machine controller 5 is accepted the regenerative braking torque command and is controlled motor 6 brakings, send lock torque, lock torque is passed to the input shaft of retarder 7 by the output shaft of motor 6, two ends by main reduction gear 7 are passed to semiaxis 4, be passed to wheel by semiaxis, wheel and ground produce and hinder the braking force that vehicle advances, thereby make car retardation, finish once and initiatively return initial point after the braking; A wherein
0Setting value is the particular value of the signal A of accelerator pedal position sensor, is measured by calibration process, distinguishes acceleration pedal idle travel and acceleration pedal effective travel; If A 〉=A
0Then do not carry out the active braking, then repeating step a, b, c, d and e.
In the technique scheme, the n described in the step b is 10, and the unit time section is 1 minute.
The automobile active brake control method that proposes, its advantage are to utilize the drive motor of automobile to carry out the active braking under " initiatively braking driving model ", thereby shorten response time, the shortening stopping distance of brake system, alleviate driver fatigue; Can reclaim braking in advance, increase the ratio that reclaims braking, improve economy; Set " initiatively braking driving model " and " non-active braking driving model ", when guaranteeing the traditional driving habit of vehicle, under particular condition, implemented new function.
Description of drawings
Fig. 1 is in the emergency braking process, the time history scheme drawing of car deceleration degree.
Fig. 2 is the scheme drawing of battery-driven car electricity-gas composite braking system.
Fig. 3 is the diagram of circuit according to one embodiment of the present of invention.
The specific embodiment
Fig. 2 is the structural representation of battery-driven car electricity-gas composite braking system.This system comprises wheel speed sensors 1 (motor speed sensor), brake controller 2, wheel friction brake 3, semiaxis 4, electric machine controller 5, motor 6, main reduction gear 7, braking pressure sensor 8, braking pressure control cock 9, gas cylinder 10, brake pedal position sensor 11 and bicavate tandem brake activation valve 12.Brake controller 2 has signal circuit to be connected with wheel speed sensors 1, electric machine controller 5, braking pressure sensor 8, braking pressure control cock 9, brake pedal position sensor 11.Gas circuit at first by bicavate tandem brake activation valve 12, by braking pressure control cock 9, braking pressure sensor 8, inserts wheel friction brake 3 from gas cylinder 10 afterwards at last.Motor 6 and electric machine controller 5 are connected by high-power circuit, and the output shaft of motor 6 connects the input shaft of main reduction gear 7, two termination semiaxis 4 of main reduction gear 7, and semiaxis then links to each other with wheel.
Braking pressure is subjected to the dual control of bicavate tandem brake activation valve 12 and braking pressure control cock 9, is used for drive wheels friction brake 3 and produces braking torque.Bicavate tandem brake activation valve 12 directly is subjected to the control of chaufeur brake pedal operation, and 9 of braking pressure control cocks are braked at chaufeur on the basis of intention, according to the further control brake air pressure of the order of brake controller.Braking pressure control cock 9 is regulated the braking pressure in bicavate tandem brake activation valve downstream respectively.
In addition, described vehicle also comprises at least one accelerator pedal position sensor 13, can calculate by means of this sensor and obtain the operation information of chaufeur to acceleration pedal, comprises the speed of the position of pedal and the pedal that resets etc.
Fig. 3 is the diagram of circuit according to one embodiment of the present of invention.The function of drive motor be help chaufeur under emergency braking driving model and/or " initiatively braking driving model " in brake activation power on one or more axletrees at least in part before the driver's operation brake pedal.Can improve the braking response of chaufeur-Vehicular system by the active braking, thereby shorten stopping distance.According to the present invention, " initiatively braking driving model " combines chaufeur and Vehicular system, and according to the driving intention of chaufeur, any have the intention of braking tendency to be identified and to be performed.Just any oil operation that the driver of braking intention is arranged, for example under " initiatively braking driving model ", the driver resets acceleration pedal to less position, usually less than A with normal acceleration pedal reset speed
0, this moment, drive motor just was activated, and drive motor is to wheel brake activation power.
The present invention is divided into " initiatively braking driving model " and " non-active braking driving model " with automobile brake control, emergency braking and use " initiatively braking driving model " when blocking up the road conditions control of braking wherein, use during common control of braking " non-active braking driving model ", this pattern is by the calculating decision of brake controller, and its concrete controlled step is as follows:
A. calculate the emergency braking index E: gather acceleration pedal reset speed a and setting value a by brake controller
0More definite, if a 〉=a
0, E=E then
0, E wherein
0Be constant, if a＜a
0, E=0 then; Setting value a wherein
0Be defined as acceleration pedal reset speed reference value,, obtain through statistics, be used to distinguish the driver and whether will carry out emergency braking according to repeatedly gathering acceleration pedal reset speed a in calibration phase; Wherein acceleration pedal reset speed a is by the signal A of brake controller collection accelerator pedal position sensor, and differentiating as calculated obtains a=Δ A/ Δ t, is used for characterizing the speed of cancelling propulsive effort;
B. calculate total braking frequency index B: effective braking number of times of gathering in n the unit time section by brake controller calculates, wherein B is the aviation value of the braking frequency in n the unit time section, be used to judge whether automobile travels in the road conditions of blocking up, wherein n is the integer between 5～20, and the unit time section is 0.5～5 minute; Total braking frequency index B time per unit upgrades once, new total braking frequency index B=(n-1)/n*B '+1/n*b, and B is limited in [0,10], and wherein B ' is the total braking frequency index before upgrading; Wherein the braking frequency index b is the number of times of the effective braking in the unit time section, gathers the signal of brake pedal position sensor by brake controller, through calculating; Wherein effectively braking is defined as, and a complete procedure of hybrid brake assembly brake activation power is once effectively braking in vehicle traveling process; B
0For the particular value of total braking frequency index B, as judging whether automobile travels in the threshold value of road conditions of blocking up,,, obtain through statistics according to the speed of a motor vehicle of repeatedly gathering the automotive operation road condition in calibration phase, and definition E
0B
0
C. calculate braking index C, wherein C=E+B according to above-mentioned E and B;
D. judge braking index C and setting value C
0Relation, C wherein
0=B
0If, C≤C
0, then be judged as " non-active braking driving model ", do not carry out the active braking, common braking mode is adopted in the car load braking;
If C e.〉C
0, then being judged as " initiatively braking driving model ", brake controller 2 obtains the signal A of accelerator pedal position sensor, relatively A and setting value A
0Size, if A＜A
0Then carry out the active braking, brake controller 2 sends motor regenerative braking torque command to electric machine controller 5, electric machine controller 5 is accepted the regenerative braking torque command and is controlled motor 6 brakings, send lock torque, lock torque is passed to the input shaft of retarder 7 by the output shaft of motor 6, two ends by main reduction gear 7 are passed to semiaxis 4, be passed to wheel by semiaxis, wheel and ground produce and hinder the braking force that vehicle advances, thereby make car retardation, finish once and initiatively return initial point after the braking; A wherein
0Setting value is the particular value of the signal A of accelerator pedal position sensor, is measured by calibration process, distinguishes acceleration pedal idle travel and acceleration pedal effective travel; If A 〉=A
0Then do not carry out the active braking, then repeating step a, b, c, d and e.
The selection of n and unit time need be set according to different vehicles, thereby reaches best effect, and in the technique scheme at present embodiment, the n described in the step b is 10, and the unit time section is 1 minute.
More specifically, initiatively braking takes place under two kinds of conditions, and one is the chaufeur acceleration pedal that resets fast in the vehicle traveling process, and it two is the vehicle ' acceleration pedal that resets in the road conditions of blocking up, above-mentioned two kinds of conditions overlap, and satisfy a kind of in above-mentioned two kinds of conditions and promptly carry out the active braking.The present invention enter in judgement " initiatively braking driving model " thus afterwards will by drive motor at least on one or more axletrees brake activation power carry out necessary active braking and further shorten stopping distance.Simultaneously, the present invention also is provided with program and is used for judging and withdrawing from " initiatively braking driving model ", returns to original initiatively " non-active braking driving model " of braking that do not need.
The present invention is not restricted to above-mentioned exemplary embodiments, and the present invention is suitable for the elec. vehicle of front axle, diaxon or multi axle drive equally, the composite braking system that particularly suitable is made up of the brake system and the regenerative braking system of hydraulic pressure or other types; The present invention is suitable for the vehicle that has fluid power or current vortex retarder device of front axle, diaxon or multi axle drive equally, the composite braking system that particularly suitable is made up of the brake system of hydraulic pressure or other types and fluid power or current vortex retarder device.
Claims (2)
1. active brake control method of hybrid power electric automobile, this automobile active brake control method is by by wheel speed sensors (1) or motor speed sensor, brake controller (2), wheel friction brake (3), semiaxis (4), electric machine controller (5), motor (6), main reduction gear (7), braking pressure sensor (8), braking pressure control cock (9), gas cylinder (10), brake pedal position sensor (11), bicavate tandem brake activation valve (12), the composite braking system that accelerator pedal position sensor (13) is formed is realized, it is characterized in that this method is that automobile brake control is divided into " initiatively braking driving model " and " non-active braking driving model ", wherein emergency braking and use " initiatively braking driving model " when blocking up the road conditions control of braking, use " non-active braking driving model " during common control of braking, this pattern is by the calculating decision of brake controller (2), and its concrete controlled step is as follows:
A. calculate the emergency braking index E: gather acceleration pedal reset speed a and setting value a by brake controller
0More definite, if a 〉=a
0, E=E then
0, E wherein
0Be constant, if a＜a
0, E=0 then; Setting value a wherein
0Be defined as acceleration pedal reset speed reference value,, obtain through statistics, be used to distinguish the driver and whether will carry out emergency braking according to repeatedly gathering acceleration pedal reset speed a in calibration phase; Wherein acceleration pedal reset speed a is by the signal A of brake controller collection accelerator pedal position sensor, and differentiating as calculated obtains a=Δ A/ Δ t, is used for characterizing the speed of cancelling propulsive effort;
B. calculate total braking frequency index B: effective braking number of times of gathering in n the unit time section by brake controller calculates, wherein B is the aviation value of the braking frequency in n the unit time section, be used to judge whether automobile travels in the road conditions of blocking up, wherein n is the integer between 5～20, and the unit time section is 0.5～5 minute; Total braking frequency index B time per unit upgrades once, new total braking frequency index B=(n-1)/n*B '+1/n*b, and B is limited in [0,10], and wherein B ' is the total braking frequency index before upgrading; Wherein the braking frequency index b is the number of times of the effective braking in the unit time section, gathers the signal of brake pedal position sensor by brake controller, through calculating; Wherein effectively braking is defined as, and a complete procedure of hybrid brake assembly brake activation power is once effectively braking in vehicle traveling process; B
0For the particular value of total braking frequency index B, as judging whether automobile travels in the threshold value of road conditions of blocking up,,, obtain through statistics according to the speed of a motor vehicle of repeatedly gathering the automotive operation road condition in calibration phase, and definition E
0B
0
C. calculate braking index C, wherein C=E+B according to above-mentioned E and B;
D. judge braking index C and setting value C
0Relation, C wherein
0=B
0If, C≤C
0, then be judged as " non-active braking driving model ", do not carry out the active braking, common braking mode is adopted in the car load braking;
If C e.〉C
0, then being judged as " initiatively braking driving model ", brake controller (2) obtains the signal A of accelerator pedal position sensor, relatively A and setting value A
0Size, if A＜A
0Then carry out the active braking, brake controller (2) sends motor regenerative braking torque command to electric machine controller (5), electric machine controller (5) is accepted the regenerative braking torque command and is controlled motor (6) braking, send lock torque, lock torque is passed to the input shaft of retarder (7) by the output shaft of motor (6), two ends by main reduction gear (7) are passed to semiaxis (4), be passed to wheel by semiaxis, wheel and ground produce and hinder the braking force that vehicle advances, thereby make car retardation, finish once and initiatively return initial point after the braking; A wherein
0Setting value is the particular value of the signal A of accelerator pedal position sensor, is measured by calibration process, distinguishes acceleration pedal idle travel and acceleration pedal effective travel; If A 〉=A
0Then do not carry out the active braking, then repeating step a, b, c, d and e.
2. according to the described hybrid vehicle active brake control method of claim 1, it is characterized in that: the n described in the step b is 10, and the unit time section is 1 minute.
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| CN2009100772006A CN101474965B (en) | 2009-01-20 | 2009-01-20 | Active brake control method of hybrid power electric automobile |
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|---|---|---|---|
| CN2009100772006A CN101474965B (en) | 2009-01-20 | 2009-01-20 | Active brake control method of hybrid power electric automobile |
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| CN101474965A true CN101474965A (en) | 2009-07-08 |
| CN101474965B CN101474965B (en) | 2010-11-10 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102189985A (en) * | 2010-02-16 | 2011-09-21 | 马格纳斯泰尔汽车技术两合公司 | Method and control/regulation system for braking a vehicle, and vehicle |
| CN104442410A (en) * | 2014-11-20 | 2015-03-25 | 北京新能源汽车股份有限公司 | Emergency braking system for electric car and control method thereof |
| CN108045362A (en) * | 2017-12-08 | 2018-05-18 | 毕作亮 | The pre-heated braking method of brake disc |
| WO2018214588A1 (en) * | 2017-05-26 | 2018-11-29 | 华为技术有限公司 | Brake energy recovery method and electric vehicle |
| CN110696830A (en) * | 2018-12-27 | 2020-01-17 | 长城汽车股份有限公司 | Vehicle driving mode control method and system |
| CN111601731A (en) * | 2018-01-15 | 2020-08-28 | 日立汽车***株式会社 | Control device for electric vehicle, control system for electric vehicle, and control method for electric vehicle |
| CN112789202A (en) * | 2018-09-25 | 2021-05-11 | 标致雪铁龙汽车股份有限公司 | Management method for managing a powertrain of a motor vehicle |
| CN113734161A (en) * | 2021-09-15 | 2021-12-03 | 浙江吉利控股集团有限公司 | Vehicle brake control method, device, apparatus, medium, and program product |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5411322A (en) * | 1993-08-31 | 1995-05-02 | Eaton Corporation | Method and apparatus for maximizing vehicle braking effectiveness and control |
| DE102004030464A1 (en) * | 2004-06-24 | 2006-01-19 | Adam Opel Ag | Brake system with EBS and "prefill" function and method for electronic brake control |
| DE102006029979A1 (en) * | 2006-06-29 | 2008-01-03 | Robert Bosch Gmbh | Hydraulic brake system operating method for motor vehicle, involves determining gradient depending on dynamics and/or threshold values of actuation of control devices in operating mode |
| DE102006041194A1 (en) * | 2006-09-01 | 2008-03-06 | Robert Bosch Gmbh | Method for operating a brake system of a motor vehicle |
| CN100491153C (en) * | 2006-10-08 | 2009-05-27 | 清华大学 | Composite braking system for electric automobile |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102189985A (en) * | 2010-02-16 | 2011-09-21 | 马格纳斯泰尔汽车技术两合公司 | Method and control/regulation system for braking a vehicle, and vehicle |
| CN102189985B (en) * | 2010-02-16 | 2015-12-16 | 麦格纳电动汽车***公司 | For the method for brake motor-car and controller/regulating control and self-propelled vehicle |
| CN104442410A (en) * | 2014-11-20 | 2015-03-25 | 北京新能源汽车股份有限公司 | Emergency braking system for electric car and control method thereof |
| WO2018214588A1 (en) * | 2017-05-26 | 2018-11-29 | 华为技术有限公司 | Brake energy recovery method and electric vehicle |
| CN108045362A (en) * | 2017-12-08 | 2018-05-18 | 毕作亮 | The pre-heated braking method of brake disc |
| CN108045362B (en) * | 2017-12-08 | 2020-05-12 | 毕作亮 | Brake disc preheating type braking method |
| CN111601731A (en) * | 2018-01-15 | 2020-08-28 | 日立汽车***株式会社 | Control device for electric vehicle, control system for electric vehicle, and control method for electric vehicle |
| CN111601731B (en) * | 2018-01-15 | 2023-12-01 | 日立安斯泰莫株式会社 | Control device, control system, and control method for electric vehicle |
| CN112789202A (en) * | 2018-09-25 | 2021-05-11 | 标致雪铁龙汽车股份有限公司 | Management method for managing a powertrain of a motor vehicle |
| CN110696830A (en) * | 2018-12-27 | 2020-01-17 | 长城汽车股份有限公司 | Vehicle driving mode control method and system |
| CN113734161A (en) * | 2021-09-15 | 2021-12-03 | 浙江吉利控股集团有限公司 | Vehicle brake control method, device, apparatus, medium, and program product |
| CN113734161B (en) * | 2021-09-15 | 2023-12-26 | 浙江吉利控股集团有限公司 | Vehicle brake control method, device, equipment, medium and program product |
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| CN101474965B (en) | 2010-11-10 |
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