CN105691212A - Regenerative braking control strategy of hybrid electric vehicle hybrid power supply and vehicle - Google Patents
Regenerative braking control strategy of hybrid electric vehicle hybrid power supply and vehicle Download PDFInfo
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- CN105691212A CN105691212A CN201610222672.6A CN201610222672A CN105691212A CN 105691212 A CN105691212 A CN 105691212A CN 201610222672 A CN201610222672 A CN 201610222672A CN 105691212 A CN105691212 A CN 105691212A
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- 230000001172 regenerating effect Effects 0.000 title claims abstract description 74
- 238000011217 control strategy Methods 0.000 title claims abstract description 26
- 239000003990 capacitor Substances 0.000 claims abstract description 50
- 239000002131 composite material Substances 0.000 claims abstract description 19
- 230000005484 gravity Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 5
- 238000000354 decomposition reaction Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000004146 energy storage Methods 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 abstract description 3
- 238000005183 dynamical system Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 241000153246 Anteros Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000013016 damping Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a regenerative braking control strategy of a hybrid power supply of a hybrid electric vehicle and the vehicle, wherein the regenerative braking control strategy comprises the following steps: step S1, obtaining the distribution factor of the friction braking force and the regenerative braking force of the vehicle; and a step S2 of distributing the friction braking force and the regenerative braking force of the vehicle according to the distribution factor; the regenerative braking control strategy of the invention overcomes the problem of insufficient regenerative braking energy recovery caused by taking the braking intensity as the braking force distribution factor of the hybrid electric vehicle, and simultaneously considers the safe charging condition of taking the storage battery and the super capacitor composite power supply as the energy storage system; the regenerative braking control strategy can recover regenerative braking energy to the maximum extent, fully exerts the advantages of high energy density of a storage battery and high power density of a super capacitor in the composite power supply, and ensures safe braking of the automobile.
Description
Technical field
The present invention relates to a kind of new-energy automobile field, be specifically related to Control Strategy for Regenerative Braking and the automobile of a kind of hybrid vehicle composite power source。
Background technology
At present, with accumulator-super capacitor composite power source be energy-storage system hybrid vehicle regenerating braking energy reclaim control strategy research relatively fewer, generally take the factor that the state-of-charge of severity of braking, accumulator and super capacitor distributes as automotive friction brake force and regenerative braking force, friction brake force is mainly used in implementing safety arrestment, and regenerative braking force is then for reclaiming braking energy。It addition, also there is scholar to realize the distribution of two kinds of brake force according to speed, storage battery charge state and severity of braking, its main thought is also based on severity of braking and is only restrictive condition to be braked the distribution of power, speed and storage battery charge state。But affect the many factors of brake force reasonable distribution, such as the structural parameters etc. of vehicle body active force, road environment, speed and hybrid vehicle, therefore relying on merely severity of braking can not reasonably distribute brake force completely。
Summary of the invention
It is an object of the invention to provide the Control Strategy for Regenerative Braking of a kind of hybrid vehicle composite power source, overcome and distribute, as braking force of hybrid power vehicle, the regenerating braking energy insufficient problem of recovery that factor is brought using severity of braking。
In order to solve above-mentioned technical problem, the invention provides a kind of Control Strategy for Regenerative Braking, comprise the steps: step S1, it is thus achieved that the allocation factor of vehicle friction brake power and regenerative braking force；And step S2, it is allocated according to the described allocation factor friction brake force to vehicle and regenerative braking force。
Further, described allocation factor includes: vehicle body active force, storage battery charge state and super capacitor state-of-charge。
Further, the preparation method of described vehicle body active force comprises the steps:
Step S11, sets up xyz tri-phase coordinate system, by the power that vehicle body Force decomposition is three directions, i.e. Fx、FyAnd Fz；
Step S12, sets up vehicle asymmetric vehicle body active force in the process of moving, namely
In formula: FznUnder vertical that the vehicle being decomposed into for acting on the power on vehicle body is gone up along the z-axis direction under symmetry status and asymmetrical state by roadblock produce only in the power in z-axis direction；KznFor the asymmetric vehicle body active force factor；AiFor the acceleration along x, y and z direction；G is acceleration of gravity；GrFor the total force of automobile, including vehicle body, vehicle frame and be loaded in all devices on vehicle；GeFor acting on the effective gravity of vehicle body, the gravity of namely ride personnel and goods。
Further, the method being allocated according to the described allocation factor friction brake force to vehicle and regenerative braking force in described step S2 includes:
The fuzzy logic algorithm of three input two outputs set up, wherein
Three input variables, the fuzzy subset that namely vehicle body active force is corresponding is LF, MF, HF；The fuzzy subset that storage battery charge state is corresponding is LS, MS, HS；The fuzzy subset that super capacitor state-of-charge is corresponding is LU, MU, HU；And
Two output variables, the fuzzy subset that namely regenerative braking force distribution ratio is corresponding is LRB, MRB, HRB；Fuzzy subset corresponding to friction brake force distribution ratio is LFB, MFB, HFB。
Further, described fuzzy logic algorithm includes: regenerative braking force fuzzy reasoning table and friction brake force fuzzy reasoning table。
Further, described regenerative braking force fuzzy reasoning table includes:
When super capacitor state-of-charge is LUTime, regenerative braking force distribution ratio is as shown in the table:
When super capacitor state-of-charge is MUTime, regenerative braking force distribution ratio is as shown in the table:
When super capacitor state-of-charge is HUTime, regenerative braking force distribution ratio is as shown in the table:
Further, described friction brake force fuzzy reasoning table includes:
When super capacitor state-of-charge is LUTime, friction brake force distribution ratio is as shown in the table:
When super capacitor state-of-charge is MUTime, friction brake force distribution ratio is as shown in the table:
When super capacitor state-of-charge is HUTime, friction brake force distribution ratio is as shown in the table:
Further, the charging priority of described super capacitor is higher than accumulator, and when vehicle body active force is gradually increased, promotes friction brake force distribution ratio, reduces regenerative braking force distribution ratio。
Another aspect, present invention also offers a kind of composite power source type hybrid vehicle applying described Control Strategy for Regenerative Braking。
The invention has the beneficial effects as follows, the Control Strategy for Regenerative Braking of the present invention overcomes distributes, as braking force of hybrid power vehicle, the regenerating braking energy insufficient problem of recovery that factor is brought using severity of braking, namely by redefining corresponding allocation factor, and friction brake force and regenerative braking force are redistributed；Consider the safe charging condition being energy-storage system with accumulator and super capacitor composite power source simultaneously；And this Control Strategy for Regenerative Braking can not only reclaiming braking energy to greatest extent, give full play to the advantage that in composite power source, storage battery energy density is big and super capacitor power density is big, ensure the safety arrestment of automobile simultaneously。
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described。
The hybrid vehicle regenerative braking schematic diagram that Fig. 1 is is energy-storage system with composite power source。
Fig. 2 is the flow chart of Control Strategy for Regenerative Braking；
Fig. 3 is vehicle body Force decomposition figure；
Fig. 4 (a), Fig. 4 (b), Fig. 4 (c) are three input variable membership function figure of fuzzy logic algorithm respectively；
Fig. 5 (a), Fig. 5 (b) are two output variable membership function figure of fuzzy logic algorithm respectively。
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation。These accompanying drawings are the schematic diagram of simplification, and the basic structure of the present invention is only described in a schematic way, and therefore it only shows the composition relevant with the present invention。
As it is shown in figure 1, the dynamical system of composite power source type hybrid vehicle specifically includes that accumulator, super capacitor, drive system and motor controller；The composite power source being wherein made up of accumulator, super capacitor and DC/DC changer is the core of whole dynamical system；Motor and controller can realize electronic and two functions of generating, and under motoring condition, electromobile runs, and can realize the recycling of regenerating braking energy under generating state；The Main Function of drive system is the reasonable disposition that the demand according to different operating modes realizes motor torque and speed。The regenerative braking principle of composite power source type hybrid vehicle is: the inertia energy of traveling is passed to motor by driving wheel and drive system by vehicle in braking procedure so that motor is operated in generating state, charges to composite power source again through controller；It addition, the braking moment that motor is in power generation process again may be by drive system passes to driving wheel so that it is implement frictional damping, produce braking moment and brake force。
Embodiment 1
As in figure 2 it is shown, on the basis of the dynamical system of above-mentioned composite power source type hybrid vehicle, the invention provides a kind of Control Strategy for Regenerative Braking, comprise the steps:
Step S1, it is thus achieved that the allocation factor of vehicle friction brake power and regenerative braking force；And
Step S2, is allocated according to the described allocation factor friction brake force to vehicle and regenerative braking force。
Concrete, described allocation factor includes: vehicle body active force, storage battery charge state and super capacitor state-of-charge。
About vehicle body active force, as it is shown on figure 3, the vehicle body active force of hybrid vehicle can be analyzed to three power and F along xyz tri-phase coordinate systemx、FyAnd Fz(step S11)。In the process of moving, vehicle body active force is represented by automobile:
In formula (1),It is defined as the active force factor in three directions of x, y and z；AiFor the acceleration along x, y and z direction；G is acceleration of gravity；GrFor the total force of automobile, including vehicle body, vehicle frame and be loaded in all devices on vehicle；GeFor acting on the effective gravity of vehicle body, the gravity of namely ride personnel and goods。
The vehicle body active force factor is relevant to three factors, i.e. the structural parameters of road environment, speed and automobile, and between this three, complicated relation makes vehicle body active force be difficult to be described with accurate mathematical model。Therefore, time to vehicle body mechanics analysis, often adopt some theoretical half theoretical semiempirical values combined with experience according to surface conditions。
When automobile travels on slippery traffic surface, or when vehicle front and back wheel runs over mutually level protruding road surface and hollow area simultaneously, due to now vehicle right and left symmetrical configuration, the Symmetrical vertical directed force F in z-axis direction therefore only can be producedzs:
FZs=kzsΣG(2)
Wherein, kzsFor the Symmetrical vertical vehicle body active force factor；C1And C2Represent the synthesis rigidity (N/mm) of automotive suspension and its tire respectively；
C1=Ct1Cs1/(Ct1+Cs1)(4)
C2=Ct2Cs2/(Ct2+Cs2)(5)
In formula (4) and formula (5), Ct1、Ct2For the rigidity of front and back tire, and Cs1And Cs2Then represent the rigidity of fore suspension and rear suspension respectively；GaFor the gravity that automobile self is suffered；H is the height of road barricade, under normal circumstances for hybrid power car and passenger vehicle h=80mm, and for hybrid power lorry h=100mm；VaFor the speed of operation of automobile, λ represents the experience weights of speed, generally takes 1000 (km/h)2。As can be seen here, the Symmetrical vertical vehicle body active force factor of different automobile types is inevitable different, according to engineering experience, for hybrid power car or passenger vehicle kzs=2.0～2.5, lorry kzs=2.5～3.0, offroad vehicle kzs=3.5～4.0。
But when the front and back wheel of hybrid vehicle crosses a certain barrier in different time points respectively, this makes the front wheels and rear wheels of automobile a difference in height Δ h occur, now the tiled configuration of automobile is in asymmetrical state, the power on vehicle body that acts on can be analyzed under the vertical and asymmetrical state that automobile goes up along the z-axis direction under symmetry status by roadblock produce only at the power F in z-axis directionzn, FznIt is represented by:
FZn=kznΣG(6)
In formula (6), kznFor the asymmetric vehicle body active force factor, same different automobile types kznValue also different, hybrid power car and passenger vehicle kzn=1.3, lorry kzn=1.5, offroad vehicle kzn=1.8。
The vehicle body active force of car load is affected less by automobile some chance mechanism power in the process of moving, negligible。It addition, the active force major part suffered by vehicle body all shows as asymmetric vehicle body active force。Therefore, pick up the car body active force
Wherein, kzn=1.3；See step S12。
Further, the method being allocated according to the described allocation factor friction brake force to vehicle and regenerative braking force in described step S2 includes:
The fuzzy logic algorithm of three input two outputs set up, wherein
Three input variables, the fuzzy subset that namely vehicle body active force is corresponding is LF, MF, HF；The fuzzy subset that storage battery charge state is corresponding is LS, MS, HS；The fuzzy subset that super capacitor state-of-charge is corresponding is LU, MU, HU；And two output variables, the fuzzy subset that namely regenerative braking force distribution ratio is corresponding is LRB, MRB, HRB；Fuzzy subset corresponding to friction brake force distribution ratio is LFB, MFB, HFB。
Concrete, the membership function figure of Fig. 4 (a) to Fig. 4 (c) and Fig. 5 (a) and the relevant variable corresponding to Fig. 5 (b) respectively fuzzy logic algorithm (in each figure, low, middle, high represent L, M and the H of relevant variable respectively, and specifically in addition corresponding subscript makes a distinction expression)。Using important evidence as braking force distribution of the hybrid vehicle vehicle body active force of taking into account road environment, speed and complete vehicle structure parameter, simultaneously because the energy storage device of automobile is composite power source namely accumulator and super capacitor, so the range of safety operation when charging is taken into account in the lump by storage battery charge state and super capacitor state-of-charge, fuzzy logic algorithm is adopted to realize the reasonable distribution of brake force。The input of fuzzy logic algorithm is vehicle body active force, storage battery charge state and super capacitor state-of-charge, and output is then regenerative braking force distribution ratio and friction brake force distribution ratio。Three corresponding fuzzy subsets of input variable, if Fig. 4 (a) is to shown in Fig. 4 (c)；Two corresponding fuzzy subsets of output variable, it is as shown in Fig. 5 (a) and Fig. 5 (b)。
Further, described fuzzy logic algorithm includes: regenerative braking force fuzzy reasoning table and friction brake force fuzzy reasoning table。
Concrete, described regenerative braking force fuzzy reasoning table includes:
When super capacitor state-of-charge is LUTime, regenerative braking force distribution ratio is as shown in table 1 below:
Table 1 is L when super capacitor state-of-chargeUTime regenerative braking force allocation table
When super capacitor state-of-charge is MUTime, regenerative braking force distribution ratio is as shown in table 2 below:
Table 2 is M when super capacitor state-of-chargeUTime regenerative braking force allocation table
When super capacitor state-of-charge is HUTime, regenerative braking force distribution ratio is as shown in table 3 below:
Table 3 is H when super capacitor state-of-chargeUTime regenerative braking force allocation table
Further, described friction brake force fuzzy reasoning table includes:
When super capacitor state-of-charge is LUTime, friction brake force distribution ratio is as shown in table 4 below:
Table 4 is L when super capacitor state-of-chargeUTime friction brake force allocation table
When super capacitor state-of-charge is MUTime, friction brake force distribution ratio is as shown in table 5 below:
Table 5 is M when super capacitor state-of-chargeUTime friction brake force allocation table
When super capacitor state-of-charge is HUTime, friction brake force distribution ratio is as shown in table 6 below:
Table 6 is H when super capacitor state-of-chargeUTime friction brake force allocation table
Concrete, as shown in above-mentioned table 1 to table 6, the formulation of fuzzy rule must strictly observe ECER13 brake legislation, and in this regulation, the distribution of brake force must be limited in a fixing region。If the brake force of front wheels and rear wheels is allocated along ideal braking force distribution curve, when reaching attachment coefficient limits value between road surface and tire, antero posterior axis will locking simultaneously。If braking force distribution ratio is higher than ideal Distribution curve, trailing wheel will locking before front-wheel, so will be greatly reduced the stability of vehicle。Meanwhile, causing road-adhesion coefficient relatively low to prevent the too early locking of front-wheel, braking force distribution ratio must operate at the region of a safety and stability。Therefore, the basic thought that fuzzy rule is formulated is: when vehicle body active force is less, and braking recovers energy and is mainly used in charging to accumulator and super capacitor, and pays the utmost attention to super capacitor charging。Paying the utmost attention to the purpose to super capacitor charging is: after hybrid vehicle is braked, next transport condition is probably restarts and accelerates, now demand peaks power is bigger, super capacitor needs to absorb more energy and prepares with acceleration mode for starting, thus avoiding the big current electric power generation of accumulator, extend its service life cycle。But, if the state-of-charge of two kinds of power supplys is all higher, then braking energy is mainly consumed by frictional force；When vehicle body active force constantly increases, braking energy is on the increase, and now to realize safety arrestment, and friction brake force distribution ratio should promote to some extent, and regenerative braking force distribution ratio necessarily decreases, and pays the utmost attention to equally and charges to super capacitor, next to that accumulator。Namely preferred, the charging priority of described super capacitor is higher than accumulator, and when vehicle body active force is gradually increased, promotes friction brake force distribution ratio, reduces regenerative braking force distribution ratio。
Therefore, this Control Strategy for Regenerative Braking reclaims the regenerating braking energy of hybrid vehicle to greatest extent, it is achieved the reasonable disposition of resource。Meanwhile, give full play to the advantage of accumulator-super capacitor composite power source energy-storage system, and ensure the safety arrestment of automobile。
Embodiment 2
On embodiment 1 basis, the present embodiment 2 provides a kind of composite power source type hybrid vehicle applying described Control Strategy for Regenerative Braking。
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not necessarily departing from this invention technological thought, can carry out various change and amendment completely。The technical scope of this invention is not limited to the content in description, it is necessary to determine its technical scope according to right。
Claims (9)
1. a Control Strategy for Regenerative Braking, it is characterised in that comprise the steps:
Step S1, it is thus achieved that the allocation factor of vehicle friction brake power and regenerative braking force；And
Step S2, is allocated according to the described allocation factor friction brake force to vehicle and regenerative braking force。
2. Control Strategy for Regenerative Braking according to claim 1, it is characterised in that
Described allocation factor includes: vehicle body active force, storage battery charge state and super capacitor state-of-charge。
3. Control Strategy for Regenerative Braking according to claim 2, it is characterised in that
The preparation method of described vehicle body active force comprises the steps:
Step S11, sets up xyz tri-phase coordinate system, by the power that vehicle body Force decomposition is three directions, i.e. Fx、FyAnd Fz；
Step S12, sets up vehicle asymmetric vehicle body active force in the process of moving, namely
In formula: FznUnder vertical that the vehicle being decomposed into for acting on the power on vehicle body is gone up along the z-axis direction under symmetry status and asymmetrical state by roadblock produce only in the power in z-axis direction；KznFor the asymmetric vehicle body active force factor；AiFor the acceleration along x, y and z direction；G is acceleration of gravity；GrFor the total force of automobile, including vehicle body, vehicle frame and be loaded in all devices on vehicle；GeFor acting on the effective gravity of vehicle body, the gravity of namely ride personnel and goods。
4. Control Strategy for Regenerative Braking according to claim 3, it is characterised in that
The method being allocated according to the described allocation factor friction brake force to vehicle and regenerative braking force in described step S2 includes:
The fuzzy logic algorithm of three input two outputs set up, wherein
Three input variables, the fuzzy subset that namely vehicle body active force is corresponding is LF, MF, HF；The fuzzy subset that storage battery charge state is corresponding is LS, MS, HS；The fuzzy subset that super capacitor state-of-charge is corresponding is LU, MU, HU；And
Two output variables, the fuzzy subset that namely regenerative braking force distribution ratio is corresponding is LRB, MRB, HRB；Fuzzy subset corresponding to friction brake force distribution ratio is LFB, MFB, HFB。
5. Control Strategy for Regenerative Braking according to claim 4, it is characterised in that described fuzzy logic algorithm includes: regenerative braking force fuzzy reasoning table and friction brake force fuzzy reasoning table。
6. Control Strategy for Regenerative Braking according to claim 5, it is characterised in that described regenerative braking force fuzzy reasoning table includes:
When super capacitor state-of-charge is LUTime, regenerative braking force distribution ratio is as shown in the table:
When super capacitor state-of-charge is MUTime, regenerative braking force distribution ratio is as shown in the table:
When super capacitor state-of-charge is HUTime, regenerative braking force distribution ratio is as shown in the table:
7. Control Strategy for Regenerative Braking according to claim 6, it is characterised in that described friction brake force fuzzy reasoning table includes:
When super capacitor state-of-charge is LUTime, friction brake force distribution ratio is as shown in the table:
When super capacitor state-of-charge is MUTime, friction brake force distribution ratio is as shown in the table:
When super capacitor state-of-charge is HUTime, friction brake force distribution ratio is as shown in the table:
8. Control Strategy for Regenerative Braking according to claim 7, it is characterised in that the charging priority of described super capacitor is higher than accumulator, and
When vehicle body active force is gradually increased, promote friction brake force distribution ratio, reduce regenerative braking force distribution ratio。
9. the composite power source type hybrid vehicle applying Control Strategy for Regenerative Braking as claimed in claim 1。
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106114490A (en) * | 2016-07-30 | 2016-11-16 | 安徽机电职业技术学院 | A kind of Based Intelligent Control hybrid vehicle |
| CN107264293A (en) * | 2017-06-30 | 2017-10-20 | 重庆大学 | A kind of energy reclaiming method of the parallel type hybrid vehicle based on fuzzy control |
| CN116442970A (en) * | 2023-06-20 | 2023-07-18 | 广汽埃安新能源汽车股份有限公司 | Vehicle braking control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106114490A (en) * | 2016-07-30 | 2016-11-16 | 安徽机电职业技术学院 | A kind of Based Intelligent Control hybrid vehicle |
| CN107264293A (en) * | 2017-06-30 | 2017-10-20 | 重庆大学 | A kind of energy reclaiming method of the parallel type hybrid vehicle based on fuzzy control |
| CN107264293B (en) * | 2017-06-30 | 2019-07-26 | 重庆大学 | A kind of energy reclaiming method of the parallel type hybrid vehicle based on fuzzy control |
| CN116442970A (en) * | 2023-06-20 | 2023-07-18 | 广汽埃安新能源汽车股份有限公司 | Vehicle braking control method and device |
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Application publication date: 20160622 |