CN106080216B - A kind of brake control method based on hybrid vehicle Brake energy recovery - Google Patents

A kind of brake control method based on hybrid vehicle Brake energy recovery Download PDF

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Publication number
CN106080216B
CN106080216B CN201610513137.6A CN201610513137A CN106080216B CN 106080216 B CN106080216 B CN 106080216B CN 201610513137 A CN201610513137 A CN 201610513137A CN 106080216 B CN106080216 B CN 106080216B
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braking
motor
brake
vehicle
energy recovery
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Expired - Fee Related
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CN201610513137.6A
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CN106080216A (en
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王权
王子腾
车帅
刘航
任乃飞
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Jiangsu University
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Jiangsu University
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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
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B60T2270/604—Merging friction therewith; Adjusting their repartition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a kind of brake control methods based on hybrid vehicle Brake energy recovery, including：S1 when driver sends out brake request, judges whether to meet Brake energy recovery condition：(1) judge that can battery SOC meet the requirement of electric current recycling, enter (2) if meeting；(2) judge whether ISG motors can receive transmitted torque；Enter (3) if meeting；(3) master cylinder pressure that master cylinder pressure sensor transmits is judged, if PMaster cylinder≥PThreshold valueInto (4)；(4) judge severity of braking and speed size；When meeting Brake energy recovery condition, control strategy is selected according to severity of braking z by S2：As 0≤z≤0.1, using hydraulic braking；As 0.1≤z≤0.3 and when confirming that electric braking force can provide, using small intensity control strategy；When 0.3≤z≤0.65 and confirm electric braking force can provide when, using big strength control strategy；As z >=0.65, using hydraulic braking.Hybrid vehicle safety and economy can be improved.

Description

A kind of brake control method based on hybrid vehicle Brake energy recovery
Technical field
The invention belongs to automotive electronics application fields, design a kind of controlling party based on hybrid vehicle energy regenerating Method.
Background technology
Transiens product of the hybrid vehicle as orthodox car and electric vehicle, had obtained extensive concern in recent years And in-depth study, receive the favor of consumer.But in densely populated big city, automobile is frequently necessary to slow down or stop Vehicle, frequent braking result in the reduction of brake service life so that the safety of running car cannot be guaranteed.And it mixes Exclusive ISG motors can recycle portion of energy of the hybrid vehicle in braking on power vehicle, to a certain degree On improve vehicle traveling safety.Brake energy recovery is called braking regeneration, and vehicle will be stored in braking by referring to automobile Kinetic energy with it is converted into electric energy by motor, and is stored in the electrical energy storage device of hybrid vehicle.
The brake energy recovering system of the Prius hybrid vehicles of Japanese Toyota Company's research and development is adjusted by motor to be braked The relationship of both torque coordination hydraulic braking force and electric braking force, recycling braking energy as much as possible, to improve vehicle Fuel consumption rate.But the vehicle insensitivity is poor, cannot maximize energy recovery efficiency.
The present invention is dynamic taking into account mixing with the foundation of severity of braking and real-time speed alternatively energy regenerating control strategy While power Study on Vehicle Braking Stability, the deceleration and braking of vehicle had not only been realized, but also has significantly reduced the fuel consumption of vehicle And pollutant emission, the abrasion of brake bush is also reduced, the safety of hybrid vehicle is indirectly enhanced.
Invention content
Present invention aims at provide a kind of brake control method based on hybrid vehicle Brake energy recovery, the party Method is lost with hybrid vehicle in braking based on being connected to the ISG motors that hybrid vehicle drives front axle Kinetic energy is energy source, makes hybrid vehicle in braking using motor as generator operation, realizes the recycling profit of braking energy With.The braking method in parallel that the present invention is worked at the same time using brake fluid system and electrical brake system, based on hydraulic braking, electricity Working method supplemented by braking, provides a kind of based on braking force distribution, and matching is adjusted to hydraulic braking and electric braking Method, and in the case where electric braking is met the requirements it is as much as possible convert the kinetic energy into electrical energy savings in the battery.It can be with It solves the friction plate caused by hybrid vehicle cruising ability deficiency and mechanical type friction piece are braked big intensity and replaces week The problems such as phase is short, and while improving hybrid vehicle economy, driver is also alleviated by emergency braking when institute The discomfort of generation.The present invention is with the foundation of severity of braking and real-time speed alternatively energy regenerating control strategy.
Realize that technical scheme is as follows：
A kind of brake control method based on hybrid vehicle Brake energy recovery, includes the following steps：
S1 receives brake request and judges whether the item for meeting Brake energy recovery when driver sends out brake request Part；The condition of the Brake energy recovery includes：
(1) judge that can battery SOC meet the requirement of electric current recycling, if battery SOC ＞ SOC minimum values, into next step (2)；
(2) judge whether ISG motors can receive transmitted torque；If TMotor≤TMotor max, into next step (3)；
(3) judge the master cylinder pressure that master cylinder pressure sensor is transmitted, judge PMaster cylinder≥PThreshold valueIt is whether true, if so, into Enter in next step (4)；
(4) judge the size of severity of braking and real-time speed；
S2 when meeting the condition of above-mentioned Brake energy recovery, selects control strategy according to severity of braking, specifically includes：
As 0≤z of severity of braking≤0.1, using hydraulic braking；
As 0.1≤z of severity of braking≤0.3 and when confirming that electric braking force can provide, using small intensity control strategy；
When severity of braking 0.3≤z≤0.65 and confirm electric braking force can provide when, using big strength control strategy；
As severity of braking z >=0.65, using hydraulic braking.
Further, step S2 further includes：When selecting small intensity control strategy, motor braking is preferentially used, according to real-time Vehicle velocity VVehicleSelect following control strategy：
Work as VVehicle＜ VminAnd TMotorWhen=0, brake force is all provided by hydraulic system；
Work as VVehicle＜ VminAnd TMotorWhen ≠ 0, regenerative braking force is made to reduce Δ T, hydraulic braking force increases Δ T；
Work as Vmin≤VVehicleAnd TMotor≤TMotor maxWhen, so that regenerative braking force is increased Δ T, hydraulic braking force reduces Δ T；
Work as Vmin≤VVehicleAnd TMotor≥TMotor maxWhen, brake force is all provided by hydraulic system；
Wherein, VminFor the minimum recycling speed of formulation, TMotorFor the torque of motor；TMotor maxFor the torque capacity of motor；
VVehicleFor current car speed；Δ T is the torque variable increased or decreased.
Further, step S2 further includes：When selecting big strength control strategy, hydraulic braking is preferentially used, according to braking Intensity and the following control strategy of real-time speed selection：
Work as TBraking=0, and VVehicle=0, then return to step S1；
Work as TBraking≠ 0, and TMotor=0, then brake force all provided by hydraulic system；
Work as TBraking≠ 0, and TMotorWhen ≠ 0, regenerative braking force is made to reduce Δ T, hydraulic braking force increases Δ T；
Work as TBraking≠ 0, and Vmax≤VVehicleWhen, brake force is all provided by hydraulic system；
Work as VVehicle≤VmaxAnd TMotor≤TMotor maxWhen, so that regenerative braking force is increased Δ T, hydraulic braking force reduces Δ T；
Work as VVehicle≤VmaxAnd TMotor≥TMotor maxWhen, brake force is all provided by hydraulic system；
Wherein VmaxFor the maximum recycling speed of formulation, TBrakingFor automobile brake torque.
Further, the severity of braking is received by sensor when braking automobile real-time bus deceleration numerical value divided by again Power acceleration obtains.
Further, PThreshold valueIt is set as 10Mpa.
Further, the value of the Δ T is multiplied by 7%~16% coefficient by current vehicle speed and obtained.
Beneficial effects of the present invention：
The present invention solves hybrid vehicle cruising ability deficiency and mechanical type friction piece since the braking of big intensity is led The problems such as friction plate replacement cycle of cause is short；With the foundation of severity of braking alternatively energy regenerating control strategy, alleviates and drive The person of sailing is due to uncomfortable caused by emergency braking；Using real-time speed as the foundation of energy regenerating control strategy, to a certain extent Improve safety and the economy of hybrid vehicle.
Description of the drawings
Fig. 1 is the general flow chart for judging brake energy recovering system brake control method of the present invention；
Fig. 2 is control method flow chart of the energy-recuperation system provided by the present invention under the control strategy of small intensity；
Fig. 3 is control method flow chart of the energy-recuperation system provided by the present invention under the control strategy of big intensity.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, the braking control strategy of the present invention is as follows：
1, when driver sends out brake request：
(1) it receives brake request and prejudges operator brake request signal and enter downstream；
(2) judge that can battery SOC meet the requirement of electric current recycling, if SOC value of battery ＞ SOC minimum values, entrance are next Flow；
(3) judge whether ISG motors can receive transmitted torque；If TMotor≤TMotor max, into downstream；
(4) master cylinder pressure that master cylinder pressure sensor is transmitted is judged, if PMaster cylinder≥PThreshold value, into downstream；
(5) judge the size of severity of braking and real-time speed.
2, when meeting above-mentioned Brake energy recovery condition, following control strategy is selected according to severity of braking z：
(1) as 0≤z of severity of braking≤0.1, using hydraulic braking.
(2) as 0.1≤z of severity of braking≤0.3 and when confirming that electric braking force can provide, using small intensity control strategy.
(3) when severity of braking 0.3≤z≤0.65 and confirm electric braking force can provide when, using big strength control strategy.
(4) as severity of braking z >=0.65, using hydraulic braking.
Further, when selecting small intensity control strategy, according to the following control strategy of real-time speed selection, as shown in Figure 2：
(1) work as VVehicle＜ VminAnd TMotor=0, then brake force all provided by hydraulic system；
(2) work as VVehicle＜ VminAnd TMotor≠ 0, then：Regenerative braking force reduces Δ T, and hydraulic braking force increases Δ T.Wherein VminFor The minimum recycling speed of formulation, TMotorFor the torque of motor；TMotor maxFor the torque capacity of motor；VVehicleFor current car speed；ΔT For the torque variable increased or decreased.
(3) work as Vmin≤VVehicleAnd TMotor≤TMotor max, then：Regenerative braking force increases Δ T, and hydraulic braking force reduces Δ T；
(4) work as Vmin≤VVehicleAnd TMotor≥TMotor max, then：Brake force is all provided by hydraulic system.
Further, when selecting big strength control strategy, according to severity of braking and the following control strategy of real-time speed selection, As shown in Figure 3：
(1) work as TBraking=0, and VVehicle=0, then return to step 1；
(2) work as TBraking≠ 0, and TMotor=0, then brake force all provided by hydraulic system；
(3) work as TBraking≠ 0, and TMotor≠ 0, then enter energy recovery control module：Regenerative braking force reduces Δ T, hydraulic pressure system Power increases Δ T；
(4) work as TBraking≠ 0, and Vmax≤VVehicle, then brake force all provided by hydraulic system；
(5) work as VVehicle≤VmaxAnd TMotor≤TMotor max, then enter energy recovery control module：Regenerative braking force increases Δ T, liquid It suppresses power and reduces Δ T；Wherein VmaxFor the maximum recycling speed of formulation；TBrakingFor automobile brake torque.
(6) work as VVehicle≤VmaxAnd TMotor≥TMotor max, then brake force all provided by hydraulic system.
Further, the value of the Δ T is multiplied by 7%~16% coefficient by current vehicle speed and obtained；PThreshold valueIt is set as 10Mpa.
The series of detailed descriptions listed above only for the present invention feasible embodiment specifically Bright, they are all without departing from equivalent implementations made by technical spirit of the present invention not to limit the scope of the invention Or change should all be included in the protection scope of the present invention.

Claims (6)

1. a kind of brake control method based on hybrid vehicle Brake energy recovery, which is characterized in that include the following steps：
S1 receives brake request and judges whether the condition for meeting Brake energy recovery when driver sends out brake request；Institute The condition for stating Brake energy recovery includes：
(1) judge that can battery SOC meet the requirement of electric current recycling, if battery SOC ＞ SOC minimum values, into next step (2)；
(2) judge whether ISG motors can receive transmitted torque；If TMotor≤TMotor max, into next step (3)；
(3) judge the master cylinder pressure that master cylinder pressure sensor is transmitted, judge PMaster cylinder≥PThreshold valueIt is whether true, if so, under entrance One step (4)；
(4) judge the size of severity of braking and real-time speed；
S2 when meeting the condition of above-mentioned Brake energy recovery, selects control strategy according to severity of braking, specifically includes：
As 0≤z of severity of braking<When 0.1, using hydraulic braking；
As 0.1≤z of severity of braking<When 0.3 and when confirming that electric braking force can provide, using small intensity control strategy；
As 0.3≤z of severity of braking<0.65 and electric braking force is confirmed when can provide, using big strength control strategy；
As severity of braking z >=0.65, using hydraulic braking；
Wherein, TMotorIndicate the torque of motor, TMotor maxIndicate the torque capacity of motor；PMaster cylinderIndicate that master cylinder pressure sensor transmits Pressure, PThreshold valueIndicate the pressure threshold of master cylinder；Z indicates severity of braking.
2. a kind of brake control method based on hybrid vehicle Brake energy recovery according to claim 1, special Sign is that step S2 further includes：When selecting small intensity control strategy, motor braking is preferentially used, according to real-time vehicle velocity VVehicleChoosing Select following control strategy：
Work as VVehicle＜ VminAnd TMotorWhen=0, brake force is all provided by hydraulic system；
Work as VVehicle＜ VminAnd TMotorWhen ≠ 0, regenerative braking force is made to reduce Δ T, hydraulic braking force increases Δ T；
Work as Vmin≤VVehicleAnd TMotor≤TMotor maxWhen, so that regenerative braking force is increased Δ T, hydraulic braking force reduces Δ T；
Work as Vmin≤VVehicleAnd TMotor>TMotor maxWhen, brake force is all provided by hydraulic system；
Wherein, VminFor the minimum recycling speed of formulation, TMotorFor the torque of motor；TMotor maxFor the torque capacity of motor；
VVehicleFor current car speed；Δ T is the torque variable increased or decreased.
3. a kind of brake control method based on hybrid vehicle Brake energy recovery according to claim 1, special Sign is that step S2 further includes：When selecting big strength control strategy, hydraulic braking is preferentially used, according to severity of braking and reality When the following control strategy of speed selection：
Work as TBraking=0, and VVehicle=0, then return to step S1；
Work as TBraking≠ 0, and TMotor=0, then brake force all provided by hydraulic system；
Work as TBraking≠ 0, and TMotorWhen ≠ 0, regenerative braking force is made to reduce Δ T, hydraulic braking force increases Δ T；
Work as TBraking≠ 0, and Vmax≤VVehicleWhen, brake force is all provided by hydraulic system；
Work as VVehicle≤VmaxAnd TMotor≤TMotor maxWhen, so that regenerative braking force is increased Δ T, hydraulic braking force reduces Δ T；
Work as VVehicle≤VmaxAnd TMotor>TMotor maxWhen, brake force is all provided by hydraulic system；
Wherein VmaxFor the maximum recycling speed of formulation, TBrakingFor automobile brake torque；
Wherein, VVehicleIndicate real-time speed, TMotorIndicate the torque of motor, Δ T is the torque variable increased or decreased.
4. a kind of brake control method based on hybrid vehicle Brake energy recovery according to claim 1, special Sign is, the real-time bus deceleration numerical value divided by acceleration of gravity that the severity of braking is received by sensor when braking automobile It obtains.
5. a kind of brake control method based on hybrid vehicle Brake energy recovery according to claim 1, special Sign is, PThreshold valueIt is set as 10Mpa.
6. a kind of brake control method based on hybrid vehicle Brake energy recovery according to claim 2 or 3, It is characterized in that, the coefficient that the value of the Δ T is multiplied by 7%~16% by current vehicle speed obtains.
CN201610513137.6A 2016-06-30 2016-06-30 A kind of brake control method based on hybrid vehicle Brake energy recovery Expired - Fee Related CN106080216B (en)

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CN107554307B (en) * 2017-08-01 2019-11-22 北京新能源汽车股份有限公司 Automobile brake control method, apparatus and system
CN107472251B (en) * 2017-08-08 2020-09-29 北京长城华冠汽车科技股份有限公司 Four-wheel drive electric automobile sliding control method and system
CN108501923A (en) * 2018-03-05 2018-09-07 东莞中山大学研究院 The electric power-assisted braking arrangement of decoupling and its control method
CN110481552A (en) * 2019-09-05 2019-11-22 南京汽车集团有限公司 One kind braking regenerated control method based on motor wagon
CN111186424B (en) * 2020-01-21 2021-09-10 江苏大学 Composite brake control system and method based on motor brake characteristics

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CN101073992A (en) * 2007-06-25 2007-11-21 江苏大学 Regenerative and conventional brake integrated controller and its control based on ABS for automobile
EP2222525B1 (en) * 2007-12-20 2011-07-20 Peugeot Citroën Automobiles Société Anonyme Braking method for hybrid vehicles compensating for an electric braking torque
CN102114783B (en) * 2011-01-20 2013-01-16 浙江吉利汽车研究院有限公司 Method for recovering brake energy of hybrid electric vehicle
US8712616B2 (en) * 2012-04-26 2014-04-29 Ford Global Technologies, Llc Regenerative braking control to mitigate powertrain oscillation
CN102923128B (en) * 2012-10-11 2015-06-24 吉林大学 Method for controlling four-wheel hub motor to separately drive regenerative braking system of electric vehicle

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