CN106864273A - Brake energy recovery value determines method and apparatus and energy-recuperation system and method - Google Patents
Brake energy recovery value determines method and apparatus and energy-recuperation system and method Download PDFInfo
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- CN106864273A CN106864273A CN201710216699.9A CN201710216699A CN106864273A CN 106864273 A CN106864273 A CN 106864273A CN 201710216699 A CN201710216699 A CN 201710216699A CN 106864273 A CN106864273 A CN 106864273A
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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
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Abstract
Determine method and apparatus and energy-recuperation system and method the present invention relates to a kind of Brake energy recovery value, its Brake energy recovery value determines that method includes：The current pressure values of master cylinder brake fluid and the current rotational speed values of wheel are obtained when vehicle is braked；Determine target Brake energy recovery value according to current pressure values and current rotational speed values.Its method for recovering brake energy includes：When vehicle is braked, master cylinder pressure sensor gathers the current pressure values of master cylinder brake fluid, and vehicle wheel rotational speeds sensor gathers the current rotational speed values of wheel；ECU systems determine target Brake energy recovery value according to current pressure values and current rotational speed values；Electric machine controller is controlled and generates electricity according to target Brake Energy value to motor, and the electric energy for producing that generates electricity is converted to chemical energy storage in the battery.Using the solution of the present invention, it is not necessary to increase stroke sensor and related accessory, and lift energy regenerating value accuracy.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of Brake energy recovery value determine method and apparatus and
Energy-recuperation system and method.
Background technology
Brake energy recovery is one of mode that electric automobile improves energy utilization rate.It can by automobile brake when it is dynamic
The power storage of battery can be converted to by motor, in then being used traction drive, it is to avoid energy is changed into rubbing
The loss of chafing energy, the service efficiency of energy is improved with this, increases the continual mileage of electric automobile.
The estimation of Brake energy recovery value is a key point of Brake energy recovery, at present majority pure electric vehicle types and
Mixed motor-car type, is all to use stroke sensor output signal and speed to be arranged at brake pedal as Brake energy recovery
The determination basis of value, that is to say, that the input control quantity of energy regenerating is with brake-pedal-travel sensor output signal and speed
As control basis.This mode, increases stroke sensor specifically at brake pedal, when driver steps on brake pedal,
Stroke sensor at brake pedal output a signal to ECU (Electronic Control Unit, electronic control unit, and
Claim " car running computer ", " vehicle-mounted computer " etc.), ECU calculates Brake energy recovery value and is carried out according to the Brake energy recovery value
Energy regenerating is controlled.
Traditional this output signal by the stroke sensor set at brake pedal determines Brake energy recovery
The mode of value, because the position rigging error of the stroke sensor set at brake pedal is larger, can cause braking energy to return
Receipts value accuracy is relatively low and control accuracy is poor, while needing extra increase stroke sensor and related accessory, cost can increase.
The content of the invention
In view of this, there is provided a kind of Brake energy recovery value determines method and apparatus and energy-recuperation system and method, can
So that stroke sensor and related accessory need not be increased, and lift energy regenerating value accuracy and control accuracy.
First aspect, there is provided a kind of Brake energy recovery value determines method, and it includes：
When vehicle is braked, the current pressure values of master cylinder brake fluid and the current rotational speed values of wheel are obtained；
Determine target Brake energy recovery value according to the current pressure values and the current rotational speed values.
With reference in a first aspect, in a kind of possible implementation of first aspect, according to current pressure values and described
Current rotational speed values determine that target Brake energy recovery value includes：
Determine mesh according to the current pressure values, the current rotational speed values and the first mapping table for pre-building
Mark Brake energy recovery value, wherein, first mapping table characterizes Brake energy recovery value, the pressure value of master cylinder brake fluid
With the corresponding relation of the rotational speed values of wheel.
With reference to first aspect or above-mentioned some possible implementations, in a kind of possible implementation of first aspect,
The process of setting up of first mapping table includes：
By controlling the braking depth of brake pedal by the pressure of the master cylinder brake fluid constant pressure set at each respectively
Value；
In pressure value in setting that the pressure of master cylinder brake fluid is constant every time, the rotary speed point of wheel is adjusted
Not to the rotational speed values that each sets, often adjust to a rotational speed values for setting, current optimal braking energy is returned
Receipts value recorded in first mapping table, until having recorded each group pressure value and the corresponding braking energy of rotational speed values
Alluvial.
With reference to first aspect or above-mentioned some possible implementations, in a kind of possible implementation of first aspect,
The first mapping table, the current pressure values and the current rotational speed values that the basis pre-builds determine target system
The step of energy alluvial, includes：
When record has the current pressure values and the current rotational speed values in first mapping table, by institute
Brake energy recovery value corresponding with the current pressure values and the current rotational speed values is true in stating the first mapping table
It is set to the target Brake energy recovery value；
Record has the current pressure values and has not recorded the current rotary speed in first mapping table
During value, first with the current pressure values and the current rotational speed values is inquired about respectively according to first mapping table
The corresponding first Brake energy recovery value of adjacent rotational speed values and with the current pressure values and the current rotary speed
The corresponding second Brake energy recovery value of second adjacent rotational speed values of value, according to the current rotational speed values, described the
One adjacent rotational speed values, the second adjacent rotational speed values, the first Brake energy recovery value and the second braking energy
Alluvial determines the target Brake energy recovery value；
The current pressure values are not recorded in first mapping table and record has had the current rotary speed
During value, pressure value adjacent with the first of the current pressure values and described current is inquired about according to first mapping table respectively
The corresponding 3rd Brake energy recovery value of rotational speed values and pressure value adjacent with the second of the current pressure values and described
The current corresponding 4th Brake energy recovery value of rotational speed values, according to the current pressure values, the first adjacent pressure value,
The second adjacent pressure value, the 3rd Brake energy recovery value and the 4th Brake energy recovery value determine the target braking
Energy regenerating value；
The current pressure values have not been recorded in first mapping table and the current rotation speed has not been recorded
During angle value, pressure value adjacent with described first and the first adjacent rotation speed are inquired about according to first mapping table respectively
The corresponding 5th Brake energy recovery value of angle value pressure value adjacent with described first and the second adjacent rotational speed values are corresponding
The 6th Brake energy recovery value pressure value adjacent with described second and corresponding 7th system of the first adjacent rotational speed values
Energy alluvial and pressure value adjacent with described second and corresponding 8th Brake Energy of the second adjacent rotational speed values
Amount alluvial, according to the current pressure values, the current rotational speed values, the first adjacent pressure value, second phase
Adjacent pressure value, the first adjacent rotational speed values, the second adjacent rotational speed values, the 5th Brake energy recovery
Value, the 6th Brake energy recovery value, the 7th Brake energy recovery value and the 8th Brake energy recovery value determine described
Target Brake energy recovery value.
With reference in a first aspect, in a kind of possible implementation of first aspect, according to current pressure values and described
Current rotational speed values determine that target Brake energy recovery value includes：
Determine mesh according to the current pressure values, the current rotational speed values and the second mapping table for pre-building
Mark reclaims deceleration value, wherein, second mapping table is characterized and reclaims deceleration value, the pressure value of master cylinder brake fluid and car
The corresponding relation of the rotational speed values of wheel；
Deceleration value, complete vehicle quality value, radius of wheel value and braking deceleration angle value are reclaimed according to the target and determines target
Brake energy recovery value.
Second aspect, there is provided a kind of Brake energy recovery value determining device, it includes：
Parameter acquiring unit, for when vehicle is braked, obtain master cylinder brake fluid current pressure values and wheel it is current
Rotational speed values；
Data processing unit, for determining that target is braked according to the current pressure values and the current rotational speed values
Energy value.
With reference to second aspect, in a kind of possible implementation of second aspect, the data processing unit is according to
Current pressure values, the current rotational speed values and the first mapping table for pre-building determine target Brake energy recovery
Value, wherein, first mapping table characterizes the rotation speed of Brake energy recovery value, the pressure value of master cylinder brake fluid and wheel
The corresponding relation of angle value.
With reference to second aspect or above-mentioned some possible implementations, in a kind of possible implementation of second aspect,
Brake energy recovery value determining device of the invention, also includes：
Unit is set up, it is for the braking depth by controlling brake pedal that the pressure of master cylinder brake fluid is constant each respectively
The pressure value of individual setting, every time by the pressure of master cylinder brake fluid it is constant one setting pressure value when, adjust wheel rotation
Rotary speed is often adjusted to a rotational speed values for setting respectively to the rotational speed values that each sets, by current optimal system
Energy alluvial recorded in first mapping table, until having recorded each group pressure value and rotational speed values are corresponding
Brake energy recovery value.
With reference to second aspect or above-mentioned some possible implementations, in a kind of possible implementation of second aspect,
The data processing unit includes：
First subdata processing unit, has the current pressure values and institute for the record in first mapping table
When stating current rotational speed values, by first mapping table with the current pressure values and the current rotational speed values
Corresponding Brake energy recovery value is defined as the target Brake energy recovery value；
Second subdata processing unit, has current pressure values and not for the record in first mapping table
When record there are the current rotational speed values, inquired about respectively and the current pressure values and institute according to first mapping table
State current rotational speed values the corresponding first Brake energy recovery value of the first adjacent rotational speed values and with the current pressure
The corresponding second Brake energy recovery value of second adjacent rotational speed values of force value and the current rotational speed values, according to described
Current rotational speed values, the first adjacent rotational speed values, the second adjacent rotational speed values, first braking energy
Alluvial and the second Brake energy recovery value determine the target Brake energy recovery value；
3rd subdata processing unit, for do not recorded in first mapping table current pressure values and
Record is when having the current rotational speed values, inquires about the with the current pressure values respectively according to first mapping table
One adjacent pressure value and the corresponding 3rd Brake energy recovery value of the current rotational speed values and with the current pressure values
The second adjacent pressure value and the corresponding 4th Brake energy recovery value of the current rotational speed values, according to the current pressure
Force value, the first adjacent pressure value, the second adjacent pressure value, the 3rd Brake energy recovery value and the 4th Brake Energy
Amount alluvial determines the target Brake energy recovery value；
4th subdata processing unit, for do not recorded in first mapping table current pressure values and
When not recorded the current rotational speed values, pressure adjacent with described first is inquired about according to first mapping table respectively
Value and the corresponding 5th Brake energy recovery value of first adjacent rotational speed values pressure value adjacent with described first and described
The corresponding 6th Brake energy recovery value of second adjacent rotational speed values pressure value adjacent with described second and described first adjacent
The corresponding 7th Brake energy recovery value of rotational speed values and pressure value adjacent with described second and the second adjacent rotation
The corresponding 8th Brake energy recovery value of velocity amplitude, according to the current pressure values, the current rotational speed values, described first
Adjacent pressure value, the second adjacent pressure value, the first adjacent rotational speed values, the second adjacent rotational speed values,
The 5th Brake energy recovery value, the 6th Brake energy recovery value, the 7th Brake energy recovery value and the 8th system
Energy alluvial determines the target Brake energy recovery value.
With reference to second aspect, in a kind of possible implementation of second aspect, the data processing unit includes：
First data processing module, for according to the current pressure values, the current rotational speed values and pre-building
The second mapping table determine that target reclaims deceleration value, wherein, second mapping table characterize reclaim deceleration value,
The corresponding relation of the pressure value of master cylinder brake fluid and the rotational speed values of wheel；
Second data processing module, for according to the target reclaim deceleration value, complete vehicle quality value, radius of wheel value and
Braking deceleration angle value determines target Brake energy recovery value.
A kind of third aspect, there is provided brake energy recovering system, it include vehicle wheel rotational speeds sensor, ESP controller,
Electric machine controller, motor and battery, the ESP controller include master cylinder pressure sensor and ECU systems；
The master cylinder pressure sensor, the current pressure values for gathering master cylinder brake fluid when vehicle is braked will be described
Current pressure values are exported to the ECU systems；
The vehicle wheel rotational speeds sensor, the current rotational speed values for gathering wheel when vehicle is braked, by institute
Current rotational speed values are stated to export to the ECU systems；
The ECU systems, for determining target Brake Energy according to the current pressure values and the current rotational speed values
Amount alluvial, the target Brake energy recovery value is exported to the electric machine controller；
The electric machine controller, for motor to be controlled and is generated electricity according to the target Brake Energy value, wherein, institute
State the electric energy for producing that generates electricity and be converted to chemical energy storage in the battery.
A kind of fourth aspect, there is provided method for recovering brake energy, it includes：
Master cylinder pressure sensor gathers the current pressure values of master cylinder brake fluid when vehicle is braked, by the current pressure values
Export and give ECU systems；
Vehicle wheel rotational speeds sensor gathers the current rotational speed values of wheel when vehicle is braked, by the current rotation
Velocity amplitude is exported to the ECU systems；
The ECU systems determine target Brake energy recovery according to the current pressure values and the current rotational speed values
Value, the target Brake energy recovery value is exported to electric machine controller；
The electric machine controller is controlled and generates electricity according to the target Brake Energy value to motor, wherein, the hair
The electric energy that electricity is produced is converted to chemical energy storage in the battery.
According to the scheme of the invention described above, it is the current pressure values and car that master cylinder brake fluid is obtained when vehicle is braked
The current rotational speed values of wheel, target Brake energy recovery is determined according to the current pressure values and the current rotational speed values
Value, accordingly, it may not be necessary to increase stroke sensor and related accessory, and lift energy regenerating value accuracy and control accuracy.
Brief description of the drawings
Fig. 1 be Brake energy recovery value in one embodiment determine method realize schematic flow sheet；
Fig. 2 be in one embodiment set up the first mapping table realize schematic flow sheet；
Fig. 3 realizes schematic flow sheet for the Brake energy recovery value that set the goal really in one embodiment；
Fig. 4 be in one embodiment set up the second mapping table realize schematic flow sheet；
Fig. 5 is the composition structural representation of the Brake energy recovery value determining device in one embodiment；
Fig. 6 is the composition structural representation of the Brake energy recovery value determining device in another embodiment；
Fig. 7 is the refinement composition structural representation of the data processing unit in one embodiment；
Fig. 8 is the refinement composition structural representation of the data processing unit in another embodiment；
Fig. 9 is the composition structural representation of the brake energy recovering system in one embodiment；
Figure 10 realizes schematic flow sheet for the method for recovering brake energy in one embodiment.
Specific embodiment
To make the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, to this
Invention is described in further detail.It should be appreciated that specific embodiment described herein is only used to explain the present invention,
Do not limit protection scope of the present invention.
As shown in figure 1, wherein in one embodiment, there is provided a kind of Brake energy recovery value determines method, the embodiment
In Brake energy recovery value determine that method includes：
Step S101：When vehicle is braked, the current pressure values of master cylinder brake fluid and the current rotary speed of wheel are obtained
Value；
Wherein, the master cylinder brake fluid that the current pressure values of master cylinder brake fluid can be detected by master cylinder pressure sensor
Pressure signal is obtained.The wheel rotation letter that the current rotational speed values of wheel can be detected by vehicle wheel rotational speeds sensor
Number obtain.
Specifically, can be obtained by working as that master cylinder pressure sensor is detected when vehicle is monitored into damped condition
Preceding pressure value and the current rotational speed values detected by vehicle wheel rotational speeds sensor.Wherein it is possible to detect braking
Pedal is in when trampling state, judges that vehicle enters damped condition.
Step S102：Determine target Brake energy recovery according to the current pressure values and the current rotational speed values
Value.
Wherein, under same wheel rotation speed behavior, step on that brake pedal is deeper, the pressure value of master cylinder brake fluid is bigger,
Brake energy recovery value is bigger；Under the pressure of identical master cylinder brake fluid, the rotational speed values of wheel are bigger, Brake energy recovery
Value it is bigger, that is to say, that the target Brake energy recovery value and the current pressure values positive correlation, and with the current rotation
Velocity amplitude positive correlation.
Generally, it is that will be arranged on stroke sensor output signal and speed at brake pedal as braking energy
The determination basis of alluvial, is to replace stroke sensor output signal with the pressure value of master cylinder brake fluid in the present embodiment, due to
Master cylinder pressure sensor is integrated in ESP (Electronic Stability Program, body electronics systems stabilisation) controller
Inside, installation accuracy is high, and rigging error is small, the Brake energy recovery value that the current pressure values based on master cylinder brake fluid are calculated compared with
For accurate, control accuracy can be lifted.Simultaneously, it is not necessary to increase stroke sensor and related accessory, and because master cylinder pressure is passed
Sensor is that ESP controller is carried, it is not required that additionally increase cost.
Accordingly, according to the scheme of above-mentioned the present embodiment, it is the current pressure that master cylinder brake fluid is obtained when vehicle is braked
The current rotational speed values of value and wheel, target Brake Energy is determined according to the current pressure values and the current rotational speed values
Amount alluvial, using the scheme in the present embodiment, it is not necessary to increase stroke sensor and related accessory, reduces cost, and can
To lift the accuracy and control accuracy of Brake energy recovery value.
Wherein in one embodiment, above-mentioned step S102 can include：According to the first corresponding relation for pre-building
Table, the current pressure values and the current rotational speed values determine target Brake energy recovery value, wherein, first correspondence
Relation table characterizes the corresponding relation of the rotational speed values of Brake energy recovery value, the pressure value of master cylinder brake fluid and wheel.
The mapping table of table 1 first
It is to pre-build the first mapping table in the present embodiment, when needing to calculate target Brake energy recovery value, root
Determine target braking energy according to the first mapping table, the current pressure values and the current rotational speed values that pre-build
Alluvial.As shown in table 1, it is an example of the first mapping table, the occurrence of each parameter can be according to reality in table
Need selected.Usually, each rotational speed values in the first relation table are using order arrangement from small to large, or using from big
Arranged to small order；Similarly, each pressure value in the first relation table be also adopted by from small to large order arrangement, or using from
Small order arrangement is arrived greatly.By table 1, each group of pressure value and rotational speed values all correspond to a Brake energy recovery
Value, for example, (P2, V3) corresponding Brake energy recovery value is T23.
Wherein in one embodiment, as shown in Fig. 2 first mapping table is set up process and can specifically be wrapped
Include：
Step S201：Set the pressure of master cylinder brake fluid is constant respectively at each by controlling the braking depth of brake pedal
Fixed pressure value；
Here, the size and number of pressure value of each setting can be chosen according to actual needs, for example, be respectively 0,
5bar、8bar、10bar、15bar、20bar、25bar、30bar、40bar、50bar、60bar、70bar、…….Wherein, bar
It is the unit of pressure value.
Step S202：In pressure value in setting that the pressure of master cylinder brake fluid is constant every time, regulation wheel
Rotary speed is often adjusted to a rotational speed values for setting respectively to the rotational speed values that each sets, will be current optimal
Brake energy recovery value recorded in first mapping table, until it is corresponding with rotational speed values to have recorded each group pressure value
Brake energy recovery value；
Here, the size and number of the rotational speed values of each setting can be chosen according to actual needs, for example, 5r/s,
10r/s、15r/s、20r/s、25r/s、30r/s、35r/s、40r/s、45r/s、50r/s、…….Wherein, r/s is rotary speed
The unit of value.The pressure value for setting number as m, setting rotational speed values for n when, can constitute m*n pressure value with
The combination of velocity amplitude.
Process is set up for the ease of understanding in the present embodiment, is illustrated by taking table 1 as an example.By controlling brake pedal
Braking depth by the pressure of the master cylinder brake fluid constant pressure value set at each respectively, i.e. P1, P2, P3 ..., Pm, will be main
The pressure of cylinder brake fluid is constant in P1, adjust wheel rotary speed respectively to the rotational speed values that each sets, i.e. V1,
V2, V3 ..., Vn, in rotational speed values V1 of the regulation to setting, currently optimal Brake energy recovery value recorded described
Correspondence P1 and V1 is corresponding in first mapping table formulates energy regenerating value, in rotational speed values V2 of the regulation to setting,
The corresponding formulation energy of P1 and V2 is corresponded to during current optimal Brake energy recovery value then recorded into first mapping table
Amount alluvial, in the rotational speed values V3 of regulation to setting, then recorded described the by current optimal Brake energy recovery value
Correspondence P1 and V3 is corresponding in one mapping table formulates energy regenerating value .. ..., in the rotational speed values of regulation to setting
Vn, then correspond to the corresponding formulations of P1 and Vn in current optimal Brake energy recovery value recorded into first mapping table
Energy regenerating value, that is, complete the record of the corresponding row evidences of P1 in table 1；Similarly, by the pressure of master cylinder brake fluid it is constant
During P2, complete table 1 in the corresponding row evidences of P2 record, by the pressure of master cylinder brake fluid it is constant in P3 when, complete table 1 in
Record ... the .. of the corresponding row evidences of P3, by the pressure of master cylinder brake fluid it is constant in Pm when, complete table 1 in Pm it is corresponding
The record of the data of whole table in the record of one row evidence, namely complete table 1.
As shown in table 1, current pressure values be P2, current rotational speed values be V3 when, if desired determine target Brake Energy
Amount alluvial, it is that P2, current rotational speed values are the corresponding Brake energy recoveries of V3 that can inquire about in table 1 with current pressure values
Value, as shown in Table 1, current pressure values are P2, current rotational speed values for the corresponding Brake energy recovery values of V3 are T23, i.e. mesh
Mark Brake energy recovery value is T23.However, the pressure value recorded in table 1 be respectively P1, P2, P3 ..., Pn these discrete values,
The rotational speed values recorded in table 1 be respectively V1, V2, V3 ..., Vm these discrete values, it is contemplated that the pressure of master cylinder brake fluid
The rotational speed values of value and wheel are all consecutive variations, it sometimes appear that do not recorded in table 1 current pressure values or/
With the situation of the current rotational speed values, two adjacent pressure value Ps of current pressure values can be read from table 1nab1、Pnab2,
Or two adjacent rotational speed values V of current rotational speed valuesnab1、Vnab2, according to the two adjacent pressure values or
The data recorded in the two adjacent rotational speed values and table 1, target Brake energy recovery value is drawn using interpolation method.
Specifically, it is the first mapping table that above-mentioned basis pre-builds, described current wherein in one embodiment
Pressure value and the current rotational speed values determine the process of target Brake energy recovery value, and four kinds of situations can be divided to perform respectively
Different processing procedures, respectively：
The first situation, has the current pressure values and the current rotation speed with record in first mapping table
Illustrated as a example by angle value.
When record has the current pressure values and the current rotational speed values in first mapping table, by institute
Brake energy recovery value corresponding with the current pressure values and the current rotational speed values is true in stating the first mapping table
It is set to the target Brake energy recovery value.
Second situation, has the current pressure values and has not recorded described working as with record in first mapping table
Illustrated as a example by preceding rotational speed values.
First, record has the current pressure values and has not recorded the current rotation in first mapping table
During velocity amplitude, inquired about respectively and the current pressure values and the current rotational speed values according to first mapping table
The corresponding first Brake energy recovery value of first adjacent rotational speed values and with the current pressure values and the current rotation
The corresponding second Brake energy recovery value of second adjacent rotational speed values of velocity amplitude；
Here, the first adjacent rotational speed values and the second adjacent rotational speed values are recorded on first corresponding relation
In table and two rotational speed values adjacent with the current rotational speed values size, here, two adjacent rotation speed of size
Angle value refer to one be it is smaller than current rotational speed values and with the immediate rotational speed values of current rotational speed values and another ratio
Current rotational speed values it is big and with the immediate rotational speed values of current rotational speed values.For example, for the first mapping table
The rotational speed values of record be respectively 5r/s, 10r/s, 15r/s, 20r/s, 25r/s, 30r/s, 35r/s, 40r/s, 45r/s,
50r/s ..., and current rotational speed values are 23r/s, then the adjacent rotational speed values of the first of current rotational speed values and second
Adjacent rotational speed values are respectively 20r/s and 25r/s.
Secondly, according to the current rotational speed values, the first adjacent rotational speed values, the second adjacent rotation speed
Angle value, the first Brake energy recovery value and the second Brake energy recovery value determine the target Brake energy recovery value；
Specifically, target Brake energy recovery value can be calculated according to formula below (1).
Wherein, Vnab1、Vnab2The first adjacent rotational speed values, the second adjacent rotational speed values, V are represented respectivelynowRepresent and work as
Preceding rotational speed values, TNow, nab1、TNow, nab2The first Brake energy recovery value, the second Brake energy recovery value, T ' tables are represented respectively
Show target Brake energy recovery value.
The third situation, has described working as not recorded the current pressure values in first mapping table and record
Illustrated as a example by preceding rotational speed values.
First, the current pressure values have not been recorded in first mapping table and record has had the current rotation
During velocity amplitude, pressure value adjacent with the first of the current pressure values and described is inquired about according to first mapping table respectively
The current corresponding 3rd Brake energy recovery value of rotational speed values and pressure value adjacent with the second of the current pressure values and
The corresponding 4th Brake energy recovery value of the current rotational speed values；
Here, the first adjacent pressure value and the second adjacent pressure value be recorded in first mapping table and with institute
Two adjacent pressure values of current pressure values size are stated, here, two adjacent pressure values of size refer to that one is to compare current pressure
Value it is small and with the immediate pressure value of current pressure values and another is bigger than current pressure values and immediate with current pressure values
Pressure value.For example, for the first mapping table record pressure value be respectively 0,5bar, 8bar, 10bar, 15bar,
20bar, 25bar, 30bar, 40bar, 50bar, 60bar, 70bar ..., and current pressure values are 36bar, then current pressure
The first adjacent pressure value and the second adjacent pressure value of value are respectively 30bar and 40bar.
Secondly, according to the current pressure values, the first adjacent pressure value, the second adjacent pressure value, described the
Three Brake energy recovery values and the 4th Brake energy recovery value determine the target Brake energy recovery value；
Specifically, target Brake energy recovery value can be calculated according to formula below (2).
Wherein, Pnab1、pnab2The first adjacent pressure value, the second adjacent pressure value, P are represented respectivelynowRepresent current pressure values,
TNab1, now、TNab2, nowThe 3rd Brake energy recovery value, the 4th Brake energy recovery value are represented respectively, and T ' represents target Brake Energy
Amount alluvial.
4th kind of situation, not recorded the current pressure values in first mapping table and not record described
Illustrated as a example by current rotational speed values.
First, the current pressure values have not been recorded in first mapping table and the current rotation has not been recorded
During spin speed value, pressure value adjacent with described first and the first adjacent rotation are inquired about according to first mapping table respectively
The corresponding 5th Brake energy recovery value of spin speed value pressure value adjacent with described first and the second adjacent rotational speed values
Corresponding 6th Brake energy recovery value pressure value adjacent with described second and the first adjacent rotational speed values corresponding
Seven Brake energy recovery values and pressure value adjacent with described second and the second adjacent rotational speed values the corresponding 8th are made
Energy alluvial；
Secondly, according to the current pressure values, the current rotational speed values, the first adjacent pressure value, described the
Two adjacent pressure values, the first adjacent rotational speed values, the second adjacent rotational speed values, the 5th braking energy are returned
Receipts value, the 6th Brake energy recovery value, the 7th Brake energy recovery value and the 8th Brake energy recovery value determine institute
State target Brake energy recovery value；
Specifically, four sub-goal braking energies can respectively be calculated according to formula below (3), (4), (5), (6)
Alluvial, then by averaging to four sub-goal Brake energy recovery values or average weighted mode obtains target and brakes
Energy regenerating value.
Wherein, Vnab1、Vnab2The first adjacent rotational speed values, the second adjacent rotational speed values, V are represented respectivelynowRepresent and work as
Preceding rotational speed values, Pnab1、pnab2The first adjacent pressure value, the second adjacent pressure value, P are represented respectivelynowRepresent current pressure values,
RNab1, nab1、RNab1, nab2、RNab2, nab1、RNab2, nab2Respectively represent the 5th Brake energy recovery value, the 6th Brake energy recovery value,
7th Brake energy recovery value and the 8th Brake energy recovery value, T1′、T2′、T3' and T4' refer to the first sub-goal Brake Energy respectively
Amount alluvial, the second sub-goal Brake energy recovery value, the 3rd sub-goal Brake energy recovery value and the 4th sub-goal Brake Energy
Amount alluvial, i.e., four above-mentioned sub-goal Brake energy recovery values.
It should be noted that above-mentioned formula (1)~(6) are all based on linear interpolation, according to actual needs can also base
In non-linear interpolation, that is to say, that calculate the mode that target Brake energy recovery value is not limited to formula (1)~(6).
It is relevant with deceleration value is reclaimed in view of Brake energy recovery value, and reclaims deceleration value and do not rely on wheel
Radius and complete vehicle quality are equal to vehicle parameter relevant in itself, and scheme is determined in order to lift Brake energy recovery value of the invention
Applicability, wherein in one embodiment, as shown in figure 3, above-mentioned step S102 can include：
Step S301：Closed according to the current pressure values, the current rotational speed values and the second correspondence for pre-building
It is table determines that target reclaims deceleration value, wherein, second mapping table is characterized and reclaims deceleration value, master cylinder brake fluid
The corresponding relation of the rotational speed values of pressure value and wheel；
It is to pre-build the second mapping table in the present embodiment, when needing to calculate target recovery deceleration value, according to
The second mapping table, the current pressure values and the current rotational speed values for pre-building determine that target reclaims deceleration
Value.As shown in table 2, it is an example of the second mapping table, the occurrence of each parameter can be according to actual needs in table
Selected, usually, each rotational speed values in the second relation table are using order arrangement from small to large, or use from big to small
Order arrangement；Similarly, each pressure value in the second relation table is also adopted by order arrangement from small to large, or using from big
Arranged to small order.By table 2, each group of pressure value and rotational speed values all correspond to a recovery deceleration value, example
Such as, (P2, V3) corresponding recovery deceleration value is A23.
The mapping table of table 2 second
Wherein in one embodiment, as shown in figure 4, second mapping table is set up process and can specifically be wrapped
Include：
Step S401：Set the pressure of master cylinder brake fluid is constant respectively at each by controlling the braking depth of brake pedal
Fixed pressure value；
Here, the size and number of the pressure value of each setting can be chosen according to actual needs.
Step S402：In pressure value in setting that the pressure of master cylinder brake fluid is constant every time, regulation wheel
Rotary speed is often adjusted to a rotational speed values for setting, by current recovery respectively to the rotational speed values that each sets
Deceleration value recorded in first mapping table, until having recorded each group pressure value and the corresponding recovery of rotational speed values
Deceleration value；
Here, the size and number of the rotational speed values of each setting can be chosen according to actual needs.
As shown in table 2, current pressure values be P2, current rotational speed values be V3 when, if desired determine target reclaim subtract
Velocity amplitude, it is that P2, current rotational speed values are the corresponding recovery deceleration values of V3 that can be inquired about in table 2 with current pressure values,
As shown in Table 2, current pressure values are P2, current rotational speed values for the corresponding recovery deceleration values of V3 are that R23, i.e. target are reclaimed
Deceleration value is R23.However, the pressure value recorded in table 2 be respectively P1, P2, P3 ..., Pn these discrete values, remember in table 2
The rotational speed values of record be respectively V1, V2, V3 ..., Vm these discrete values, it is contemplated that the pressure value and wheel of master cylinder brake fluid
Rotational speed values be all consecutive variations, it sometimes appear that can not record the current pressure values or described in table 2
The situation of current rotational speed values, can read two adjacent pressure value Ps of current pressure values from table 2nab1、Pnab2, or/
Rotational speed values V adjacent with the two of current rotational speed valuesnab1、Vnab2, according to the two adjacent pressure values or two
The data recorded in adjacent rotational speed values and table 2, show that target reclaims deceleration value using interpolation method.
Specifically, it is the second mapping table that above-mentioned basis pre-builds, described current wherein in one embodiment
Pressure value and the current rotational speed values determine that target reclaims the process of deceleration value, can divide four kinds of situations, these four feelings
Condition is respectively：
The first situation, has the current pressure values and the current rotation speed with record in second mapping table
Illustrated as a example by angle value.
When record has the current pressure values and the current rotational speed values in second mapping table, by institute
Recovery deceleration value corresponding with the current pressure values and the current rotational speed values determines in stating the second mapping table
For the target reclaims deceleration value.
Second situation, has the current pressure values and has not recorded described working as with record in second mapping table
Illustrated as a example by preceding rotational speed values.
First, record has the current pressure values and has not recorded the current rotation in second mapping table
During velocity amplitude, inquired about respectively and the current pressure values and the current rotational speed values according to second mapping table
First adjacent rotational speed values corresponding first reclaim deceleration value and with the current pressure values and the current rotation speed
Second adjacent rotational speed values corresponding second of angle value reclaim deceleration value；
Here, the first adjacent rotational speed values and the second adjacent rotational speed values are recorded on second mapping table
In and two rotational speed values adjacent with the current rotational speed values size, here, two adjacent pressure values of size refer to
One be it is smaller than current pressure values and with the immediate pressure value of current pressure values and another it is bigger than current pressure values and with work as
The preceding immediate pressure value of pressure value.
Secondly, according to the current rotational speed values, the first adjacent rotational speed values, the second adjacent rotation speed
Angle value, the first recovery deceleration value and the second recovery deceleration value determine that the target reclaims deceleration value；
Specifically, target can be calculated according to formula below (7) and reclaims deceleration value.
Wherein, Vnab1、Vnab2The first adjacent rotational speed values, the second adjacent rotational speed values, V are represented respectivelynowRepresent and work as
Preceding rotational speed values, ANow, nab1、ANow, nab2Represent that first reclaims deceleration value, the second recovery deceleration value respectively, A ' represents mesh
Mark reclaims deceleration value.
The third situation, has described working as not recorded the current pressure values in second mapping table and record
Illustrated as a example by preceding rotational speed values.
First, the current pressure values have not been recorded in second mapping table and record has had the current rotation
During velocity amplitude, pressure value adjacent with the first of the current pressure values and described is inquired about according to second mapping table respectively
Current rotational speed values the corresponding 3rd reclaim deceleration value and pressure value adjacent with the second of the current pressure values and institute
State current rotational speed values the corresponding 4th and reclaim deceleration value；
Here, the first adjacent pressure value and the second adjacent pressure value be recorded in second mapping table and with institute
Two adjacent pressure values of current pressure values size are stated, here, two adjacent pressure values of size refer to that one is to compare current pressure
Value it is small and with the immediate pressure value of current pressure values and another is bigger than current pressure values and immediate with current pressure values
Pressure value.
Secondly, according to the current pressure values, the first adjacent pressure value, the second adjacent pressure value, described the
Three recovery deceleration values and the 4th recovery deceleration value determine that the target reclaims deceleration value；
Specifically, target can be calculated according to formula below (8) and reclaims deceleration value.
Wherein, Pnab1、pnab2The first adjacent pressure value, the second adjacent pressure value, P are represented respectivelynowRepresent current pressure values,
ANab1, now、ANab2, nowRepresent that the 3rd reclaims deceleration value, the 3rd recovery deceleration value respectively, A ' represents that target reclaims deceleration
Value.
4th kind of situation, not recorded the current pressure values in second mapping table and not record described
Illustrated as a example by current rotational speed values.
First, the current pressure values have not been recorded in second mapping table and has not recorded described current
During rotational speed values, pressure value adjacent with described first and described first adjacent is inquired about according to second mapping table respectively
Rotational speed values the corresponding 5th reclaim deceleration value pressure value adjacent with described first and the second adjacent rotational speed values
Corresponding 6th reclaims deceleration value pressure value adjacent with described second and the first adjacent rotational speed values the corresponding 7th
Reclaim deceleration value and pressure value adjacent with described second and the second adjacent rotational speed values the corresponding 8th are reclaimed and subtracted
Velocity amplitude；
Secondly, according to the current pressure values, the current rotational speed values, the first adjacent pressure value, described the
Two adjacent pressure values, the first adjacent rotational speed values, the second adjacent rotational speed values, the described 5th reclaims deceleration
Value, the 6th recovery deceleration value, the 7th recovery deceleration value and the 8th recovery deceleration value determine that the target is returned
Receive deceleration value；
Specifically, four sub-goals can respectively be calculated and is reclaimed according to formula below (9), (10), (11), (12) and subtracted
Velocity amplitude.
Wherein, Vnab1、Vnab2The first adjacent rotational speed values, the second adjacent rotational speed values, V are represented respectivelynowRepresent and work as
Preceding rotational speed values, Pnab1、pnab2The first adjacent pressure value, the second adjacent pressure value, P are represented respectivelynowRepresent current pressure values,
ANab1, nab1、ANab1, nab2、ANab2, nab1、ANab2, nab2Respectively represent the 5th reclaim deceleration value, it is described 6th reclaim deceleration value,
7th reclaims deceleration value and the 8th reclaims deceleration value, A1′、A2′、A3' and A4' refer to that the first sub-goal reclaims deceleration respectively
Value, the second sub-goal reclaim deceleration value, the 3rd sub-goal and reclaim deceleration value and the 4th sub-goal recovery deceleration value, that is, go up
Four sub-goals stated reclaim deceleration value.
Deceleration value is reclaimed four sub-goals are obtained, can be asked for averagely by reclaiming deceleration value to four sub-goals
Value or average weighted mode obtain target and reclaim deceleration value, for example：
Or K1+K2+K3+K4=1；
Wherein, K1、K2、K3And K4It is weight coefficient, and K1+K2+K3+K4=1.
It should be noted that above-mentioned formula (7)~(12) are all based on linear interpolation, according to actual needs can also base
In non-linear interpolation, that is to say, that calculate the mode that target Brake energy recovery value is not limited to formula (7)~(12).
Step S302：Deceleration value, complete vehicle quality value, radius of wheel value and braking deceleration angle value are reclaimed according to the target
Determine target Brake energy recovery value；
Specifically, target Brake energy recovery value can be calculated by equation below (13) and (14)：
A=a '+A '-(14)
Wherein, a represents vehicle deceleration, and T ' is target Brake energy recovery value, and m represents complete vehicle quality value, and R is wheel half
Footpath is worth, and a ' represents braking deceleration angle value.
Brake energy recovery value in above-described embodiment determines method, and the present invention also provides a kind of Brake energy recovery
Value determining device.Wherein in one embodiment, as shown in figure 5, the Brake energy recovery value determining device of the embodiment of the present invention
Including parameter acquiring unit 501 and data processing unit 502, wherein：
Parameter acquiring unit 501, for when vehicle is braked, obtaining the current pressure values of master cylinder brake fluid and working as wheel
Preceding rotational speed values；
Data processing unit 502, for determining target system according to the current pressure values and the current rotational speed values
Kinetic energy value.
Wherein in one embodiment, data processing unit 502 can be according to the current pressure values, the current rotation
Velocity amplitude and the first mapping table for pre-building determine target Brake energy recovery value, wherein, first corresponding relation
Table characterizes the corresponding relation of the rotational speed values of Brake energy recovery value, the pressure value of master cylinder brake fluid and wheel.
Wherein in one embodiment, as shown in fig. 6, Brake energy recovery value determining device of the invention, can also wrap
Include：
Unit 601 is set up, for the pressure of master cylinder brake fluid to be distinguished into constant by controlling the braking depth of brake pedal
In the pressure value that each sets, in the constant pressure value in setting of every pressure by master cylinder brake fluid, regulation wheel
, respectively to the rotational speed values that each sets, regulation every time, will be currently optimal to a rotational speed values for setting for rotary speed
Brake energy recovery value recorded first mapping table, until having recorded each group pressure value and rotational speed values pair
The Brake energy recovery value answered.
Wherein in one embodiment, as shown in fig. 7, data processing unit 502 can include：
First subdata processing unit 701, has the current pressure values for the record in first mapping table
During with the current rotational speed values, will be fast with the current pressure values and the current rotation in first mapping table
The corresponding Brake energy recovery value of angle value is defined as the target Brake energy recovery value；
Second subdata processing unit 702, has the current pressure values for the record in first mapping table
And when not recorded the current rotational speed values, inquired about respectively and the current pressure values according to first mapping table
The first Brake energy recovery value corresponding with the first of the current rotational speed values the adjacent rotational speed values and work as with described
The corresponding second Brake energy recovery value of second adjacent rotational speed values of preceding pressure value and the current rotational speed values, according to
The current rotational speed values, the first adjacent rotational speed values, the second adjacent rotational speed values, first braking
Energy regenerating value and the second Brake energy recovery value determine the target Brake energy recovery value；
3rd subdata processing unit 703, for not recorded the current pressure in first mapping table
Value and record is when having the current rotational speed values, inquires about and the current pressure values respectively according to first mapping table
The first adjacent pressure value and the corresponding 3rd Brake energy recovery value of the current rotational speed values and with the current pressure
The second adjacent pressure value and the corresponding 4th Brake energy recovery value of the current rotational speed values of force value, according to described current
Pressure value, the first adjacent pressure value, the second adjacent pressure value, the 3rd Brake energy recovery value and the 4th braking
Energy regenerating value determines the target Brake energy recovery value；
4th subdata processing unit 704, for not recorded the current pressure in first mapping table
Value and when not recorded the current rotational speed values, inquires about adjacent with described first respectively according to first mapping table
Pressure value and the corresponding 5th Brake energy recovery value of first adjacent rotational speed values pressure value adjacent with described first and
The corresponding 6th Brake energy recovery value of second adjacent rotational speed values pressure value adjacent with described second and described first
The adjacent corresponding 7th Brake energy recovery value of rotational speed values and pressure value adjacent with described second and described second adjacent
The corresponding 8th Brake energy recovery value of rotational speed values, according to the current pressure values, the current rotational speed values, institute
State the first adjacent pressure value, the second adjacent pressure value, the first adjacent rotational speed values, the second adjacent rotation speed
Angle value, the 5th Brake energy recovery value, the 6th Brake energy recovery value, the 7th Brake energy recovery value and
Eight Brake energy recovery values determine the target Brake energy recovery value.
Wherein in one embodiment, as shown in figure 8, data processing unit 502 can include：
First data processing module 801, for building according to the current pressure values, the current rotational speed values and in advance
The second vertical mapping table determines that target reclaims deceleration value, wherein, second mapping table is characterized and reclaims deceleration
The corresponding relation of the rotational speed values of value, the pressure value of master cylinder brake fluid and wheel；
Second data processing module 802, for reclaiming deceleration value, complete vehicle quality value, radius of wheel according to the target
Value and braking deceleration angle value determine target Brake energy recovery value.
The description of Brake energy recovery value determining device provided in an embodiment of the present invention, it is true with above-mentioned Brake energy recovery value
The description for determining method is similar, and the beneficial effect of method is determined with above-mentioned Brake energy recovery value, to save length,
Repeat no more；Therefore, the above is thin to the technology that is not disclosed in Brake energy recovery value determining device provided in an embodiment of the present invention
Section, the Brake energy recovery value that refer to above-mentioned offer determines the description of method.
Brake energy recovery value in above-described embodiment determines method, and the present invention also provides a kind of Brake energy recovery
System.Wherein in one embodiment, as shown in figure 9, the brake energy recovering system in the embodiment, including wheel rotation speed
Degree sensor 901, ESP controller 902, electric machine controller 903, motor 904 and battery 905, ESP controller 901 include master cylinder
Pressure sensor 9011 and ECU systems 9012.ESP controller 902 connects vehicle wheel rotational speeds sensor 901 and motor control respectively
Device processed 903, electric machine controller 903 is connected with motor 904 and battery 905 respectively.Usually, vehicle wheel rotational speeds sensor 901
It is connected with ESP controller 902 by overall wire sheaves, electric machine controller 903 is directly installed on motor 904, ESP controller 902
Interacted by CAN (Controller Area Network, controller local area network) signal between electric machine controller 903.
Master cylinder pressure sensor 9011 is used to be gathered when vehicle is braked the current pressure values of master cylinder brake fluid, described will work as
Preceding pressure value is exported to ECU systems 9013；
Vehicle wheel rotational speeds sensor 9012 is used to be gathered when vehicle is braked the current rotational speed values of wheel, will be described
Current rotational speed values are exported to ECU systems 9013；
ECU systems 9013 are used to determine target braking energy according to the current pressure values and the current rotational speed values
Alluvial, the target Brake energy recovery value is exported to the electric machine controller；
Electric machine controller 902 is used to that motor 903 to be controlled and generated electricity according to the target Brake Energy value, wherein,
The electric energy for producing that generates electricity is converted to chemical energy and stores in battery 904.
Here, battery 904 is generally high-tension battery.
In the present embodiment, electric machine controller 902 is controlled concurrently according to the target Brake Energy value to motor 903
Electricity, is converted to the electric energy for generating electricity generation chemical energy and stores in battery 904, realizes and for mechanical energy to be converted into electricity
Can, electric energy is converted into chemical energy.In view of during whole energy regenerating, therefore, to assure that the stability of vehicle, controllability,
There is locking, can not turn in comfortableness, economy, such as vehicle, in a kind of optional mode, the reduction target of ECU systems 9013
Brake energy recovery value, to maintain the stabilization of vehicle；When stepping on the intervention of brake pedal energy regenerating, vehicle occurs without fluctuation, can make
Driver and crew feel comfortably cool.
ECU systems 9013 in the present embodiment determine the description of target Brake energy recovery, with above-mentioned Brake energy recovery
The description of Brake energy recovery of being set the goal really in value determination method is similar, the brake energy recovering system in the present embodiment
The beneficial effect of method is determined with above-mentioned Brake energy recovery value, to save length, is repeated no more；Therefore, the above is to this hair
The ins and outs not disclosed in the brake energy recovering system that bright embodiment is provided, refer to the Brake energy recovery of above-mentioned offer
It is worth the description of determination method.
Additionally, wherein in one embodiment, brake energy recovering system of the invention may further include braking and step on
Plate and vacuum booster and master cylinder.Usually brake pedal and vacuum booster and master cylinder are pushed away by bolt and piston
Bar is attached, and ESP controller 902 is connected with vacuum booster and master cylinder assembly by brake hard tube.Wherein, ESP controls
Device processed 902 is used as the brain for calculating Brake energy recovery value；Electric machine controller 902 and motor 903 are used as Brake energy recovery
Executor；Brake pedal and vacuum booster and master cylinder assembly are originated as the input of Brake energy recovery.
Brake energy recovering system in above-described embodiment, as shown in Figure 10, also provides a kind of Brake energy recovery
Method.Method for recovering brake energy in the present embodiment includes：
Step S1001：Master cylinder pressure sensor gathers the current pressure values of master cylinder brake fluid when vehicle is braked, will be described
Current pressure values are exported gives ECU systems；
Step S1002：Vehicle wheel rotational speeds sensor gathers the current rotational speed values of wheel when vehicle is braked, will
The current rotational speed values are exported to the ECU systems；
It should be noted that the execution sequence of step S1001 and step S1002 is unrestricted, or performs simultaneously
's.
Step S1003：The ECU systems determine target system according to the current pressure values and the current rotational speed values
Energy alluvial, the target Brake energy recovery value is exported to electric machine controller；
Step S1004：The electric machine controller is controlled and generates electricity according to the target Brake Energy value to motor, its
In, the electric energy for producing that generates electricity is converted to chemical energy storage in the battery.
ECU systems in the present embodiment determine the description of target Brake energy recovery, true with above-mentioned Brake energy recovery value
The description of Brake energy recovery of determining to set the goal really in method is similar, and the method for recovering brake energy in the present embodiment has
Above-mentioned Brake energy recovery value determines the beneficial effect of method, to save length, repeats no more；Therefore, the above is to of the invention real
The ins and outs not disclosed in the method for recovering brake energy for applying example offer, the Brake energy recovery value that refer to above-mentioned offer is true
Determine the description of method.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (12)
1. a kind of Brake energy recovery value determines method, it is characterised in that including：
When vehicle is braked, the current pressure values of master cylinder brake fluid and the current rotational speed values of wheel are obtained；
Determine target Brake energy recovery value according to the current pressure values and the current rotational speed values.
2. Brake energy recovery value according to claim 1 determines method, it is characterised in that according to the current pressure values and institute
State current rotational speed values and determine that target Brake energy recovery value includes：
Determine target system according to the current pressure values, the current rotational speed values and the first mapping table for pre-building
Energy alluvial, wherein, first mapping table characterizes Brake energy recovery value, the pressure value of master cylinder brake fluid and car
The corresponding relation of the rotational speed values of wheel.
3. Brake energy recovery value according to claim 2 determines method, it is characterised in that first mapping table
Process of setting up include：
By controlling the braking depth of brake pedal by the pressure of the master cylinder brake fluid constant pressure value set at each respectively；
Every time by the pressure of master cylinder brake fluid it is constant one setting pressure value when, adjust wheel rotary speed respectively to
The rotational speed values of each setting, are often adjusted to a rotational speed values for setting, by current optimal Brake energy recovery value
In recorded first mapping table, until having recorded each group pressure value and the corresponding Brake energy recovery of rotational speed values
Value.
4. Brake energy recovery value according to claim 2 determines method, it is characterised in that what the basis pre-build
The step of first mapping table, the current pressure values and the current rotational speed values determine target Brake energy recovery value
Including：
Record is when having the current pressure values and the current rotational speed values in first mapping table, by described the
Brake energy recovery value corresponding with the current pressure values and the current rotational speed values is defined as in one mapping table
The target Brake energy recovery value；
When record has the current pressure values and has not recorded the current rotational speed values in first mapping table,
Inquire about adjacent with the first of the current pressure values and the current rotational speed values respectively according to first mapping table
The corresponding first Brake energy recovery value of rotational speed values and with the current pressure values and the current rotational speed values
The corresponding second Brake energy recovery value of second adjacent rotational speed values, according to the current rotational speed values, first phase
Adjacent rotational speed values, the second adjacent rotational speed values, the first Brake energy recovery value and the second Brake energy recovery
Value determines the target Brake energy recovery value；
The current pressure values are not recorded in first mapping table and record are when there are the current rotational speed values,
Pressure value adjacent with the first of the current pressure values and the current rotation are inquired about according to first mapping table respectively
The corresponding 3rd Brake energy recovery value of velocity amplitude and pressure value adjacent with the second of the current pressure values and described current
The corresponding 4th Brake energy recovery value of rotational speed values, according to current pressure values, the first adjacent pressure value, described
Second adjacent pressure value, the 3rd Brake energy recovery value and the 4th Brake energy recovery value determine the target braking energy
Alluvial；
The current pressure values have not been recorded in first mapping table and the current rotational speed values have not been recorded
When, pressure value adjacent with described first and the first adjacent rotational speed values are inquired about according to first mapping table respectively
Corresponding 5th Brake energy recovery value pressure value adjacent with described first and the second adjacent rotational speed values corresponding
Six Brake energy recovery values pressure value adjacent with described second and corresponding 7th Brake Energy of the first adjacent rotational speed values
Amount alluvial and pressure value adjacent with described second and corresponding 8th braking energy of the second adjacent rotational speed values are returned
Receipts value, according to the current pressure values, the current rotational speed values, the first adjacent pressure value, the second adjacent pressure
Force value, the first adjacent rotational speed values, the second adjacent rotational speed values, the 5th Brake energy recovery value, institute
State the 6th Brake energy recovery value, the 7th Brake energy recovery value and the 8th Brake energy recovery value and determine the target system
Energy alluvial.
5. Brake energy recovery value according to claim 1 determines method, it is characterised in that according to the current pressure values and institute
State current rotational speed values and determine that target Brake energy recovery value includes：
Determine that target is returned according to the current pressure values, the current rotational speed values and the second mapping table for pre-building
Deceleration value is received, wherein, second mapping table is characterized and reclaims deceleration value, the pressure value of master cylinder brake fluid and wheel
The corresponding relation of rotational speed values；
Deceleration value, complete vehicle quality value, radius of wheel value and braking deceleration angle value are reclaimed according to the target and determines that target is braked
Energy regenerating value.
6. a kind of Brake energy recovery value determining device, it is characterised in that including：
Parameter acquiring unit, for when vehicle is braked, obtaining the current rotation of the current pressure values and wheel of master cylinder brake fluid
Velocity amplitude；
Data processing unit, for determining target braking energy according to the current pressure values and the current rotational speed values
Value.
7. Brake energy recovery value determining device according to claim 6, it is characterised in that the data processing unit is according to institute
The first mapping table stated current pressure values, the current rotational speed values and pre-build determines target Brake energy recovery
Value, wherein, first mapping table characterizes the rotation speed of Brake energy recovery value, the pressure value of master cylinder brake fluid and wheel
The corresponding relation of angle value.
8. Brake energy recovery value determining device according to claim 6, it is characterised in that also include：
Unit is set up, for being set the pressure of master cylinder brake fluid is constant respectively at each by controlling the braking depth of brake pedal
Fixed pressure value, every pressure by master cylinder brake fluid it is constant one setting pressure value when, adjust wheel rotary speed
Respectively to the rotational speed values that each sets, often adjust to a rotational speed values for setting, by current optimal braking energy
Alluvial recorded in first mapping table, until having recorded each group pressure value and the corresponding Brake Energy of rotational speed values
Amount alluvial.
9. Brake energy recovery value determining device according to claim 7, it is characterised in that the data processing unit bag
Include：
First subdata processing unit, in first mapping table record have the current pressure values and it is described work as
During preceding rotational speed values, will be corresponding with the current pressure values and the current rotational speed values in first mapping table
Brake energy recovery value be defined as the target Brake energy recovery value；
Second subdata processing unit, has the current pressure values and does not record for the record in first mapping table
When having the current rotational speed values, according to first mapping table inquire about respectively with the current pressure values and it is described work as
The corresponding first Brake energy recovery value of first adjacent rotational speed values of preceding rotational speed values and with the current pressure values
The second Brake energy recovery value corresponding with the second of the current rotational speed values the adjacent rotational speed values, according to described current
Rotational speed values, the first adjacent rotational speed values, the second adjacent rotational speed values, first Brake energy recovery
Value and the second Brake energy recovery value determine the target Brake energy recovery value；
3rd subdata processing unit, for not recorded the current pressure values and record in first mapping table
When there are the current rotational speed values, the first phase with the current pressure values is inquired about according to first mapping table respectively
Adjacent pressure value and the corresponding 3rd Brake energy recovery value of the current rotational speed values and with the current pressure values
Two adjacent pressure values and the corresponding 4th Brake energy recovery value of the current rotational speed values, according to the current pressure values,
The first adjacent pressure value, the second adjacent pressure value, the 3rd Brake energy recovery value and the 4th braking energy are returned
Receipts value determines the target Brake energy recovery value；
4th subdata processing unit, for not recorded the current pressure values in first mapping table and not remembered
Record is when having the current rotational speed values, according to first mapping table inquire about respectively pressure value adjacent with described first and
The corresponding 5th Brake energy recovery value of first adjacent rotational speed values pressure value adjacent with described first and described second
The adjacent corresponding 6th Brake energy recovery value pressure value adjacent with described second of rotational speed values and the first adjacent rotation
The corresponding 7th Brake energy recovery value of velocity amplitude and pressure value adjacent with described second and the second adjacent rotary speed
It is worth corresponding 8th Brake energy recovery value, according to current pressure values, the current rotational speed values, described first adjacent
Pressure value, the second adjacent pressure value, the first adjacent rotational speed values, the second adjacent rotational speed values, it is described
5th Brake energy recovery value, the 6th Brake energy recovery value, the 7th Brake energy recovery value and the 8th Brake Energy
Amount alluvial determines the target Brake energy recovery value.
10. Brake energy recovery value determining device according to claim 6, it is characterised in that the data processing unit includes：
First data processing module, for according to the current pressure values, the current rotational speed values and pre-build
Two mapping tables determine that target reclaims deceleration value, wherein, second mapping table is characterized and reclaims deceleration value, master cylinder
The corresponding relation of the pressure value of brake fluid and the rotational speed values of wheel；
Second data processing module, for reclaiming deceleration value, complete vehicle quality value, radius of wheel value and braking according to the target
Deceleration value determines target Brake energy recovery value.
11. a kind of brake energy recovering systems, it is characterised in that including vehicle wheel rotational speeds sensor, ESP controller, motor
Controller, motor and battery, the ESP controller include master cylinder pressure sensor and ECU systems；
The master cylinder pressure sensor, the current pressure values for gathering master cylinder brake fluid when vehicle is braked will be described current
Pressure value is exported to the ECU systems；
The vehicle wheel rotational speeds sensor, the current rotational speed values for gathering wheel when vehicle is braked described will be worked as
Preceding rotational speed values are exported to the ECU systems；
The ECU systems, for determining that target braking energy is returned according to the current pressure values and the current rotational speed values
Receipts value, the target Brake energy recovery value is exported to the electric machine controller；
The electric machine controller, for motor to be controlled and is generated electricity according to the target Brake Energy value, wherein, the hair
The electric energy that electricity is produced is converted to chemical energy storage in the battery.
A kind of 12. method for recovering brake energies, it is characterised in that including：
Master cylinder pressure sensor gathers the current pressure values of master cylinder brake fluid when vehicle is braked, by current pressure values output
Give ECU systems；
Vehicle wheel rotational speeds sensor gathers the current rotational speed values of wheel when vehicle is braked, by the current rotary speed
Value output is to the ECU systems；
The ECU systems determine target Brake energy recovery value according to the current pressure values and the current rotational speed values,
The target Brake energy recovery value is exported to electric machine controller；
The electric machine controller is controlled and generates electricity according to the target Brake Energy value to motor, wherein, described generating is produced
Raw electric energy is converted to chemical energy storage in the battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710216699.9A CN106864273B (en) | 2017-04-01 | 2017-04-01 | Brake energy recovery value determines method and apparatus and energy recycling system and method |
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| WO2023279540A1 (en) * | 2021-07-09 | 2023-01-12 | 广东高标电子科技有限公司 | Moped energy recovery method and apparatus, electronic device and storage medium |
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