CN107554307A - Automobile brake control method, device and system - Google Patents
Automobile brake control method, device and system Download PDFInfo
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- CN107554307A CN107554307A CN201710647116.8A CN201710647116A CN107554307A CN 107554307 A CN107554307 A CN 107554307A CN 201710647116 A CN201710647116 A CN 201710647116A CN 107554307 A CN107554307 A CN 107554307A
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- 238000000034 method Methods 0.000 title claims abstract description 39
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- 230000001172 regenerating effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000033228 biological regulation Effects 0.000 claims description 5
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims 1
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- 235000013399 edible fruits Nutrition 0.000 description 6
- 239000001257 hydrogen Substances 0.000 description 6
- 229910052739 hydrogen Inorganic materials 0.000 description 6
- 238000011084 recovery Methods 0.000 description 5
- 208000028659 discharge Diseases 0.000 description 3
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
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- 239000001301 oxygen Substances 0.000 description 2
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- 238000004378 air conditioning Methods 0.000 description 1
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- 238000002485 combustion reaction Methods 0.000 description 1
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- WLJVNTCWHIRURA-UHFFFAOYSA-N pimelic acid Chemical compound OC(=O)CCCCCC(O)=O WLJVNTCWHIRURA-UHFFFAOYSA-N 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides an automobile brake control method, device and system, wherein the method comprises the steps of detecting the temperature of a battery monomer of an automobile to obtain a temperature value; comparing the temperature value with a preset temperature threshold value to obtain a comparison result; the comparison results are: when the temperature value is less than or equal to the preset temperature threshold value, a hydraulic brake is adopted, and the hydraulic braking mode of the automobile body electronic stability system is combined to perform braking control on the automobile; the comparison results are: when the temperature value is larger than the preset temperature threshold value, the current at the output end of the galvanic pile and the voltage at the output end of the galvanic pile are determined, the target feedback torque of the motor is determined according to the current at the output end of the galvanic pile and the voltage at the output end of the galvanic pile, and the motor is controlled to perform energy feedback brake control on the automobile based on the target feedback torque. The invention can effectively improve the vehicle braking effect and the energy utilization rate.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of automobile brake control method, apparatus and system.
Background technology
Fuel cell car is mainly using hydrogen as fuel, and the electrochemical reaction combined using hydrogen with oxygen generates electricity as dynamic
Power source, compared with orthodox car, combustion process is not present in fuel cell car, and product is water, and discharge is pollution-free；With it is pure electronic
Automobile is compared, and the fuel load time is short, continual mileage length.Therefore, fuel cell car is widely considered to be future by industry specialists
Most preferable vehicle.In correlation technique, the braking mainly to pure electric automobile is controlled.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.
Therefore, it is an object of the present invention to propose a kind of automobile brake control method, system can be effectively improved
Dynamic effect and capacity usage ratio.
It is another object of the present invention to propose a kind of automobile brake control device.
It is another object of the present invention to propose a kind of Automobile brake control system.
To reach above-mentioned purpose, the automobile brake control method that first aspect present invention embodiment proposes, the automobile is
Fuel cell car, including：The battery cell temperature of automobile is detected, obtains temperature value；By the temperature value and preset
Temperature threshold compares, and obtains comparison result；It is in the comparison result：The temperature value is less than or equal to the default temperature
Spend threshold value when, using liquid braking device, and with reference to body electronics systems stabilisation hydraulic braking mode to the automobile system
Dynamic control；It is in the comparison result：When the temperature value is more than the preset temperature threshold value, determine pile output end current and
Pile output end voltage, and motor target feedback torque is determined according to the pile output end current and pile output end voltage,
And energy feeding braking control is carried out to the automobile based on the target feedback torque-controlled motors.
The automobile brake control method that first aspect present invention embodiment proposes, by entering to the battery cell temperature of automobile
Row detection, obtains temperature value, temperature value and preset temperature threshold value is compared, obtain comparison result, be in comparison result：Temperature
When value is less than or equal to preset temperature threshold value, using liquid braking device, and the hydraulic braking of body electronics systems stabilisation is combined
Mode carries out control for brake to automobile, is in comparison result：When temperature value is more than preset temperature threshold value, pile output end electricity is determined
Stream and pile output end voltage, and motor target feedback torque is determined according to heap output end current and pile output end voltage, with
And energy feeding braking control is carried out to automobile based on target feedback torque-controlled motors, it is effectively improved braking effect and energy
Measure utilization rate.
To reach above-mentioned purpose, the automobile brake control device that second aspect of the present invention embodiment proposes, the automobile is
Fuel cell car, including：Detection module, for being detected to the battery cell temperature of automobile, obtain temperature value；Compare mould
Block, for the temperature value and preset temperature threshold value to be compared, obtain comparison result；Brake control module, for described
Comparison result is：When the temperature value is less than or equal to the preset temperature threshold value, using liquid braking device, and vehicle body is combined
The hydraulic braking mode of electric stabilizing system carries out control for brake to the automobile, is in the comparison result：The temperature value
During more than the preset temperature threshold value, pile output end current and pile output end voltage are determined, and export according to the pile
End electric current and pile output end voltage determine motor target feedback torque, and based on the target feedback torque-controlled motors pair
The automobile carries out energy feeding braking control.
The automobile brake control device that second aspect of the present invention embodiment proposes, by entering to the battery cell temperature of automobile
Row detection, obtains temperature value, temperature value and preset temperature threshold value is compared, obtain comparison result, be in comparison result：Temperature
When value is less than or equal to preset temperature threshold value, using liquid braking device, and the hydraulic braking of body electronics systems stabilisation is combined
Mode carries out control for brake to automobile, is in comparison result：When temperature value is more than preset temperature threshold value, pile output end electricity is determined
Stream and pile output end voltage, and motor target feedback torque is determined according to heap output end current and pile output end voltage, with
And energy feeding braking control is carried out to automobile based on target feedback torque-controlled motors, it is effectively improved braking effect and energy
Measure utilization rate.To reach above-mentioned purpose, the Automobile brake control system that third aspect present invention embodiment proposes, the automobile is
Fuel cell car, including：The automobile brake control device that second aspect of the present invention embodiment proposes.
The Automobile brake control system that third aspect present invention embodiment proposes, by entering to the battery cell temperature of automobile
Row detection, obtains temperature value, temperature value and preset temperature threshold value is compared, obtain comparison result, be in comparison result：Temperature
When value is less than or equal to preset temperature threshold value, using liquid braking device, and the hydraulic braking of body electronics systems stabilisation is combined
Mode carries out control for brake to automobile, is in comparison result：When temperature value is more than preset temperature threshold value, pile output end electricity is determined
Stream and pile output end voltage, and motor target feedback torque is determined according to heap output end current and pile output end voltage, with
And energy feeding braking control is carried out to automobile based on target feedback torque-controlled motors, it is effectively improved braking effect and energy
Measure utilization rate.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the schematic flow sheet for the automobile brake control method that one embodiment of the invention proposes；
Fig. 2 is the schematic flow sheet for the automobile brake control method that another embodiment of the present invention proposes；
Fig. 3 is the structural representation for the automobile brake control device that one embodiment of the invention proposes；
Fig. 4 is the structural representation for the automobile brake control device that another embodiment of the present invention proposes.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.On the contrary, this
All changes that the embodiment of invention includes falling into the range of the spirit and intension of attached claims, modification and equivalent
Thing.
Fig. 1 is the schematic flow sheet for the automobile brake control method that one embodiment of the invention proposes.
The present embodiment is configured as in automobile brake control device with the automobile brake control method to illustrate.Automobile
For fuel cell car.
The automobile brake control method is used to carry out control for brake to fuel cell car.
The automobile brake control method can be specifically used for carrying out control for brake, the increasing journey to extended range model fuel cell car
The power unit of type fuel cell car is made up of electrokinetic cell and distance increasing unit, and the generating of distance increasing unit is realized by pile, pile
Internal hydrogen with the chemical reaction of oxygen by producing electric energy, drive motor output power.
Referring to Fig. 1, this method includes：
S101：The battery cell temperature of automobile is detected, obtains temperature value.
In an embodiment of the present invention, before being detected to the battery cell temperature of automobile, based on gear controller
GPU, identifies the physics gear of automobile, and the gear for the fuel cell electric vehicle that fuel cell car is related to includes in the present invention
R, tetra- gears of N, D, E, wherein：1), D shelves are power gear, meet that vehicle power performance (that is, can have in D gears, automobile
Maximum accelerating torque, highest speed) demand, E shelves are economic gear, are target (that is, in E gears, the electricity of automobile using economy
Energy and Hydrogen Energy consumption are minimum), when gear is adjusted to D/E and kept off by driver, pass through B+, B- button and set three energy to return
Intensity (energy regenerating intensity gear includes 1/2/3 gear) is received, 1 gear is most recovery intensity adjusts car economy, 2 grades of recovery intensity by force
Comfortableness and economy are taken into account, 3 gears emphasize vehicle comfortableness for minimum recovery intensity.
Automobile brake control method in the embodiment of the present invention, specifically performed when the physics gear of automobile keeps off for D/E,
The brake system of the automobile can include：Liquid braking device, energy feeding braking device, and based on body electronics systems stabilisation
Hydraulic brake system.
That is, when the physics gear of fuel cell car keeps off for D/E, the battery cell temperature of automobile is detected, obtained
To temperature value.
S102：Temperature value and preset temperature threshold value are compared, obtain comparison result.
Preset temperature threshold value therein is set in advance, and the preset temperature threshold value can be in advance based on experiment to measure
, when the battery cell temperature of automobile is less than or equal to preset temperature threshold value, its chargeable capacity is relatively low.
S103：It is in comparison result：When temperature value is less than or equal to preset temperature threshold value, using liquid braking device, and
Control for brake is carried out to automobile with reference to the hydraulic braking mode of body electronics systems stabilisation.
In an embodiment of the present invention, when the battery cell temperature of automobile is less than or equal to preset temperature threshold value, its
Chargeable capacity is relatively low, now, is not suitable for charging to battery.
If desired control for brake is carried out to automobile, liquid braking device can be used, and combine body electronics systems stabilisation
Hydraulic braking mode carries out braking compensation control to automobile, and can effectively make up noenergy regenerative braking causes to give driver's
Brake feedback difference, to ensure that braking is unified, improve braking comfortableness.
Alternatively, using liquid braking device, and the hydraulic braking mode for combining body electronics systems stabilisation is carried out to automobile
Control for brake, including：Automobile current motor rotating speed is determined, and determines the demand torque braked to automobile；Judge current
Whether motor speed is more than preset rotation speed threshold value；When more than preset rotation speed threshold value, the output of body electronics systems stabilisation is default to be turned
Square, and demand torque is compensated based on preset torque, it is compensated rear torque；Liquid braking device is based on torque pair after compensation
Automobile carries out control for brake；When less than or equal to preset rotation speed threshold value, liquid braking device is directly based upon demand torque to vapour
Car carries out control for brake.
S104：It is in comparison result：When temperature value is more than preset temperature threshold value, determine that pile output end current and pile are defeated
Go out terminal voltage, and motor target feedback torque is determined according to heap output end current and pile output end voltage, and based on target
Feedback torque-controlled motors carry out energy feeding braking control to automobile.
In an embodiment of the present invention, it is in comparison result：When temperature value is more than preset temperature threshold value, exported according to pile
End electric current and pile output end voltage determine motor target feedback torque, and automobile is braked based on target feedback torque
Control, the charging ability of battery can be taken into full account, as far as possible by energy feeding braking, energy feedback is carried out with reference to motor
Control for brake, the Associated brake control mode of control for brake is carried out with body electronics systems stabilisation, be effectively improved braking effect
Fruit and capacity usage ratio.
It is defeated according to pile after pile output end current and pile output end voltage is determined in the embodiment of the present invention
Go out to hold electric current and pile output end voltage to determine pile charging current, with reference to the current maximum chargeable power of electrokinetic cell, it is determined that
The maximum feedback braking torque that motor can be carried out carries out energy feeding braking control, effectively carried as the target feedback torque
High braking effect and capacity usage ratio
In the present embodiment, by being detected to the battery cell temperature of automobile, temperature value is obtained, by temperature value and is preset
Temperature threshold compares, and obtains comparison result, is in comparison result：When temperature value is less than or equal to preset temperature threshold value, adopt
Control for brake is carried out to automobile with the hydraulic braking mode of liquid braking device, and combination body electronics systems stabilisation, tied comparing
Fruit is：When temperature value is more than preset temperature threshold value, pile output end current and pile output end voltage are determined, and export according to heap
End electric current and pile output end voltage determine motor target feedback torque, and based on target feedback torque-controlled motors to automobile
Energy feeding braking control is carried out, is effectively improved braking effect and capacity usage ratio.
Fig. 2 is the schematic flow sheet for the automobile brake control method that another embodiment of the present invention proposes.
Referring to Fig. 2, this method includes：
S201：The battery cell temperature of automobile is detected, obtains temperature value.
S202：Temperature value and preset temperature threshold value are compared, obtain comparison result.
S203：Judge comparison result whether be：Temperature value is less than or equal to preset temperature threshold value, if so, then performing
S204-S209, otherwise, perform S210-S215.
S204：Motor is forbidden to carry out energy regenerating to battery.
S205：Automobile current motor rotating speed is determined, and determines the demand torque braked to automobile.
S206：Judge whether current motor rotating speed is more than preset rotation speed threshold value, if so, S208-S209 is then performed, otherwise,
Perform S207.
S207：Liquid braking device is directly based upon demand torque and carries out control for brake to automobile.
S208：Body electronics systems stabilisation exports preset torque, and demand torque is compensated based on preset torque, obtains
Torque after to compensation.
S209：Torque carries out control for brake to automobile after liquid braking device is based on compensation.
S210：Determine the maximum charge power of battery.
S211：The reality of battery is determined according to pile output end current and pile output end voltage, and maximum charge power
When chargeable power.
S212：Motor target feedback torque is determined according to current motor torque and real-time chargeable power.
S213：Energy feeding braking control is carried out to automobile based on target feedback torque-controlled motors.
S214：Pressurization control is carried out to the wheel cylinder of automobile based on body electronics systems stabilisation.
S215：In brake control process is carried out to automobile, motor target feedback torque is adjusted in real time, until adjusting
Motor target feedback torque after section is more than or equal to current motor torque..
As a kind of example, when battery cell temperature is less than or equal to T DEG C of preset temperature threshold value, now, power electric
The chargeable capacity in pond reduces, and can not meet the charge requirement of automobile normal running, therefore, battery management system can be to vehicle control
Device processed sends " forbidding charge flag position ", meanwhile, when drive motor controller sends " feedback braking enabler flags position ", vehicle control
Device processed judges that now electrokinetic cell is not suitable for being charged, to avoid energy feedback electric discharge wind caused by electrokinetic cell can not charge
Danger, entire car controller send " forbidding energy regenerating flag bit " to drive motor controller, and drive motor controller forbids motor
Energy regenerating is carried out, in order to ensure to give the uniformity of the braking experience of driver during braking, liquid braking device can be used, and
Control for brake is carried out to automobile with reference to the hydraulic braking mode of body electronics systems stabilisation, specific example is as follows：
Automobile current motor rotating speed is determined by drive motor controller, also, passed by entire car controller based on master cylinder pressure
" the master cylinder pressure force value " that sensor is sent, (table can be to be in advance based on substantial amounts of drive to test number by way of one-dimensional table look-up
Drawn according to demarcation, and multiple master cylinder pressure force value are stored with the table, and demand torque corresponding to each master cylinder pressure force value), it is determined that
The demand torque braked to automobile, based on current motor rotating speed, it is preset torque that body electronics systems stabilisation, which carries out moment of torsion,
Braking superposition, i.e. when current motor rotating speed is less than or equal to preset rotation speed threshold value, body electronics systems stabilisation not to need
Ask torque to compensate, i.e., output valve is 0 torque, and when current motor rotating speed is more than preset rotation speed threshold value, body electronics
Systems stabilisation exports preset torque, and demand torque is compensated based on preset torque, is compensated rear torque, is aided in
Control for brake.
When battery cell temperature is more than T DEG C of preset temperature threshold value, battery management system judges power electric at this temperature
The chargeable capacity in pond meets charge requirement, and battery management system is calculated to entire car controller by internal module and sends battery most
Big charge power, further, pass through maximum charge power-(pile output end of formula electrokinetic cell regenerative power=battery
Electric current * piles output end voltage)/1000 determine electrokinetic cell regenerative power, the charging work(exported in real time due to considering pile
Rate, and the maximum chargeable power of electrokinetic cell now is combined, calculated by entire car controller internal module, can be derived that battery
Real-time chargeable power, further, by below equation, motor target feedback torque can be calculated, by vehicle control
Device processed sends the motor target feedback torque to drive motor controller, and drive motor controller controlled motor carries out energy and returned
Control for brake is presented, wherein it is determined that the formula of motor target feedback torque is as follows：
T=9550*P/N；
Wherein, T is motor target feedback torque, and N is current motor torque, and P is real-time chargeable power.
Further, entire car controller can also regulation motor target feedback torque in real time, it is ensured that the motor mesh after regulation
Mark feedback torque is more than or equal to current motor torque, because drive motor controller has torque limit and filtering, can go out
The situation that existing motor torque is cut down causes vehicle recovery torque deficiency, and therefore, in an embodiment of the present invention, entire car controller can
Based on internal calculation, the signal of " braking deceleration request " is sent to body electronics systems stabilisation, is stablized based on body electronics
System carries out pressurization control to the wheel cylinder of automobile, with control for brake effect expected from realization.
Further, in an embodiment of the present invention, " power output " sent due to pile to hydrogen system distance increasing unit
Response has deviation, and it is high-power transient pulse to be present, when entire car controller is to hydrogen system distance increasing unit transmission power output, if really
Protect motor demand power+air-conditioning heating controller power output+motor compressor controller and currently consume power+direct current conversion control
Device processed currently consumes power-PBat=power output+Pdelta, and (Pdelta is for different automobile types, based on a large amount of vehicle data
The reserved numerical value of demarcation), to prevent pile from exporting unnecessary electricity, the situation of whole pile electricity can not be absorbed in electrokinetic cell
Under, caused high-pressure system electric discharge risk and cause electrokinetic cell irrecoverability failure.
In the present embodiment, by being detected to the battery cell temperature of automobile, temperature value is obtained, by temperature value and is preset
Temperature threshold compares, and obtains comparison result, is in comparison result：When temperature value is less than or equal to preset temperature threshold value, adopt
Control for brake is carried out to automobile with the hydraulic braking mode of liquid braking device, and combination body electronics systems stabilisation, tied comparing
Fruit is：When temperature value is more than preset temperature threshold value, pile output end current and pile output end voltage are determined, and export according to heap
End electric current and pile output end voltage determine motor target feedback torque, and based on target feedback torque-controlled motors to automobile
Energy feeding braking control is carried out, is effectively improved braking effect and capacity usage ratio.The present embodiment can not pass through energy
In the case of regeneration braking control, the hydraulic braking mode of body electronics systems stabilisation is introduced, improves the braking of driver
Comfortableness.Ensure the uniformity that the braking that driver is given during control for brake is experienced, also, the present invention is based on pile running status
In pile output end current and pile output end voltage perform vehicle braking energy feedback control logic, ensure electrokinetic cell
In the case of not by moment impact, power adjustment mechanism is added, further increases braking effect.
Fig. 3 is the structural representation for the automobile brake control device that one embodiment of the invention proposes.
Referring to Fig. 3, the device 300 includes：Detection module 301, comparing module 302, and brake control module 303, its
In,
Detection module 301, for being detected to the battery cell temperature of automobile, obtain temperature value.
Comparing module 302, for temperature value and preset temperature threshold value to be compared, obtain comparison result.
Brake control module 303, for being in comparison result：When temperature value is less than or equal to preset temperature threshold value, adopt
Control for brake is carried out to automobile with the hydraulic braking mode of liquid braking device, and combination body electronics systems stabilisation, tied comparing
Fruit is：When temperature value is more than preset temperature threshold value, pile output end current and pile output end voltage are determined, and it is defeated according to pile
Go out to hold electric current and pile output end voltage to determine motor target feedback torque, and based on target feedback torque-controlled motors to vapour
Car carries out energy feeding braking control.
Alternatively, in some embodiments, brake control module 303, it is specifically used for：
Automobile current motor rotating speed is determined, and determines the demand torque braked to automobile；
Judge whether current motor rotating speed is more than preset rotation speed threshold value；
When more than preset rotation speed threshold value, body electronics systems stabilisation output preset torque, and based on preset torque to needing
Ask torque to compensate, be compensated rear torque；
Torque carries out control for brake to automobile after liquid braking device is based on compensation；
When less than or equal to preset rotation speed threshold value, liquid braking device is directly based upon demand torque and automobile is braked
Control.
Brake control module 303, is specifically used for：
Determine the maximum charge power of battery；
Determine that the real-time of battery fills according to pile output end current and pile output end voltage, and maximum charge power
Electrical power；
Motor target feedback torque is determined according to current motor torque and real-time chargeable power.
Brake control module 303, is additionally operable to：
It is in comparison result：When temperature value is less than or equal to preset temperature threshold value, motor is forbidden to carry out energy to battery
Recovery.
Brake control module 303, is additionally operable to：
It is in comparison result：When temperature value is more than preset temperature threshold value, the system based on body electronics systems stabilisation to automobile
Driving wheel cylinder carries out pressurization control.
Alternatively, in some embodiments, referring to Fig. 4, the device 300 also includes：
Adjustment module 304, in brake control process is carried out to automobile, being carried out to motor target feedback torque real-time
Regulation, until the motor target feedback torque after regulation is more than or equal to current motor torque..
It should be noted that the explanation in earlier figures 1- Fig. 2 embodiments to automobile brake control method embodiment
Suitable for the automobile brake control device 300 of the embodiment, its realization principle is similar, and here is omitted.
In the present embodiment, by being detected to the battery cell temperature of automobile, temperature value is obtained, by temperature value and is preset
Temperature threshold compares, and obtains comparison result, is in comparison result：When temperature value is less than or equal to preset temperature threshold value, adopt
Control for brake is carried out to automobile with the hydraulic braking mode of liquid braking device, and combination body electronics systems stabilisation, tied comparing
Fruit is：When temperature value is more than preset temperature threshold value, pile output end current and pile output end voltage are determined, and export according to heap
End electric current and pile output end voltage determine motor target feedback torque, and based on target feedback torque-controlled motors to automobile
Energy feeding braking control is carried out, is effectively improved braking effect and capacity usage ratio.
It should be noted that in the description of the invention, term " first ", " second " etc. are only used for describing purpose, without
It is understood that to indicate or implying relative importance.In addition, in the description of the invention, unless otherwise indicated, the implication of " multiple "
It is two or more.
Any process or method described otherwise above description in flow chart or herein is construed as, and represents to include
Module, fragment or the portion of the code of the executable instruction of one or more the step of being used to realize specific logical function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, have suitable combinational logic gate circuit application specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method carries
Suddenly it is that by program the hardware of correlation can be instructed to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (13)
1. a kind of automobile brake control method, the automobile is fuel cell car, it is characterised in that is comprised the following steps：
The battery cell temperature of automobile is detected, obtains temperature value；
The temperature value and preset temperature threshold value are compared, obtain comparison result；
It is in the comparison result：When the temperature value is less than or equal to the preset temperature threshold value, using liquid braking device,
And control for brake is carried out to the automobile with reference to the hydraulic braking mode of body electronics systems stabilisation；
It is in the comparison result：When the temperature value is more than the preset temperature threshold value, pile output end current and electricity are determined
Heap output end voltage, and motor target feedback torque is determined according to the pile output end current and pile output end voltage, with
And energy feeding braking control is carried out to the automobile based on the target feedback torque-controlled motors.
2. automobile brake control method as claimed in claim 1, it is characterised in that it is described to use liquid braking device, and combine
The hydraulic braking mode of body electronics systems stabilisation carries out control for brake to the automobile, including：
Automobile current motor rotating speed is determined, and determines the demand torque braked to the automobile；
Judge whether the current motor rotating speed is more than preset rotation speed threshold value；
When more than the preset rotation speed threshold value, the body electronics systems stabilisation exports preset torque, and based on described default
Torque compensates to the demand torque, is compensated rear torque；
Torque carries out control for brake to the automobile after the liquid braking device is based on compensation；
When less than or equal to the preset rotation speed threshold value, the liquid braking device is directly based upon the demand torque to described
Automobile carries out control for brake.
3. automobile brake control method as claimed in claim 1, it is characterised in that the determination pile output end current and electricity
Heap output end voltage, and motor target feedback torque is determined according to the pile output end current and pile output end voltage, wrap
Include：
Determine the maximum charge power of the battery；
The battery is determined according to the pile output end current and pile output end voltage, and the maximum charge power
Real-time chargeable power；
The motor target feedback torque is determined according to current motor torque and the chargeable power in real time.
4. automobile brake control method as claimed in claim 1, it is characterised in that be in the comparison result：The temperature
When value is less than or equal to the preset temperature threshold value, methods described also includes：
The motor is forbidden to carry out energy regenerating to the battery.
5. automobile brake control method as claimed in claim 1, it is characterised in that be in the comparison result：The temperature
When value is more than the preset temperature threshold value, methods described also includes：
Pressurization control is carried out to the wheel cylinder of the automobile based on the body electronics systems stabilisation.
6. automobile brake control method as claimed in claim 3, it is characterised in that also include：
In brake control process is carried out to the automobile, the motor target feedback torque is adjusted in real time, until adjusting
Motor target feedback torque after section is more than or equal to the current motor torque.
7. a kind of automobile brake control device, the automobile is fuel cell car, it is characterised in that including：
Detection module, for being detected to the battery cell temperature of automobile, obtain temperature value；
Comparing module, for the temperature value and preset temperature threshold value to be compared, obtain comparison result；
Brake control module, for being in the comparison result：The temperature value is less than or equal to the preset temperature threshold value
When, control for brake is carried out to the automobile using liquid braking device, and with reference to the hydraulic braking mode of body electronics systems stabilisation,
It is in the comparison result：When the temperature value is more than the preset temperature threshold value, determine that pile output end current and pile are defeated
Go out terminal voltage, and motor target feedback torque, Yi Jiji are determined according to the pile output end current and pile output end voltage
Energy feeding braking control is carried out to the automobile in the target feedback torque-controlled motors.
8. automobile brake control device as claimed in claim 7, it is characterised in that the brake control module, be specifically used for：
Automobile current motor rotating speed is determined, and determines the demand torque braked to the automobile；
Judge whether the current motor rotating speed is more than preset rotation speed threshold value；
When more than the preset rotation speed threshold value, the body electronics systems stabilisation exports preset torque, and based on described default
Torque compensates to the demand torque, is compensated rear torque；
Torque carries out control for brake to the automobile after the liquid braking device is based on compensation；
When less than or equal to the preset rotation speed threshold value, the liquid braking device is directly based upon the demand torque to described
Automobile carries out control for brake.
9. automobile brake control device as claimed in claim 7, it is characterised in that the brake control module, be specifically used for：
Determine the maximum charge power of the battery；
The battery is determined according to the pile output end current and pile output end voltage, and the maximum charge power
Real-time chargeable power；
The motor target feedback torque is determined according to current motor torque and the chargeable power in real time.
10. automobile brake control device as claimed in claim 7, it is characterised in that the brake control module, be additionally operable to：
It is in the comparison result：When the temperature value is less than or equal to the preset temperature threshold value, forbid the motor pair
The battery carries out energy regenerating.
11. automobile brake control device as claimed in claim 7, it is characterised in that the brake control module, be additionally operable to：
It is in the comparison result：When the temperature value is more than the preset temperature threshold value, based on the body electronics stability series
Unite and pressurization control is carried out to the wheel cylinder of the automobile.
12. automobile brake control device as claimed in claim 9, it is characterised in that also include：
Adjustment module, in brake control process is carried out to the automobile, being carried out to the motor target feedback torque real
When adjust, until regulation after motor target feedback torque be more than or equal to the current motor torque.
13. a kind of Automobile brake control system, the automobile is fuel cell car, it is characterised in that including：
Automobile brake control device as described in claim any one of 7-12.
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| CN201710647116.8A CN107554307B (en) | 2017-08-01 | 2017-08-01 | Automobile brake control method, apparatus and system |
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| CN201710647116.8A CN107554307B (en) | 2017-08-01 | 2017-08-01 | Automobile brake control method, apparatus and system |
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| CN107554307B CN107554307B (en) | 2019-11-22 |
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| CN107554307B (en) | 2019-11-22 |
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