CN108437807A - A kind of type electric car brake control, device, entire car controller and automobile - Google Patents
A kind of type electric car brake control, device, entire car controller and automobile Download PDFInfo
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- CN108437807A CN108437807A CN201810295129.8A CN201810295129A CN108437807A CN 108437807 A CN108437807 A CN 108437807A CN 201810295129 A CN201810295129 A CN 201810295129A CN 108437807 A CN108437807 A CN 108437807A
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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
- B60L7/18—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of type electric car brake control, device, entire car controller and automobile, which is applied to entire car controller, including：Obtain operator demand's torque；Calculate the attachment torque of current road and the Brake energy recovery torque of driving motor；According to operator demand's torque, attachment torque and Brake energy recovery torque, the hydraulic pressure value of the output torque and the output of electric boosted band brake master cylinder of driving motor is controlled respectively.The type electric car brake control of the embodiment of the present invention, on the basis of existing brake control method, by the attachment torque for combining current road, according to the variation of attachment torque, the braking moment of reasonable distribution motor braking and hydraulic braking, to reach maximum motor braking Torque distribution, best braking energy feedback is obtained, realizes max mileage rate elongation.
Description
Technical field
The present invention relates to braking system of electric car field more particularly to a kind of type electric car brake control, device,
Entire car controller and automobile.
Background technology
Present electric vehicle is largely from traditional fuel vehicle transformation, and braking system is in original fuel vehicle
On the basis of done adjustment improve, Brake energy recovery is realized by motor braking；Motor braking and hydraulic braking are parallel
Working method, i.e.,：Brake fluid system is that simple physics is superimposed with motor braking.Such parallel way, existing defect
It is it will be evident that in the braking starting stage, deceleration is sufficiently large, but is very easy to cause wheel lock up phenomenon, however is sent out in wheel
When raw locking, motor braking just exits energy-recuperation system, causes energy recovery efficiency too low in this way, meanwhile, the system of motor
The numerical value setting of kinetic moment is reasonable, can improve the energy recovery efficiency of braking process and reduce braking process wheel lock up
The risk of vehicle unstability, this rational numerical value setting are extremely difficult.Usual electric vehicle adheres on road surface when driving, just in height
There is no problem for normal vehicle braking control, but has arrived ice and snow road or wet-skid road surface, with drastically reducing for adhesive force, vehicle
The probability of unstability is multiplied, this results in needing during motor braking torque is arranged very with caution, causing Brake Energy
Measure the reduction of organic efficiency.
Invention content
In order to solve the above technical problem, the present invention provides a kind of type electric car brake control, device, vehicle controls
Device and automobile processed solve the problems, such as that braking energy of electric automobiles organic efficiency is relatively low.
One side according to the present invention provides a kind of type electric car brake control, is applied to entire car controller,
Including：
Obtain operator demand's torque；
Calculate the attachment torque of current road and the Brake energy recovery torque of driving motor；
According to operator demand's torque, attachment torque and Brake energy recovery torque, driving motor is controlled respectively
Output torque and electric boosted band brake master cylinder output hydraulic pressure value.
Optionally, the step of acquisition operator demand's torque includes：
Receive the brake pedal displacement signal that pedal displacement sensor is sent；
Judge whether the brake pedal displacement signal is normal；
If the brake pedal displacement signal is normal, driver demand force is calculated according to the brake pedal displacement signal
Square；
If the brake pedal displacement signal is abnormal, the hydraulic pressure value of electric boosted band brake master cylinder is obtained；
Operator demand's torque is calculated according to the hydraulic pressure value.
Optionally, the step of attachment torque for calculating current road includes：
Receive the attachment coefficient for the current road that Pavement analysis unit is sent；
The attachment torque on road surface is calculated according to the attachment coefficient.
Optionally, according to operator demand's torque, attachment torque and Brake energy recovery torque, control respectively is driven
The step of output torque of dynamic motor and the hydraulic pressure value of electric boosted band brake master cylinder output includes：
Compare the size of operator demand's torque and the attachment torque；
When operator demand's torque is less than the attachment torque, operator demand's torque and the system are calculated
Energy recycles the difference of torque, obtains the first hydraulic braking moment；
First object hydraulic pressure value is calculated according to first hydraulic braking moment；
It controls driving motor and exports Brake energy recovery torque, and hydraulic system is controlled by electric boosted band brake master cylinder
Export first object hydraulic pressure value.
Optionally, operator demand's torque and adhere to torque size the step of after further include：
When operator demand's torque is more than the attachment torque, the attachment torque and the braking energy are calculated
The difference for recycling torque, obtains the second hydraulic braking moment；
The second target hydraulic value is calculated according to second hydraulic braking moment；
It controls driving motor and exports Brake energy recovery torque, and hydraulic system is controlled by electric boosted band brake master cylinder
Export the second target hydraulic value.
Optionally, the braking system of electric car control method further includes：
Receive electronic accelerator pedal opening amount signal；
When the electronic accelerator pedal aperture is zero supercharging indication signal is sent to electric boosted band brake master cylinder；
Hydraulic system, which is controlled, by the electric boosted band brake master cylinder exports third target hydraulic value.
Other side according to the present invention provides a kind of electric vehicle brake control device, including：
Acquisition module, for obtaining operator demand's torque；
Computing module, the Brake energy recovery torque of attachment torque and driving motor for calculating current road；
First control module is used for according to operator demand's torque, attachment torque and Brake energy recovery torque,
The hydraulic pressure value of the output torque of control driving motor and the output of electric boosted band brake master cylinder respectively.
Optionally, the acquisition module includes：
First receiving unit, the brake pedal displacement signal for receiving pedal displacement sensor transmission；
Judging unit, for judging whether the brake pedal displacement signal is normal；
First computing unit is believed if normal for the brake pedal displacement signal according to the brake pedal displacement
Number calculate operator demand's torque；
Acquiring unit obtains the liquid of electric boosted band brake master cylinder if abnormal for the brake pedal displacement signal
Pressure value；
Second computing unit, for calculating operator demand's torque according to the hydraulic pressure value.
Optionally, the computing module includes：
Second receiving unit, the attachment coefficient of the current road for receiving the transmission of Pavement analysis unit；
Third computing unit, the attachment torque for calculating road surface according to the attachment coefficient.
Optionally, first control module includes：
Comparing unit, the size for operator demand's torque and the attachment torque；
4th computing unit, for when operator demand's torque is less than the attachment torque, calculating the driving
The difference of member demand torque and the Brake energy recovery torque, obtains the first hydraulic braking moment；
5th computing unit, for calculating first object hydraulic pressure value according to first hydraulic braking moment；
First control unit exports Brake energy recovery torque for controlling driving motor, and passes through electric boosted band system
Dynamic master cylinder control hydraulic system exports first object hydraulic pressure value.
Optionally, first control module further includes：
6th computing unit, for when operator demand's torque is more than the attachment torque, calculating the attachment
The difference of torque and the Brake energy recovery torque, obtains the second hydraulic braking moment；
7th computing unit, for calculating the second target hydraulic value according to second hydraulic braking moment；
Second control unit exports Brake energy recovery torque for controlling driving motor, and passes through electric boosted band system
Dynamic master cylinder control hydraulic system exports the second target hydraulic value.
Optionally, the electric vehicle brake control device further includes：
Receiving module, for receiving electronic accelerator pedal opening amount signal；
Sending module is pressurized for being sent to electric boosted band brake master cylinder when the electronic accelerator pedal aperture is zero
Indication signal；
Second control module exports third target liquid for controlling hydraulic system by the electric boosted band brake master cylinder
Pressure value.
Other side according to the present invention, provides a kind of entire car controller, including processor, memory and is stored in
On the memory and the computer program that can run on the processor, the computer program are executed by the processor
The step of Shi Shixian above-mentioned type electric car brake controls.
Another aspect according to the present invention provides a kind of automobile, including above-mentioned entire car controller.
The advantageous effect of the embodiment of the present invention is：
Type electric car brake control in said program passes through knot on the basis of existing brake control method
Close current road attachment torque, according to attachment torque variation, the braking moment of reasonable distribution motor braking and hydraulic braking,
To reach maximum motor braking Torque distribution, best braking energy feedback is obtained, realizes max mileage rate elongation.
Description of the drawings
Fig. 1 shows one of flow charts of type electric car brake control of the embodiment of the present invention；
Fig. 2 indicates the structure chart of the braking system of the embodiment of the present invention；
The idiographic flow schematic diagram of step 11 in Fig. 1 of Fig. 3 expression embodiment of the present invention；
The idiographic flow schematic diagram of step 13 in Fig. 1 of Fig. 4 expression embodiment of the present invention；
Fig. 5 indicates the two of the flow chart of the type electric car brake control of the embodiment of the present invention；
Fig. 6 indicates one of the structure diagram of the electric vehicle brake control device of the embodiment of the present invention；
The concrete structure block diagram of acquisition module in Fig. 6 of Fig. 7 expression embodiment of the present invention；
Fig. 8 shows the concrete structure block diagrams of the first control module in Fig. 6 of the embodiment of the present invention；
Fig. 9 indicates the two of the structure diagram of the electric vehicle brake control device of the embodiment of the present invention.
Specific implementation mode
Exemplary embodiment of the present invention is more fully described below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to be best understood from the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
Completely it is communicated to those skilled in the art.
As shown in Figure 1, the embodiment provides a kind of type electric car brake control, it is applied to full-vehicle control
Device, including:
Step 11 obtains operator demand's torque；
In the embodiment, when the vehicle is braked, driver's foot steps on brake pedal, and pedal displacement sensor is by brake pedal position
Shifting signal is sent to entire car controller, and the braking that driver is calculated according to brake pedal displacement signal for entire car controller is anticipated
Figure, i.e. operator demand's torque.
The Brake energy recovery torque of step 12, the attachment torque for calculating current road and driving motor；
In the embodiment, in vehicle travel process, the camera of vehicle obtains the image on road surface in real time, and image is sent
To Pavement analysis unit, the Pavement analysis unit obtains the attachment coefficient of current road after handling image, and by institute
It states attachment coefficient and is sent to entire car controller, the adhesive force of current road is calculated according to the attachment coefficient for entire car controller
Square.Wherein, when entire car controller gets operator demand's torque, also pass through the current electricity of collection vehicle, speed, temperature
Equal signals calculate the maximum Brake energy recovery torque that driving motor currently allows.
Step 13, according to operator demand's torque, attachment torque and Brake energy recovery torque, control respectively is driven
The hydraulic pressure value of the output torque and the output of electric boosted band brake master cylinder of dynamic motor.
In the embodiment, entire car controller obtains operator demand's torque, attachment torque and Brake energy recovery power
Square, in conjunction with the size of operator demand's torque and attachment torque, in the case where ensureing not trigger anti-lock braking system, control
Control driving motor exports the maximum Brake energy recovery torque currently allowed, and defeated by controlling electric boosted band brake master cylinder
The hydraulic pressure value gone out controls the output torque of hydraulic system.
Specifically, the braking system of electric vehicle is as shown in Fig. 2, brake pedal 1 connects with electric boosted band brake master cylinder 2
It connects, pedal displacement sensor 201, pedal displacement sensor 201 and entire car controller is integrated in electric boosted band brake master cylinder 2
3 connections, the entire car controller 3 are also connect with the Pavement analysis unit on electric vehicle, and the Pavement analysis unit connects vehicle
Camera；The entire car controller 3 is also connect with anti-lock braking system 4 and driving motor 5；The ANTI LOCK
System 4 is connect with the electric boosted band brake master cylinder 2, and the front vehicle wheel and system of electric vehicle are separately connected by fluid pressure line
Dynamic device 401 and rear wheel and brake 402；The driving motor 5 passes through drive axle and the front vehicle wheel and brake 401
Connection.Wherein, the entire car controller 3 is also connect with electronic brake system 6, and the electronic brake system 6 connects
Brake caliper 601 on wheel.
When the vehicle is braked, driver's foot steps on brake pedal 1, and pedal displacement sensor 201 is by brake pedal displacement signal
It is sent to entire car controller 3, entire car controller 3 has got the braking intention of driver, and combining road analytic unit is sent
Road surface attachment coefficient, the attachment torque of current road is calculated, driving is calculated according to the electric signal of driving motor 5
The Brake energy recovery torque of motor, in conjunction with operator demand's torque, the attachment torque on road surface and the Brake Energy of driving motor
Amount recycling torque, the hydraulic pressure value of the output of output torque and hydraulic system by controlling driving motor 5, before controlling respectively
Wheel and the braking of brake 401 and rear wheel and brake 402, realize the purpose of electric vehicle brake.Wherein, electric boosted
It is integrated with pedal displacement sensor 201 in band brake master cylinder 2, simplifies system structure, saves engine room inside space.The vehicle
Controller controls the torque of the brake caliper 601 by electronic brake system 6, realizes that the torque that drags of brake caliper is
Zero, the running resistance of vehicle can be reduced.
The adhesion condition on road surface in program combination vehicle travel process does not trigger the feelings of anti-lock braking system in guarantee
Under condition, by the braking moment of reasonable distribution motor braking and hydraulic braking, driving motor is enable to export maximum Brake Energy
Amount recycling torque, obtains best braking energy feedback, can realize max mileage rate elongation.
Specifically, as shown in figure 3, the step 11 includes：
Step 111 receives the brake pedal displacement signal that pedal displacement sensor is sent；
Step 112 judges whether the brake pedal displacement signal is normal；
If step 113, the brake pedal displacement signal are normal, are calculated and driven according to the brake pedal displacement signal
Member's demand torque；
If step 114, the brake pedal displacement signal are abnormal, the hydraulic pressure value of electric boosted band brake master cylinder is obtained；
Step 115 calculates operator demand's torque according to the hydraulic pressure value.
In the embodiment, after the brake pedal displacement signal that entire car controller receives pedal displacement sensor transmission,
First determine whether signal normal, i.e., whether brake pedal displacement signal can accurately indicate the braking intention of driver, if
Brake pedal displacement signal exception or entire car controller cannot receive brake pedal displacement signal, then entire car controller cannot be accurate
The braking intention of true acquisition driver, the pressure value meter that entire car controller 3 passes through the electric boosted band brake master cylinder of acquisition at this time
Calculation obtains operator demand's torque.The program can ensure that in pedal displacement sensor failure, entire car controller also can be accurate
The demand torque for really obtaining driver, to ensure that pedal displacement sensor failure is not interfered with to motor braking and hydraulic braking
Torque distribution.
In the above embodiment of the present invention, it is described calculate current road attachment torque the step of include：
Receive the attachment coefficient for the current road that Pavement analysis unit is sent；
The attachment torque on road surface is calculated according to the attachment coefficient.
In the embodiment, in vehicle travel process, camera obtains the image on road surface in real time, and image is sent to road surface
Analytic unit, the Pavement analysis unit obtain the maximum grip coefficient of current road after handling image, and will be maximum
Attachment coefficient is sent to entire car controller, and the maximum adhesion of current road is calculated according to maximum grip coefficient for entire car controller
Torque.The program by introducing camera and image processing techniques, can real-time judge current road attachment coefficient, according to road surface
The variation of attachment coefficient, in real time adjust drive motor braking torque size, ensure braking process in wheel always be in do not embrace
In dead range, the efficiency of Brake energy recovery is improved, increases Brake energy recovery efficiency, reaches and increases in electric vehicle continuation of the journey
The purpose of journey.
As shown in figure 4, the step 13 includes：
The size of step 131, operator demand's torque and the attachment torque；
In the embodiment, the purpose of operator demand's torque and the size of the attachment torque is to ensure system
Wheel is in the range of not locking always during dynamic.When operator demand's torque is more than the attachment torque, if braking system
System response operator demand's torque, and the requirement of operator demand's torque is not achieved in the attachment torque on road surface at this time, then is braking
In the process by will produce wheel-slip locking the case where, only operator demand's torque be less than the attachment torque when,
It can ensure that wheel will not locking in braking process.
Step 132, operator demand's torque be less than the attachment torque when, calculate operator demand's torque
With the difference of the Brake energy recovery torque, the first hydraulic braking moment is obtained；
Step 133 calculates first object hydraulic pressure value according to first hydraulic braking moment；
Step 134, control driving motor export Brake energy recovery torque, and are controlled by electric boosted band brake master cylinder
Hydraulic system exports first object hydraulic pressure value.
In the embodiment, when operator demand's torque is less than the attachment torque, by calculating the driver
The difference of demand torque and the Brake energy recovery torque, is allocated motor braking and the torque of hydraulic braking, makes drive
The maximum Brake energy recovery torque that can allow in dynamic motor output operator demand's torque, remaining driver demand force
Square is then exported by hydraulic braking, and first hydraulic braking moment is then that hydraulic braking needs the torque exported.By the first hydraulic pressure
Braking moment is scaled corresponding hydraulic pressure value, makes electric boosted band brake master cylinder control hydraulic system output and the first hydraulic braking
The corresponding first object hydraulic pressure value of torque.
Specifically, further including after the step 131：
Step 135, when operator demand's torque is more than the attachment torque, the calculating attachment torque with it is described
The difference of Brake energy recovery torque obtains the second hydraulic braking moment；
Step 136 calculates the second target hydraulic value according to second hydraulic braking moment；
Step 137, control driving motor export Brake energy recovery torque, and are controlled by electric boosted band brake master cylinder
Hydraulic system exports the second target hydraulic value.
In the embodiment, when operator demand's torque is more than the attachment torque, if brake system response driver needs
Seek torque, then in braking process by will produce wheel-slip locking the case where, so entire car controller only allows to make at this time
The dynamic system output braking moment equal with torque is adhered to, the difference for adhering to torque and the Brake energy recovery torque are
The torque for needing to export for hydraulic braking.Entire car controller makes to can allow for most in driving motor output operator demand's torque
Big Brake energy recovery torque, remaining second hydraulic braking moment are then exported by hydraulic braking.By the second hydraulic braking force
Square is scaled corresponding hydraulic pressure value, makes electric boosted band brake master cylinder control hydraulic system output and the second hydraulic braking moment pair
The the second target hydraulic value answered.
The program ensures that wheel will not be embraced in braking process during to the Torque distribution of motor braking and hydraulic braking
In the case of dead, priority acccess control driving motor exports maximum Brake energy recovery torque, also, the braking of driving motor output
Energy regenerating torque can be in real time adjusted according to the adhesion condition on road surface, ensure braking process in wheel will not locking feelings
Under condition, best braking energy feedback is obtained, realizes maximum mileage rate elongation.
As shown in figure 5, the braking system of electric car control method further includes：
Step 51 receives electronic accelerator pedal opening amount signal；
Step 52, when the electronic accelerator pedal aperture is zero to electric boosted band brake master cylinder send supercharging instruction letter
Number；
Step 53 controls hydraulic system output third target hydraulic value by the electric boosted band brake master cylinder.
In the embodiment, as shown in Fig. 2, entire car controller 3 is also connect with the electronic accelerator pedal of electric vehicle 7, in vehicle
In driving process, 3 real-time reception electronic accelerator pedal opening amount signal of entire car controller is determining electronic accelerator pedal aperture
Be zero or electronic accelerator pedal in the event of failure, at this time driver next step action may carry out vehicle braking, to prevent
Slowing down when vehicle braking, it is slow to respond, and entire car controller 3 sends a supercharging indication signal to electric boosted band brake master cylinder 2, leads to
It crosses electric boosted band brake master cylinder 2 to be pressurized the brake of vehicle in advance, current braking system is made to reach one smaller
Preset pressure, i.e. third target hydraulic value, the third target hydraulic value can demarcate, it is preferred that the third target liquid
Pressure value is 0.3~0.5Mpa.
Entire car controller can be passed through by being monitored to electronic accelerator pedal opening amount signal before operator brake
The pre- function of increasing pressure for triggering electric boosted band brake master cylinder shortens the response time of braking deceleration, reduces slack of pedal sense.
As shown in fig. 6, the embodiment provides a kind of electric vehicle brake control devices, including：
Acquisition module 61, for obtaining operator demand's torque；
In the embodiment, when the vehicle is braked, driver's foot steps on brake pedal, and pedal displacement sensor is by brake pedal position
Shifting signal is sent to entire car controller, and the braking that driver is calculated according to brake pedal displacement signal for entire car controller is anticipated
Figure, i.e. operator demand's torque.
Computing module 62, the Brake energy recovery torque of attachment torque and driving motor for calculating current road；
In the embodiment, in vehicle travel process, the camera of vehicle obtains the image on road surface in real time, and image is sent
To Pavement analysis unit, the Pavement analysis unit obtains the attachment coefficient of current road after handling image, and by institute
It states attachment coefficient and is sent to entire car controller, the adhesive force of current road is calculated according to the attachment coefficient for entire car controller
Square.Wherein, when entire car controller gets operator demand's torque, also pass through the current electricity of collection vehicle, speed, temperature
Equal signals calculate the maximum Brake energy recovery torque that driving motor currently allows.
First control module 63, for according to operator demand's torque, attachment torque and Brake energy recovery power
Square controls the hydraulic pressure value of the output torque and the output of electric boosted band brake master cylinder of driving motor respectively.
In the embodiment, entire car controller obtains operator demand's torque, attachment torque and Brake energy recovery power
Square, in conjunction with the size of operator demand's torque and attachment torque, in the case where ensureing not trigger anti-lock braking system, control
Control driving motor exports the maximum Brake energy recovery torque currently allowed, and defeated by controlling electric boosted band brake master cylinder
The hydraulic pressure value gone out controls the output torque of hydraulic system.
When the vehicle is braked, driver's foot steps on brake pedal 1, and pedal displacement sensor 201 is by brake pedal displacement signal
It is sent to entire car controller 3, entire car controller 3 has got the braking intention of driver, and combining road analytic unit is sent
Road surface attachment coefficient, the attachment torque of current road is calculated, driving is calculated according to the electric signal of driving motor 5
The Brake energy recovery torque of motor, in conjunction with operator demand's torque, the attachment torque on road surface and the Brake Energy of driving motor
Amount recycling torque, the hydraulic pressure value of the output of output torque and hydraulic system by controlling driving motor 5, before controlling respectively
Wheel and the braking of brake 401 and rear wheel and brake 402, realize the purpose of electric vehicle brake.Wherein, electric boosted
It is integrated with pedal displacement sensor 201 in band brake master cylinder 2, simplifies system structure, saves engine room inside space.The vehicle
Controller controls the torque of the brake caliper 601 by electronic brake system 6, realizes that the torque that drags of brake caliper is
Zero, the running resistance of vehicle can be reduced.
The adhesion condition on road surface in program combination vehicle travel process does not trigger the feelings of anti-lock braking system in guarantee
Under condition, by the braking moment of reasonable distribution motor braking and hydraulic braking, driving motor is enable to export maximum Brake Energy
Amount recycling torque, obtains best braking energy feedback, can realize max mileage rate elongation.
As shown in fig. 7, the acquisition module 61 includes：
First receiving unit 611, the brake pedal displacement signal for receiving pedal displacement sensor transmission；
Judging unit 612, for judging whether the brake pedal displacement signal is normal；
First computing unit 613, if normal for the brake pedal displacement signal, according to the brake pedal displacement
Signal calculates operator demand's torque；
Acquiring unit 614 obtains electric boosted band brake master cylinder if abnormal for the brake pedal displacement signal
Hydraulic pressure value；
Second computing unit 615, for calculating operator demand's torque according to the hydraulic pressure value.
In the embodiment, after the brake pedal displacement signal that entire car controller receives pedal displacement sensor transmission,
First determine whether signal normal, i.e., whether brake pedal displacement signal can accurately indicate the braking intention of driver, if
Brake pedal displacement signal exception or entire car controller cannot receive brake pedal displacement signal, then entire car controller cannot be accurate
The braking intention of true acquisition driver, the pressure value meter that entire car controller 3 passes through the electric boosted band brake master cylinder of acquisition at this time
Calculation obtains operator demand's torque.The program can ensure that in pedal displacement sensor failure, entire car controller also can be accurate
The demand torque for really obtaining driver, to ensure that pedal displacement sensor failure is not interfered with to motor braking and hydraulic braking
Torque distribution.
In the above embodiment of the present invention, the computing module 62 includes：
Second receiving unit, the attachment coefficient of the current road for receiving the transmission of Pavement analysis unit；
Third computing unit, the attachment torque for calculating road surface according to the attachment coefficient.
In the embodiment, in vehicle travel process, camera obtains the image on road surface in real time, and image is sent to road surface
Analytic unit, the Pavement analysis unit obtain the maximum grip coefficient of current road after handling image, and will be maximum
Attachment coefficient is sent to entire car controller, and the maximum adhesion of current road is calculated according to maximum grip coefficient for entire car controller
Torque.The program by introducing camera and image processing techniques, can real-time judge current road attachment coefficient, according to road surface
The variation of attachment coefficient, in real time adjust drive motor braking torque size, ensure braking process in wheel always be in do not embrace
In dead range, the efficiency of Brake energy recovery is improved, increases Brake energy recovery efficiency, reaches and increases in electric vehicle continuation of the journey
The purpose of journey.
As shown in figure 8, first control module 63 includes：
Comparing unit 631, the size for operator demand's torque and the attachment torque；
In the embodiment, the purpose of operator demand's torque and the size of the attachment torque is to ensure system
Wheel is in the range of not locking always during dynamic.When operator demand's torque is more than the attachment torque, if braking system
System response operator demand's torque, and the requirement of operator demand's torque is not achieved in the attachment torque on road surface at this time, then is braking
In the process by will produce wheel-slip locking the case where, only operator demand's torque be less than the attachment torque when,
It can ensure that wheel will not locking in braking process.
4th computing unit 632, for when operator demand's torque is less than the attachment torque, being driven described in calculating
The difference of the person's of sailing demand torque and the Brake energy recovery torque, obtains the first hydraulic braking moment；
5th computing unit 633, for calculating first object hydraulic pressure value according to first hydraulic braking moment；
First control unit 634 exports Brake energy recovery torque for controlling driving motor, and passes through electric boosted band
Master cylinder controls hydraulic system and exports first object hydraulic pressure value.
In the embodiment, in the embodiment, when operator demand's torque is less than the attachment torque, pass through calculating
The difference of operator demand's torque and the Brake energy recovery torque carries out the torque of motor braking and hydraulic braking
Distribution makes driving motor export the maximum Brake energy recovery torque that can allow in operator demand's torque, remaining to drive
The person's of sailing demand torque is then exported by hydraulic braking, and first hydraulic braking moment is then that hydraulic braking needs the torque exported.
First hydraulic braking moment is scaled corresponding hydraulic pressure value, makes electric boosted band brake master cylinder control hydraulic system output and the
The corresponding first object hydraulic pressure value of one hydraulic braking moment.
Specifically, first control module 63 further includes：
6th computing unit 635, for when operator demand's torque is more than the attachment torque, calculating described attached
The difference for torque and the Brake energy recovery torque, obtains the second hydraulic braking moment；
7th computing unit 636, for calculating the second target hydraulic value according to second hydraulic braking moment；
Second control unit 637 exports Brake energy recovery torque for controlling driving motor, and passes through electric boosted band
Master cylinder controls hydraulic system and exports the second target hydraulic value.
In the embodiment, when operator demand's torque is more than the attachment torque, if brake system response driver needs
Seek torque, then in braking process by will produce wheel-slip locking the case where, so entire car controller only allows to make at this time
The dynamic system output braking moment equal with torque is adhered to, the difference for adhering to torque and the Brake energy recovery torque are
The torque for needing to export for hydraulic braking.Entire car controller makes to can allow for most in driving motor output operator demand's torque
Big Brake energy recovery torque, remaining second hydraulic braking moment are then exported by hydraulic braking.By the second hydraulic braking force
Square is scaled corresponding hydraulic pressure value, makes electric boosted band brake master cylinder control hydraulic system output and the second hydraulic braking moment pair
The the second target hydraulic value answered.
The program ensures that wheel will not be embraced in braking process during to the Torque distribution of motor braking and hydraulic braking
In the case of dead, priority acccess control driving motor exports maximum Brake energy recovery torque, also, the braking of driving motor output
Energy regenerating torque can be in real time adjusted according to the adhesion condition on road surface, ensure braking process in wheel will not locking feelings
Under condition, best braking energy feedback is obtained, realizes maximum mileage rate elongation.
As shown in figure 9, the electric vehicle brake control device further includes：
Receiving module 91, for receiving electronic accelerator pedal opening amount signal；
Sending module 92 increases for being sent to electric boosted band brake master cylinder when the electronic accelerator pedal aperture is zero
Press indication signal；
Second control module 93 exports third target for controlling hydraulic system by the electric boosted band brake master cylinder
Hydraulic pressure value.
In the embodiment, as shown in Fig. 2, entire car controller 3 is also connect with the electronic accelerator pedal of electric vehicle 7, in vehicle
In driving process, 3 real-time reception electronic accelerator pedal opening amount signal of entire car controller is determining electronic accelerator pedal aperture
Be zero or electronic accelerator pedal in the event of failure, at this time driver next step action may carry out vehicle braking, to prevent
Slowing down when vehicle braking, it is slow to respond, and entire car controller 3 sends a supercharging indication signal to electric boosted band brake master cylinder 2, leads to
It crosses electric boosted band brake master cylinder 2 to be pressurized the brake of vehicle in advance, current braking system is made to reach one smaller
Preset pressure, i.e. third target hydraulic value, the third target hydraulic value can demarcate, it is preferred that the third target liquid
Pressure value is 0.3~0.5Mpa.
Entire car controller can be passed through by being monitored to electronic accelerator pedal opening amount signal before operator brake
The pre- function of increasing pressure for triggering electric boosted band brake master cylinder shortens the response time of braking deceleration, reduces slack of pedal sense.
It should be noted that the device is device corresponding with above-mentioned individual recommendation method, institute in above method embodiment
There is realization method suitable for the embodiment of the device, can also reach identical technique effect.
The embodiments of the present invention also provide a kind of entire car controller, including processor, memory and it is stored in described deposit
On reservoir and the computer program that can run on the processor, the computer program are realized when being executed by the processor
The step of above-mentioned type electric car brake control.It should be noted that the entire car controller is and above-mentioned individual recommendation side
The corresponding entire car controller of method, all realization methods are suitable for the embodiment of the entire car controller in above method embodiment
In, it can also reach identical technique effect.
The embodiments of the present invention also provide a kind of automobiles, including above-mentioned entire car controller.
Embodiment of the present invention, on the basis of existing brake control method, by the attachment for combining current road
Torque, according to the variation of attachment torque, the braking moment of reasonable distribution motor braking and hydraulic braking, to reach maximum motor
Braking torque distribution obtains best braking energy feedback, realizes max mileage rate elongation.
Above-described is the preferred embodiment of the present invention, it should be pointed out that the ordinary person of the art is come
It says, can also make several improvements and retouch under the premise of not departing from principle of the present invention, these improvements and modifications also exist
In protection scope of the present invention.
Claims (14)
1. a kind of type electric car brake control is applied to entire car controller, which is characterized in that including：
Obtain operator demand's torque；
Calculate the attachment torque of current road and the Brake energy recovery torque of driving motor；
According to operator demand's torque, attachment torque and Brake energy recovery torque, the defeated of driving motor is controlled respectively
Go out the hydraulic pressure value of torque and the output of electric boosted band brake master cylinder.
2. type electric car brake control according to claim 1, which is characterized in that the acquisition driver demand force
The step of square includes：
Receive the brake pedal displacement signal that pedal displacement sensor is sent；
Judge whether the brake pedal displacement signal is normal；
If the brake pedal displacement signal is normal, operator demand's torque is calculated according to the brake pedal displacement signal；
If the brake pedal displacement signal is abnormal, the hydraulic pressure value of electric boosted band brake master cylinder is obtained；
Operator demand's torque is calculated according to the hydraulic pressure value.
3. type electric car brake control according to claim 1, which is characterized in that described to calculate the attached of current road
The step of torque include：
Receive the attachment coefficient for the current road that Pavement analysis unit is sent；
The attachment torque on road surface is calculated according to the attachment coefficient.
4. type electric car brake control according to claim 1, which is characterized in that according to the driver demand force
Square, attachment torque and Brake energy recovery torque, output torque and the electric boosted band brake for controlling driving motor respectively are total
Pump output hydraulic pressure value the step of include：
Compare the size of operator demand's torque and the attachment torque；
When operator demand's torque is less than the attachment torque, operator demand's torque and the Brake Energy are calculated
The difference of amount recycling torque, obtains the first hydraulic braking moment；
First object hydraulic pressure value is calculated according to first hydraulic braking moment；
It controls driving motor and exports Brake energy recovery torque, and hydraulic system output is controlled by electric boosted band brake master cylinder
First object hydraulic pressure value.
5. type electric car brake control according to claim 4, which is characterized in that in the operator demand
Further include after the step of size of torque and attachment torque：
When operator demand's torque is more than the attachment torque, the attachment torque and the Brake energy recovery are calculated
The difference of torque obtains the second hydraulic braking moment；
The second target hydraulic value is calculated according to second hydraulic braking moment；
It controls driving motor and exports Brake energy recovery torque, and hydraulic system output is controlled by electric boosted band brake master cylinder
Second target hydraulic value.
6. type electric car brake control according to claim 1, which is characterized in that the braking system of electric car
Control method further includes：
Receive electronic accelerator pedal opening amount signal；
When the electronic accelerator pedal aperture is zero supercharging indication signal is sent to electric boosted band brake master cylinder；
Hydraulic system, which is controlled, by the electric boosted band brake master cylinder exports third target hydraulic value.
7. a kind of electric vehicle brake control device, which is characterized in that including：
Acquisition module, for obtaining operator demand's torque；
Computing module, the Brake energy recovery torque of attachment torque and driving motor for calculating current road；
First control module, for according to operator demand's torque, attachment torque and Brake energy recovery torque, difference
Control the hydraulic pressure value of the output torque and the output of electric boosted band brake master cylinder of driving motor.
8. electric vehicle brake control device according to claim 7, which is characterized in that the acquisition module includes：
First receiving unit, the brake pedal displacement signal for receiving pedal displacement sensor transmission；
Judging unit, for judging whether the brake pedal displacement signal is normal；
First computing unit, if normal for the brake pedal displacement signal, according to the brake pedal displacement signal meter
Calculate operator demand's torque；
Acquiring unit obtains the hydraulic pressure value of electric boosted band brake master cylinder if abnormal for the brake pedal displacement signal；
Second computing unit, for calculating operator demand's torque according to the hydraulic pressure value.
9. electric vehicle brake control device according to claim 7, which is characterized in that the computing module includes：
Second receiving unit, the attachment coefficient of the current road for receiving the transmission of Pavement analysis unit；
Third computing unit, the attachment torque for calculating road surface according to the attachment coefficient.
10. electric vehicle brake control device according to claim 7, which is characterized in that the first control module packet
It includes：
Comparing unit, the size for operator demand's torque and the attachment torque；
4th computing unit, for when operator demand's torque is less than the attachment torque, calculating the driver to need
The difference for asking torque and the Brake energy recovery torque, obtains the first hydraulic braking moment；
5th computing unit, for calculating first object hydraulic pressure value according to first hydraulic braking moment；
First control unit exports Brake energy recovery torque for controlling driving motor, and total by electric boosted band brake
Pump control hydraulic system exports first object hydraulic pressure value.
11. electric vehicle brake control device according to claim 10, which is characterized in that first control module is also
Including：
6th computing unit, for when operator demand's torque is more than the attachment torque, calculating the attachment torque
With the difference of the Brake energy recovery torque, the second hydraulic braking moment is obtained；
7th computing unit, for calculating the second target hydraulic value according to second hydraulic braking moment；
Second control unit exports Brake energy recovery torque for controlling driving motor, and total by electric boosted band brake
Pump control hydraulic system exports the second target hydraulic value.
12. electric vehicle brake control device according to claim 7, which is characterized in that the electric vehicle brake control
Device processed further includes：
Receiving module, for receiving electronic accelerator pedal opening amount signal；
Sending module, for sending supercharging instruction to electric boosted band brake master cylinder when the electronic accelerator pedal aperture is zero
Signal；
Second control module exports third target hydraulic for controlling hydraulic system by the electric boosted band brake master cylinder
Value.
13. a kind of entire car controller, which is characterized in that including processor, memory and be stored on the memory and can be
The computer program run on the processor realizes such as claim 1 when the computer program is executed by the processor
The step of type electric car brake control described in any one of~6.
14. a kind of automobile, which is characterized in that including the entire car controller described in claim 13.
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| CN201810295129.8A CN108437807A (en) | 2018-03-30 | 2018-03-30 | A kind of type electric car brake control, device, entire car controller and automobile |
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| CN201810295129.8A CN108437807A (en) | 2018-03-30 | 2018-03-30 | A kind of type electric car brake control, device, entire car controller and automobile |
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| CN108437807A true CN108437807A (en) | 2018-08-24 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108995539A (en) * | 2018-09-06 | 2018-12-14 | 海马新能源汽车有限公司 | Energy recovery control method, system and electric car |
| CN109131306A (en) * | 2018-08-31 | 2019-01-04 | 北京新能源汽车股份有限公司 | A kind of brake control method of electric car, braking control system and automobile |
| CN109532817A (en) * | 2019-01-04 | 2019-03-29 | 大连民族大学 | Regenerative braking moment distribution method of the mixed power electric car based on SOC |
| CN109532799A (en) * | 2019-01-04 | 2019-03-29 | 大连民族大学 | Brake monitor based on the observation of real-time road surface |
| CN109677270A (en) * | 2018-12-21 | 2019-04-26 | 潍柴动力股份有限公司 | A kind of motor braking energy reclaiming method and device |
| CN111284495A (en) * | 2020-03-03 | 2020-06-16 | 一汽解放汽车有限公司 | New energy automobile regenerative braking force distribution method |
| WO2020152027A1 (en) * | 2019-01-24 | 2020-07-30 | Robert Bosch Gmbh | Method for operating a vehicle brake system, control unit and vehicle |
| CN111622847A (en) * | 2019-02-28 | 2020-09-04 | 大众汽车有限公司 | Method for operating an internal combustion engine, control device and electrically driven charging device |
| CN111823881A (en) * | 2020-07-10 | 2020-10-27 | 的卢技术有限公司 | Braking system and braking method for electric automobile |
| CN113460009A (en) * | 2021-07-28 | 2021-10-01 | 中国第一汽车股份有限公司 | Integrated brake system fluid infusion control method and vehicle |
| CN113682147A (en) * | 2021-09-16 | 2021-11-23 | 航天重型工程装备有限公司 | Method and device for controlling electro-hydraulic composite pedal |
| CN114030361A (en) * | 2020-07-29 | 2022-02-11 | 四川鼎鸿智电装备科技有限公司 | Method and device for brake control of electric vehicle, electronic device, and storage medium |
| CN114103661A (en) * | 2021-12-27 | 2022-03-01 | 安顺职业技术学院 | Recovery method of braking energy recovery strategy of distributed driving electric automobile |
| CN117774921A (en) * | 2024-02-26 | 2024-03-29 | 厦门金龙联合汽车工业有限公司 | Intelligent chassis line control power distribution method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109131306A (en) * | 2018-08-31 | 2019-01-04 | 北京新能源汽车股份有限公司 | A kind of brake control method of electric car, braking control system and automobile |
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| CN108995539B (en) * | 2018-09-06 | 2020-09-01 | 海马新能源汽车有限公司 | Energy recovery control method and system and electric automobile |
| CN109677270A (en) * | 2018-12-21 | 2019-04-26 | 潍柴动力股份有限公司 | A kind of motor braking energy reclaiming method and device |
| CN109677270B (en) * | 2018-12-21 | 2020-11-03 | 潍柴动力股份有限公司 | Motor braking energy recovery method and device |
| CN109532817A (en) * | 2019-01-04 | 2019-03-29 | 大连民族大学 | Regenerative braking moment distribution method of the mixed power electric car based on SOC |
| CN109532799A (en) * | 2019-01-04 | 2019-03-29 | 大连民族大学 | Brake monitor based on the observation of real-time road surface |
| WO2020152027A1 (en) * | 2019-01-24 | 2020-07-30 | Robert Bosch Gmbh | Method for operating a vehicle brake system, control unit and vehicle |
| CN111622847A (en) * | 2019-02-28 | 2020-09-04 | 大众汽车有限公司 | Method for operating an internal combustion engine, control device and electrically driven charging device |
| CN111284495A (en) * | 2020-03-03 | 2020-06-16 | 一汽解放汽车有限公司 | New energy automobile regenerative braking force distribution method |
| CN111823881A (en) * | 2020-07-10 | 2020-10-27 | 的卢技术有限公司 | Braking system and braking method for electric automobile |
| CN114030361A (en) * | 2020-07-29 | 2022-02-11 | 四川鼎鸿智电装备科技有限公司 | Method and device for brake control of electric vehicle, electronic device, and storage medium |
| CN113460009A (en) * | 2021-07-28 | 2021-10-01 | 中国第一汽车股份有限公司 | Integrated brake system fluid infusion control method and vehicle |
| CN113460009B (en) * | 2021-07-28 | 2022-09-23 | 中国第一汽车股份有限公司 | Integrated brake system fluid infusion control method and vehicle |
| CN113682147A (en) * | 2021-09-16 | 2021-11-23 | 航天重型工程装备有限公司 | Method and device for controlling electro-hydraulic composite pedal |
| CN113682147B (en) * | 2021-09-16 | 2023-06-16 | 航天重型工程装备有限公司 | Method and device for controlling electrohydraulic composite pedal |
| CN114103661A (en) * | 2021-12-27 | 2022-03-01 | 安顺职业技术学院 | Recovery method of braking energy recovery strategy of distributed driving electric automobile |
| CN117774921A (en) * | 2024-02-26 | 2024-03-29 | 厦门金龙联合汽车工业有限公司 | Intelligent chassis line control power distribution method |
| CN117774921B (en) * | 2024-02-26 | 2024-05-10 | 厦门金龙联合汽车工业有限公司 | Intelligent chassis line control power distribution method |
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Application publication date: 20180824 |