CN108860111A - A kind of hydraulic braking decline compensating control method, device and automobile - Google Patents
A kind of hydraulic braking decline compensating control method, device and automobile Download PDFInfo
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- CN108860111A CN108860111A CN201810688375.XA CN201810688375A CN108860111A CN 108860111 A CN108860111 A CN 108860111A CN 201810688375 A CN201810688375 A CN 201810688375A CN 108860111 A CN108860111 A CN 108860111A
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- brake
- fading
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- compensation
- braking
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Classifications
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- 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
-
- 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
- B60T13/74—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 electrical assistance or drive
-
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of hydraulic braking decline compensating control method, device and automobile, which fails compensating control method applied to electric machine controller, including：Whether detection whole vehicle state, which meets fading of brake, compensates enabled condition；When whole vehicle state meets fading of brake and compensates enabled condition, the fading of brake compensation demand of vehicle is detected；Demand control driving motor, which is compensated, according to the fading of brake exports energy regenerating torque.The embodiment of the present invention, when whole vehicle state meets fading of brake and compensates enabled condition, the fading of brake of the vehicle sent according to anti-lock braking system compensates demand, in conjunction with vehicle operating status, control the Brake energy recovery torque of driving motor output, compensate brake fluid system decline torque, it is ensured that the reliability and stability of braking performance of vehicle under hydraulic braking decline operating condition guarantee traffic safety.
Description
Technical field
The present invention relates to electric car field more particularly to a kind of hydraulic braking decline compensating control methods, device and vapour
Vehicle.
Background technique
With the support of national policy and the progress of electric vehicle automotive engineering, electric car is gradually popularized, more and more
People starts to select electric car as trip tool.One of the characteristics of electric car：Driving motor has the characteristic of energy regenerating,
Certain braking moment is provided under the operating condition of operator demand's braking deceleration and helps vehicle deceleration, and converts vehicle energy to
Electric energy is stored into power battery.
Conventional braking systems are hydraulic braking, by the moment of friction between brake disc and brake(-holder) block, by the kinetic energy of vehicle
It is converted into thermal energy, achievees the purpose that deceleration.Conventional hydraulic braking there are the drawbacks of be：One, lower long slope continuous braking for a long time, system
Moving plate overheat will lead to braking ability reduction, and braking distance elongates；Two, certain reasons or operating condition cause drag friction contact surface to rub
It wipes coefficient to reduce, braking ability reduces.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of hydraulic braking decline compensating control method, device and
Automobile solves the problems, such as that hydraulic braking caused by reducing because of brake disc overheat or brake contact face coefficient of friction is failed.
According to one aspect of the present invention, a kind of hydraulic braking decline compensating control method is provided, motor control is applied to
Device processed, including：
Whether detection whole vehicle state, which meets fading of brake, compensates enabled condition；
When whole vehicle state meets fading of brake and compensates enabled condition, the fading of brake compensation demand of vehicle is detected；
Demand control driving motor, which is compensated, according to the fading of brake exports energy regenerating torque.
Optionally, whether the detection whole vehicle state meets the step of fading of brake compensates enabled condition and includes：
Whether detection vehicle is in high pressure power-up state；
When vehicle is in high pressure power-up state, the driving motor, power battery and anti-skid braking system of vehicle are detected
The malfunction of system (Anti-lock Braking System, abbreviation ABS)；
If the driving motor, power battery and the equal fault-free of anti-lock braking system ABS, detect the gear of vehicle
Position, speed and remaining capacity (State of Charge, abbreviation SOC) state；
If the gear meets in D gear, E gear or S gear, speed is not less than calibration speed and remaining capacity SOC is not more than
Electricity is demarcated, then sends fading of brake to the anti-lock braking system ABS and compensates enable signal.
Optionally, whether the detection whole vehicle state meets the step of fading of brake compensates enabled condition and further includes：
If at least one of the driving motor, power battery and anti-lock braking system ABS are faulty, to group
It closes instrument and sends fading of brake compensation fault-signal.
Optionally, when whole vehicle state meets fading of brake and enables condition, the fading of brake compensation demand of vehicle is detected
Step includes：
When whole vehicle state meets fading of brake and compensates enabled condition, whether the brake pedal for detecting vehicle is stepped on；
If the brake pedal is stepped on, the fading of brake compensation desired signal of anti-lock braking system ABS transmission is obtained.
Optionally, the step of compensating demand control driving motor output energy regenerating torque according to the fading of brake is wrapped
It includes：
When fading of brake compensation demand schedule is shown with demand, receives the braking that anti-lock braking system ABS is sent and mend
Repay torque；
According to formula：T=T1+T2Calculate the energy regenerating torque of driving motor output；
Wherein, T is the energy regenerating torque of driving motor output；T1For Brake energy recovery torque, T1It is current with motor
The corresponding calibration value of revolving speed；T2Torque is compensated for braking；
It controls driving motor and exports the energy regenerating torque.
According to another aspect of the invention, a kind of hydraulic braking decline compensating control method is provided, is applied to antilock
Dead braking system, including：
When vehicle high pressure powers on, faults itself state and state of activation are detected；
If the malfunction indicates fault-free and the state of activation indicates un-activation, braking system operation shape is obtained
Condition；
Identify that the fading of brake of vehicle compensates demand according to the braking system operation conditions.
Optionally, if the malfunction indicates fault-free and the state of activation indicates un-activation, braking system is obtained
Unite operation conditions the step of include：
If the malfunction indicates fault-free and the state of activation indicates un-activation, according to electric machine controller
The fading of brake that (Moter Control Unit, abbreviation MCU) is sent compensates enable signal, and detection fading of brake compensation function is
It is no enabled；
After confirmation fading of brake compensation function is enabled, the brake disc overheat condition and brake disc for detecting braking system are rubbed
It wipes coefficient and reduces situation.
Optionally, include according to the step of fading of brake compensation demand of braking system operation conditions identification vehicle：
If the brake disc overheat condition reaches calibration temperature, and brake pedal is stepped on, then confirms the fading of brake of vehicle
Compensation has demand, sends fading of brake to electric machine controller MCU and compensates desired signal；
If the brake disc overheat condition is less than calibration temperature, detects brake disc coefficient of friction and reduce situation；
If the brake disc coefficient of friction is reduced, and brake pedal is stepped on, then confirming that the fading of brake compensation of vehicle has needs
It asks, sends fading of brake to electric machine controller MCU and compensate desired signal.
Optionally, the step of fading of brake compensation demand of vehicle is identified according to the braking system operation conditions is also wrapped
It includes：
Situation, which is reduced, according to the current vehicle speed of vehicle, brake disc overheat condition and brake disc coefficient of friction calculates braking benefit
Repay torque；
Braking compensation torque is sent to electric machine controller MCU.
According to another aspect of the invention, a kind of hydraulic braking decline compensation control device is provided, including：
First detection module, for detecting whether whole vehicle state meets the enabled condition of fading of brake compensation；
Second detection module, for detecting the braking of vehicle when whole vehicle state meets fading of brake and compensates enabled condition
Fail compensation demand；
Control module exports energy regenerating torque for compensating demand control driving motor according to the fading of brake.
Optionally, the first detection module includes：
First detection unit, for detecting whether vehicle is in high pressure power-up state；
Second detection unit, for detecting driving motor, the power battery of vehicle when vehicle is in high pressure power-up state
And the malfunction of anti-lock braking system ABS；
Third detection unit, if without reason for the driving motor, power battery and anti-lock braking system ABS
Barrier, then detect gear, speed and the remaining capacity SOC state of vehicle；
First transmission unit, if for the gear meet in D gear, E gear or S gear, speed not less than calibration speed and
Remaining capacity SOC then sends fading of brake to the anti-lock braking system ABS and compensates enable signal no more than calibration electricity.
Optionally, the first detection module further includes：
Second transmission unit, if in the driving motor, power battery and anti-lock braking system ABS at least
One faulty, then sends fading of brake to combination instrument and compensate fault-signal.
Optionally, second detection module includes：
4th detection unit, for detecting the braking of vehicle when whole vehicle state meets fading of brake and compensates enabled condition
Whether pedal is stepped on；
First acquisition unit obtains the braking of anti-lock braking system ABS transmission if stepping on for the brake pedal
Decline compensation desired signal.
Optionally, the control module includes：
Receiving unit, for receiving anti-lock braking system ABS when fading of brake compensation demand schedule is shown with demand
The braking of transmission compensates torque；
First computing unit, for according to formula：T=T1+T2Calculate the energy regenerating torque of driving motor output；
Wherein, T is the energy regenerating torque of driving motor output；T1For Brake energy recovery torque, T1It is current with motor
The corresponding calibration value of revolving speed；T2Torque is compensated for braking；
Control unit exports the energy regenerating torque for controlling driving motor.
According to another aspect of the invention, a kind of hydraulic braking decline compensation control device is additionally provided, including：
Third detection module, for detecting faults itself state and state of activation when vehicle high pressure powers on；
Module is obtained, if indicating fault-free and state of activation expression un-activation for the malfunction, is obtained
Braking system operation conditions；
Identification module, for identifying that the fading of brake of vehicle compensates demand according to the braking system operation conditions.
Optionally, the acquisition module includes：
5th detection unit, if indicating fault-free and state of activation expression un-activation for the malfunction,
Enable signal is compensated according to the fading of brake that electric machine controller MCU is sent, whether detection fading of brake compensation function enables；
6th detection unit, for detecting the brake disc mistake of braking system after confirmation fading of brake compensation function is enabled
Enthusiastic condition and brake disc coefficient of friction reduce situation.
Optionally, the identification module includes：
Third transmission unit, if reaching calibration temperature for the brake disc overheat condition, and brake pedal is stepped on, then really
The fading of brake compensation for recognizing vehicle has demand, sends fading of brake to electric machine controller MCU and compensates desired signal；
7th detection unit detects brake disc friction system if being less than calibration temperature for the brake disc overheat condition
Number reduces situation；
4th transmission unit, if being reduced for the brake disc coefficient of friction, and brake pedal is stepped on, then confirms vehicle
Fading of brake compensation has demand, sends fading of brake to electric machine controller MCU and compensates desired signal.
Optionally, the identification module further includes：
Second computing unit, for the current vehicle speed, brake disc overheat condition and brake disc coefficient of friction according to vehicle
It reduces situation and calculates braking compensation torque；
5th transmission unit, for braking compensation torque to be sent to electric machine controller MCU.
Another aspect according to the present invention additionally provides a kind of automobile, including above-mentioned hydraulic braking decline compensation control
Device processed.
The beneficial effect of the embodiment of the present invention is：
In above scheme, when whole vehicle state meets fading of brake and compensates enabled condition, sent out according to anti-lock braking system
The fading of brake of the vehicle sent compensates demand, and in conjunction with vehicle operating status, the Brake energy recovery for controlling driving motor output is turned round
Square, compensation brake fluid system decline torque, it is ensured that the reliability and stabilization of braking performance of vehicle under hydraulic braking decline operating condition
Property, guarantee traffic safety.
Detailed description of the invention
Fig. 1 shows the processes of the hydraulic braking decline compensating control method applied to electric machine controller of the embodiment of the present invention
Figure；
Fig. 2 indicates the control system configuration diagram of the hydraulic braking decline compensating control method of the embodiment of the present invention；
Fig. 3 indicates the specific of the hydraulic braking decline compensating control method applied to electric machine controller of the embodiment of the present invention
Flow diagram；
Fig. 4 indicates one of the structural block diagram of the hydraulic braking decline compensation control device of the embodiment of the present invention；
Fig. 5 indicates the two of the structural block diagram of the hydraulic braking decline compensation control device of the embodiment of the present invention；
Fig. 6 indicates the hydraulic braking decline compensating control method applied to anti-lock braking system of the embodiment of the present invention
Flow chart；
Fig. 7 indicates the hydraulic braking decline compensating control method applied to anti-lock braking system of the embodiment of the present invention
Idiographic flow schematic diagram；
Fig. 8 shows the three of the structural block diagram of the hydraulic braking of embodiment of the present invention decline compensation control device；
Fig. 9 indicates the four of the structural block diagram of the hydraulic braking decline compensation control device of the embodiment of the present invention.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail 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 thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
As shown in Figure 1, being applied to motor the embodiment provides a kind of hydraulic braking decline compensating control method
Controller, including：
Whether step 11, detection whole vehicle state meet the enabled condition of fading of brake compensation；
In the embodiment, as shown in Fig. 2, the accelerator pedal of electric machine controller MCU and automobile, brake pedal, gear knob,
Anti-lock braking system ABS, battery management system (Battery Management System, abbreviation BMS), driving motor with
And combination instrument connection.Wherein, anti-lock braking system ABS makes for detecting fading of brake and exporting to electric machine controller MCU
Dynamic compensation torque command, electric machine controller MCU according to accelerator pedal, brake pedal, gear knob, anti-lock braking system ABS,
The state and signal detection whole vehicle state of battery management system BMS and driving motor, and be unsatisfactory for braking in whole vehicle state and decline
When moving back the enabled condition of compensation, fault-signal is sent to combination instrument, combination instrument passes through text or auditory tone cues fault message.Tool
Body, the fading of brake that whole vehicle state should meet compensates enabled condition and is：Vehicle is in high pressure power-up state, and driving motor without
Failure, power battery are without forbidding charge fault, anti-lock braking system ABS fault-free, and vehicle-state meets at gear simultaneously
In D gear or E gear or S gear, speed not less than calibration speed and remaining capacity SOC no more than calibration electricity, whole vehicle state simultaneously
When meeting conditions above, it is believed that whole vehicle state meets fading of brake and compensates enabled condition.
Step 12, when whole vehicle state meets fading of brake and compensates enabled condition, the fading of brake compensation for detecting vehicle needs
It asks；
Specifically, electric machine controller MCU is connect with anti-lock braking system ABS, and the anti-lock braking system ABS is certainly
Fading of brake is detected when body fault-free, and situation is reduced according to brake disc overheat condition and brake disc coefficient of friction and judges vehicle
Fading of brake compensate demand, by fading of brake compensation demand be sent to electric machine controller MCU.In addition, the ANTI LOCK
System ABS reduces situation also according to speed, brake disc overheat condition or brake disc coefficient of friction, and computation of table lookup goes out and brake disc
Overheat condition or brake disc coefficient of friction reduce the corresponding braking of situation and compensate torque, and send and make to electric machine controller MCU
Dynamic compensation torque command.
Step 13 compensates demand control driving motor output energy regenerating torque according to the fading of brake.
In the embodiment, electric machine controller MCU receive anti-lock braking system ABS send fading of brake compensation demand with
And braking compensation torque command, and Brake energy recovery torque corresponding with driving motor current rotating speed is gone out according to computation of table lookup,
It controls driving motor and exports energy regenerating torque, the energy regenerating torque is that braking compensation torque and Brake energy recovery are turned round
The sum of square.
In the program, electric machine controller MCU detects the malfunction of driving motor, power battery and ABS, in conjunction with vehicle
Operating status (gear/speed/SOC) enables fading of brake compensation function.Detect ABS output fading of brake compensation demand and
Braking compensation torque command, activates the fading of brake compensation function of vehicle, and the braking controlled outside driving motor amount of exports compensates torsion
Square, auxiliary hydraulic system braking, promotes vehicle braking performances, reduces accident rate, mitigates the injury that driver may be subject to.
The kinetic energy of vehicle is switched to electric energy and is stored into power battery by the embodiment, improves energy utilization rate, so that vehicle is in various works
Under condition, the brake feel of driver is promoted the security level and technology sense of electric vehicle, enhancing is electronic by consistent, promotion customer experience
The competitiveness of vehicle.
Specifically, as shown in figure 3, the step 11 includes：
Whether step 111, detection vehicle are in high pressure power-up state；
Step 112, when vehicle is in high pressure power-up state, detect the driving motor of vehicle, power battery and antilock
The malfunction of dead braking system ABS；
In the embodiment, after vehicle booting powers on, whether MCU detection vehicle is in high pressure power-up state, if vehicle is
Powered on through high pressure, MCU according to the information exchange with anti-lock braking system ABS, battery management system BMS and driving motor,
Whether detection vehicle meets driving motor fault-free, power battery without forbidding charge fault and ABS fault-free.If it is above-mentioned extremely
Few one there are failures, then vehicle cannot enable fading of brake compensation function, and MCU sends fading of brake compensation event to combination instrument
Hinder signal, combination instrument passes through text or auditory tone cues driver's fault message.
If step 113, the driving motor, power battery and the equal fault-free of anti-lock braking system ABS, detect vehicle
Gear, speed and remaining capacity SOC state；
If step 114, the gear meet in D gear, E gear or S gear, speed is not less than calibration speed and remaining capacity
SOC then sends fading of brake to the anti-lock braking system ABS and compensates enable signal no more than calibration electricity.
In the embodiment, MCU is according to the accelerator pedal aperture of accelerator pedal, the shift signal and cell tube of gear knob
Whether the remaining capacity SOC state that reason system BMS is sent, detection vehicle-state meet simultaneously：Gear is in D gear or gear is in
E gear or gear are in S gear, SOC≤calibration electricity and speed >=calibration speed.Wherein, it is at D gear or gear in vehicle gear
When E gear or gear are in S gear, there may be braking requirements for vehicle；The calibration electricity can be according to the vehicle of different model
It is demarcated, it is preferable that the calibration electricity can be 90%；The calibration speed can be demarcated according to user demand,
Preferably, the calibration speed can be 20kph.Meet after vehicle high-voltage powers on：Driving motor fault-free, power battery
Nothing forbids charge fault and ABS fault-free, and the gear is in D gear, E gear or S gear, speed >=20kph, SOC≤90%
When, it is believed that whole vehicle state meets fading of brake and compensates enabled condition, sends fading of brake to the anti-lock braking system ABS and mends
Repay enable signal.
Specifically, the step 11 further includes：
If at least one of step 115, the driving motor, power battery and anti-lock braking system ABS have event
Barrier then sends fading of brake to combination instrument and compensates fault-signal.
In the embodiment, if at least one of the driving motor, power battery and anti-lock braking system ABS have
Failure, then MCU sends fading of brake to combination instrument and compensates fault-signal, and combination instrument detects fading of brake compensation failure letter
After number characterization failure, the prompt information of " fading of brake compensation unavailable " can be shown by display screen.If combination instrument detects
The fading of brake arrived compensates fault-signal not characterization failure, then continues to test fading of brake compensation activation signal, detecting system
When dynamic decline compensation function activation, the prompt information of " activation of fading of brake compensation function " can be shown in display screen.Combine instrument
Table persistently detects fault message and state of activation information and reminds driver.
As shown in figure 3, the step 12 includes：
Step 121, when whole vehicle state meets fading of brake and compensates enabled condition, whether the brake pedal for detecting vehicle is stepped on
Under；
If step 122, the brake pedal are stepped on, the fading of brake compensation of anti-lock braking system ABS transmission is obtained
Desired signal.
In the embodiment, meets fading of brake in whole vehicle state and compensate enabled condition, and MCU is according to the braking of brake pedal
When signal detection is stepped on to brake pedal, indicates that vehicle is being braked, Brake energy recovery can be carried out, at this point, if receiving
The fading of brake that ABS is sent compensates desired signal, and the signal indicates that fading of brake compensates demand, indicates brake fluid system
In the presence of decline situation, need to compensate brake fluid system decline torque.
In the above embodiment of the present invention, the step 13 includes：
Step 131, the fading of brake compensation demand schedule be shown with demand when, receive anti-lock braking system ABS send
Braking compensate torque；
In the embodiment, the braking compensation torque is ABS according to current vehicle speed, brake disc overheat condition or brake disc
Coefficient of friction reduces situation computation of table lookup and obtains, braking compensation torque subtracts with brake disc overheat condition or brake disc coefficient of friction
There is the corresponding relationship demarcated in advance in few situation.
Step 132, according to formula：T=T1+T2Calculate the energy regenerating torque of driving motor output；
Wherein, T is the energy regenerating torque of driving motor output；T1For Brake energy recovery torque, T1It is current with motor
The corresponding calibration value of revolving speed；T2Torque is compensated for braking；
Step 133, control driving motor export the energy regenerating torque.
In the embodiment, after MCU receives the braking compensation torque of ABS transmission, current driving is obtained by computation of table lookup
The corresponding Brake energy recovery torque of the revolving speed of motor, to control driving motor output energy regenerating torque, the energy is returned
Receive torque be braking compensation torque and Brake energy recovery torque and.
In the program, MCU detect driving motor, power battery, ABS-system fault state, in conjunction with travel condition of vehicle (gear/
Speed/SOC), enable fading of brake compensation function.The fading of brake compensation demand and braking compensation torque of detection ABS output refer to
It enabling, activates fading of brake compensation function, control the braking outside driving motor amount of exports and compensate torque, auxiliary hydraulic system is braked,
Vehicle braking performances are promoted, accident rate is reduced, mitigate the injury that driver may be subject to.
As shown in figure 4, failing the embodiment provides a kind of hydraulic braking compensates control device, including：
First detection module 41, for detecting whether whole vehicle state meets the enabled condition of fading of brake compensation；
In the embodiment, as shown in Fig. 2, the accelerator pedal of electric machine controller MCU and automobile, brake pedal, gear knob,
Anti-lock braking system ABS, battery management system BMS, driving motor and combination instrument connection.Wherein, anti-skid braking system
System ABS for detect fading of brake and to electric machine controller MCU export braking compensation torque command, electric machine controller MCU according to
Accelerator pedal, brake pedal, gear knob, anti-lock braking system ABS, battery management system BMS and driving motor shape
State and signal detection whole vehicle state, and when whole vehicle state is unsatisfactory for fading of brake and compensates enabled condition, it is sent to combination instrument
Fault-signal, combination instrument pass through text or auditory tone cues fault message.Specifically, the fading of brake that whole vehicle state should meet is mended
Repaying enabled condition is：Vehicle is in high pressure power-up state, and driving motor fault-free, power battery are without forbidding charge fault, anti-
Antilock brake system ABS fault-free, and vehicle-state meets gear simultaneously and is in D gear or E gear or S gear, speed not less than calibration
Speed and remaining capacity SOC are not more than calibration electricity, when whole vehicle state meets conditions above simultaneously, it is believed that whole vehicle state meets
Fading of brake compensates enabled condition.
Second detection module 42, for detecting the system of vehicle when whole vehicle state meets fading of brake and compensates enabled condition
Dynamic decline compensation demand；
Specifically, electric machine controller MCU is connect with anti-lock braking system ABS, and the anti-lock braking system ABS is certainly
Fading of brake is detected when body fault-free, and situation is reduced according to brake disc overheat condition and brake disc coefficient of friction and judges vehicle
Fading of brake compensate demand, by fading of brake compensation demand be sent to electric machine controller MCU.In addition, the ANTI LOCK
System ABS reduces situation also according to speed, brake disc overheat condition or brake disc coefficient of friction, and computation of table lookup goes out and brake disc
Overheat condition or brake disc coefficient of friction reduce the corresponding braking of situation and compensate torque, and send and make to electric machine controller MCU
Dynamic compensation torque command.
Control module 43 exports energy regenerating torque for compensating demand control driving motor according to the fading of brake.
In the embodiment, electric machine controller MCU receive anti-lock braking system ABS send fading of brake compensation demand with
And braking compensation torque command, and Brake energy recovery torque corresponding with driving motor current rotating speed is gone out according to computation of table lookup,
It controls driving motor and exports energy regenerating torque, the energy regenerating torque is that braking compensation torque and Brake energy recovery are turned round
The sum of square.
In the program, electric machine controller MCU detects the malfunction of driving motor, power battery and ABS, in conjunction with vehicle
Operating status (gear/speed/SOC) enables fading of brake compensation function.Detect ABS output fading of brake compensation demand and
Braking compensation torque command, activates the fading of brake compensation function of vehicle, and the braking controlled outside driving motor amount of exports compensates torsion
Square, auxiliary hydraulic system braking, promotes vehicle braking performances, reduces accident rate, mitigates the injury that driver may be subject to.
The kinetic energy of vehicle is switched to electric energy and is stored into power battery by the embodiment, improves energy utilization rate, so that vehicle is in various works
Under condition, the brake feel of driver is promoted the security level and technology sense of electric vehicle, enhancing is electronic by consistent, promotion customer experience
The competitiveness of vehicle.
It should be noted that the device is dress corresponding with the method applied to electric machine controller of above-mentioned individual recommendation
It sets, all implementations can also reach identical technology effect suitable for the embodiment of the device in above method embodiment
Fruit.
As shown in figure 5, the first detection module 41 includes：
First detection unit 411, for detecting whether vehicle is in high pressure power-up state；
Second detection unit 412, for detecting driving motor, the power of vehicle when vehicle is in high pressure power-up state
The malfunction of battery and anti-lock braking system ABS；
In the embodiment, after vehicle booting powers on, whether MCU detection vehicle is in high pressure power-up state, if vehicle is
Powered on through high pressure, MCU according to the information exchange with anti-lock braking system ABS, battery management system BMS and driving motor,
Whether detection vehicle meets driving motor fault-free, power battery without forbidding charge fault and ABS fault-free.If it is above-mentioned extremely
Few one there are failures, then vehicle cannot enable fading of brake compensation function, and MCU sends fading of brake compensation event to combination instrument
Hinder signal, combination instrument passes through text or auditory tone cues driver's fault message.
Third detection unit 413, if being used for the driving motor, power battery and the equal nothing of anti-lock braking system ABS
Failure then detects gear, speed and the remaining capacity SOC state of vehicle；
First transmission unit 414, if meeting for the gear in D gear, E gear or S gear, speed is not less than calibration speed
And remaining capacity SOC then sends the enabled letter of fading of brake compensation to the anti-lock braking system ABS no more than calibration electricity
Number.
In the embodiment, MCU is according to the accelerator pedal aperture of accelerator pedal, the shift signal and cell tube of gear knob
Whether the remaining capacity SOC state that reason system BMS is sent, detection vehicle-state meet simultaneously：Gear is in D gear or gear is in
E gear or gear are in S gear, SOC≤calibration electricity and speed >=calibration speed.Wherein, it is at D gear or gear in vehicle gear
When E gear or gear are in S gear, there may be braking requirements for vehicle；The calibration electricity can be according to the vehicle of different model
It is demarcated, it is preferable that the calibration electricity can be 90%；The calibration speed can be demarcated according to user demand,
Preferably, the calibration speed can be 20kph.Meet after vehicle high-voltage powers on：Driving motor fault-free, power battery
Nothing forbids charge fault and ABS fault-free, and the gear is in D gear, E gear or S gear, speed >=20kph, SOC≤90%
When, it is believed that whole vehicle state meets fading of brake and compensates enabled condition, sends fading of brake to the anti-lock braking system ABS and mends
Repay enable signal.
In the above embodiment of the present invention, the first detection module 41 further includes：
Second transmission unit 415, if in the driving motor, power battery and anti-lock braking system ABS
At least one is faulty, then sends fading of brake to combination instrument and compensate fault-signal.
In the embodiment, if at least one of the driving motor, power battery and anti-lock braking system ABS have
Failure, then MCU sends fading of brake to combination instrument and compensates fault-signal, and combination instrument detects fading of brake compensation failure letter
After number characterization failure, the prompt information of " fading of brake compensation unavailable " can be shown by display screen.If combination instrument detects
The fading of brake arrived compensates fault-signal not characterization failure, then continues to test fading of brake compensation activation signal, detecting system
When dynamic decline compensation function activation, the prompt information of " activation of fading of brake compensation function " can be shown in display screen.Combine instrument
Table persistently detects fault message and state of activation information and reminds driver.
In the above embodiment of the present invention, second detection module 42 includes：
4th detection unit 421, for detecting the system of vehicle when whole vehicle state meets fading of brake and compensates enabled condition
Whether dynamic pedal is stepped on；
First acquisition unit 422 obtains anti-lock braking system ABS transmission if stepping on for the brake pedal
Fading of brake compensates desired signal.
In the embodiment, meets fading of brake in whole vehicle state and compensate enabled condition, and MCU is according to the braking of brake pedal
When signal detection is stepped on to brake pedal, indicates that vehicle is being braked, Brake energy recovery can be carried out, at this point, if receiving
The fading of brake that ABS is sent compensates desired signal, and the signal indicates that fading of brake compensates demand, indicates brake fluid system
In the presence of decline situation, need to compensate brake fluid system decline torque.
In the above embodiment of the present invention, the control module 43 includes：
Receiving unit 431, for receiving anti-lock braking system when fading of brake compensation demand schedule is shown with demand
The braking that ABS is sent compensates torque；
In the embodiment, the braking compensation torque is ABS according to current vehicle speed, brake disc overheat condition or brake disc
Coefficient of friction reduces situation computation of table lookup and obtains, braking compensation torque subtracts with brake disc overheat condition or brake disc coefficient of friction
There is the corresponding relationship demarcated in advance in few situation.
First computing unit 432, for according to formula：T=T1+T2Calculate the energy regenerating torque of driving motor output；
Wherein, T is the energy regenerating torque of driving motor output；T1For Brake energy recovery torque, T1It is current with motor
The corresponding calibration value of revolving speed；T2Torque is compensated for braking；
Control unit 433 exports the energy regenerating torque for controlling driving motor.
In the embodiment, after MCU receives the braking compensation torque of ABS transmission, current driving is obtained by computation of table lookup
The corresponding Brake energy recovery torque of the revolving speed of motor, to control driving motor output energy regenerating torque, the energy is returned
Receive torque be braking compensation torque and Brake energy recovery torque and.
In the program, MCU detect driving motor, power battery, ABS-system fault state, in conjunction with travel condition of vehicle (gear/
Speed/SOC), enable fading of brake compensation function.The fading of brake compensation demand and braking compensation torque of detection ABS output refer to
It enabling, activates fading of brake compensation function, control the braking outside driving motor amount of exports and compensate torque, auxiliary hydraulic system is braked,
Vehicle braking performances are promoted, accident rate is reduced, mitigate the injury that driver may be subject to.
As shown in fig. 6, being applied to anti-the embodiments of the present invention also provide a kind of hydraulic braking decline compensating control method
Antilock brake system, including：
Step 61, when vehicle high pressure powers on, detect faults itself state and state of activation；
In the embodiment, after vehicle booting powers on, anti-lock braking system ABS detects faults itself state and activation shape
State.Specifically, after vehicle booting powers on, whether ABS detection vehicle is in high pressure power-up state, if vehicle is in high pressure
Electricity then detects whether ABS itself is malfunction, if there are failures by ABS, then it is assumed that fading of brake compensation is no demand, if not having
It is faulty, continue to test whether ABS itself activates, if ABS has been activated, it is believed that fading of brake compensation is no demand.
If step 62, the malfunction indicate fault-free and the state of activation indicates un-activation, braking system is obtained
System operation conditions；
In the embodiment, if ABS detects itself fault-free and un-activation, it is believed that fading of brake compensation demand is to have to need
It asks, then obtains braking system operation conditions, wherein braking system operation conditions includes brake disc overheat condition, brake disc friction
Coefficient reduces situation and whether brake pedal is stepped on.
Step 63 identifies that the fading of brake of vehicle compensates demand according to the braking system operation conditions.
In the embodiment, ABS is according to the brake disc overheat condition, brake disc coefficient of friction reduction situation and system detected
Whether dynamic pedal the fading of brake compensation demand of information identification vehicle such as steps on.It is to have to need recognizing fading of brake compensation demand
When asking, situation computation of table lookup is reduced according to the current vehicle speed of vehicle, brake disc overheat condition or brake disc coefficient of friction and goes out to make
Dynamic compensation torque, and braking compensation torque command is sent to electric machine controller MCU, so that MCU controls driving motor original
On the basis of Brake energy recovery torque, the braking outside amount of exports compensates torque, and auxiliary hydraulic system braking promotes vehicle braking
Performance reduces accident rate, mitigates the injury that driver may be subject to.
Specifically, as shown in fig. 7, the step 62 includes：
If step 621, the malfunction indicate fault-free and the state of activation indicates un-activation, according to motor control
The fading of brake that device MCU processed is sent compensates enable signal, and whether detection fading of brake compensation function enables；
Step 622, after confirmation fading of brake compensation function is enabled, detect braking system brake disc overheat condition and
Brake disc coefficient of friction reduces situation.
In the embodiment, when ABS detects itself fault-free and un-activation, compensated according to the fading of brake that MCU is sent
Whether enable signal detection fading of brake compensation function enables, and after confirmation fading of brake compensation function is enabled, detects braking system
The brake disc overheat condition and brake disc coefficient of friction of system reduce situation.Wherein, brake disc overheat condition should be set in advance with one
Fixed calibration temperature compares, and reaches calibration temperature and thinks to may cause braking ability reduction；Brake disc coefficient of friction reduces feelings
Condition should be compared with brake disc coefficient of friction of braking ability when normal, if detecting, brake disc coefficient of friction is reduced, then it is assumed that can
Braking ability can be caused to reduce.
In the above embodiment of the present invention, the step 63 includes：
If step 631, the brake disc overheat condition reach calibration temperature, and brake pedal is stepped on, then confirms vehicle
Fading of brake compensation has demand, sends fading of brake to electric machine controller MCU and compensates desired signal；
In the embodiment, if brake disc overheat condition reaches calibration temperature, pass through the brake signal of detection brake pedal
Judge whether brake pedal is stepped on, brake pedal, which is stepped on, indicates that vehicle is being braked, and the fading of brake compensation of vehicle has demand, then
The fading of brake for sending the demand that indicates to MCU compensates desired signal.
If step 632, the brake disc overheat condition are less than calibration temperature, detect brake disc coefficient of friction and reduce feelings
Condition；
If step 633, the brake disc coefficient of friction are reduced, and brake pedal is stepped on, then confirms the fading of brake of vehicle
Compensation has demand, sends fading of brake to electric machine controller MCU and compensates desired signal.
In the embodiment, if brake disc overheat condition is less than calibration temperature, it is believed that brake disc overheat condition at this time will not
Cause braking ability to reduce, then continue to test brake disc coefficient of friction and reduce situation, brake disc coefficient of friction exists if detecting
The case where reduction, then judges whether brake pedal is stepped on by the brake signal of detection brake pedal, and brake pedal steps on expression
Vehicle is being braked, and the fading of brake compensation of vehicle has demand, then compensates demand to the fading of brake that MCU sends the demand that indicates
Signal.
In the above embodiment of the present invention, step 63 further includes：
Step 634 reduces situation meter according to the current vehicle speed, brake disc overheat condition and brake disc coefficient of friction of vehicle
Calculate braking compensation torque；
Braking compensation torque is sent to electric machine controller MCU by step 635.
In the embodiment, after confirmation fading of brake compensation has demand, if brake disc overheat condition reaches calibration temperature, and
Brake pedal is stepped on, then the degree computation of table lookup braking compensation torque that ABS is overheated according to the current vehicle speed and brake disc of vehicle；
Wherein, speed, the degree of brake disc overheat and braking compensation torque are in corresponding relationship, are that user marks in advance specific corresponding to relationship
It is fixed.
After confirmation fading of brake compensation has demand, if brake disc coefficient of friction is reduced, and brake pedal is stepped on, then ABS
According to the current vehicle speed of vehicle and the degree computation of table lookup of brake disc coefficient of friction reduction braking compensation torque；Wherein, speed,
The degree and braking compensation torque of brake disc coefficient of friction reduction are in corresponding relationship, are that user marks in advance specific corresponding to relationship
It is fixed.
ABS reduces situation according to speed, brake disc overheat condition or brake disc coefficient of friction and calculates braking compensation torsion
After square, it is sent to electric machine controller MCU, so that MCU controls driving motor on the basis of original Brake energy recovery torque,
Braking outside amount of exports compensates torque, and auxiliary hydraulic system braking promotes vehicle braking performances, reduces accident rate, mitigates
The injury that driver may be subject to.
In the program, ABS receives relevant information by monitoring faults itself state and state of activation, in conjunction with braking system
System operation conditions identifies that brake disc overheat condition and coefficient of friction reduce situation, reduces according to degree of superheat or coefficient of friction
Degree calculates and exports braking compensation torque command, makes up hydraulic braking moment using the energy regenerating torque of driving motor
Deficiency guarantees that the braking ability of vehicle is reliable, improves traffic safety of the vehicle under this operating condition, reduces contingency occurrence probability.Make
Vehicle is obtained under various operating conditions, operator brake impression is consistent, promotes customer experience, promotes the security level and science and technology of electric vehicle
Sense, enhances the competitiveness of electric vehicle.
As shown in figure 8, failing the embodiments of the present invention also provide a kind of hydraulic braking compensates control device, including：
Third detection module 81, for detecting faults itself state and state of activation when vehicle high pressure powers on；
In the embodiment, vehicle booting power on after, anti-lock braking system ABS detect vehicle faults itself state and
State of activation.Specifically, after vehicle booting powers on, whether ABS detection vehicle is in high pressure power-up state, if vehicle is high
Pressure powers on, then detects whether ABS itself is malfunction, if there are failures by ABS, then it is assumed that and fading of brake compensation is no demand,
If continuing to test whether ABS itself activates without failure, if ABS has been activated, it is believed that fading of brake compensation is no demand.
Module 82 is obtained, if indicating fault-free and state of activation expression un-activation for the malfunction, is obtained
Take braking system operation conditions；
In the embodiment, if ABS detects itself fault-free and un-activation, it is believed that fading of brake compensation demand is to have to need
It asks, then obtains braking system operation conditions, wherein braking system operation conditions includes brake disc overheat condition, brake disc friction
Coefficient reduces situation and whether brake pedal is stepped on.
Identification module 83, for identifying that the fading of brake of vehicle compensates demand according to the braking system operation conditions.
In the embodiment, ABS is according to the brake disc overheat condition, brake disc coefficient of friction reduction situation and system detected
Whether dynamic pedal the fading of brake compensation demand of information identification vehicle such as steps on.It is to have to need recognizing fading of brake compensation demand
When asking, situation computation of table lookup is reduced according to the current vehicle speed of vehicle, brake disc overheat condition or brake disc coefficient of friction and goes out to make
Dynamic compensation torque, and braking compensation torque command is sent to electric machine controller MCU, so that MCU controls driving motor original
On the basis of Brake energy recovery torque, the braking outside amount of exports compensates torque, and auxiliary hydraulic system braking promotes vehicle braking
Performance reduces accident rate, mitigates the injury that driver may be subject to.
It should be noted that the device is corresponding with the method applied to anti-lock braking system of above-mentioned individual recommendation
Device, all implementations can also reach identical technology suitable for the embodiment of the device in above method embodiment
Effect.
Specifically, as shown in figure 9, the acquisition module 82 includes：
5th detection unit 821, if indicating fault-free and state of activation expression un-activation for the malfunction,
Enable signal is then compensated according to the fading of brake that electric machine controller MCU is sent, whether detection fading of brake compensation function enables；
6th detection unit 822, for detecting the brake disc of braking system after confirmation fading of brake compensation function is enabled
Overheat condition and brake disc coefficient of friction reduce situation.
In the embodiment, when ABS detects itself fault-free and un-activation, compensated according to the fading of brake that MCU is sent
Whether enable signal detection fading of brake compensation function enables, and after confirmation fading of brake compensation function is enabled, detects braking system
The brake disc overheat condition and brake disc coefficient of friction of system reduce situation.Wherein, brake disc overheat condition should be set in advance with one
Fixed calibration temperature compares, and reaches calibration temperature and thinks to may cause braking ability reduction；Brake disc coefficient of friction reduces feelings
Condition should be compared with brake disc coefficient of friction of braking ability when normal, if detecting, brake disc coefficient of friction is reduced, then it is assumed that can
Braking ability can be caused to reduce.
In the above embodiment of the present invention, the identification module 83 includes：
Third transmission unit 831, if reaching calibration temperature for the brake disc overheat condition, and brake pedal is stepped on,
Then confirm that the fading of brake compensation of vehicle has demand, sends fading of brake to electric machine controller MCU and compensate desired signal；
In the embodiment, if brake disc overheat condition reaches calibration temperature, pass through the brake signal of detection brake pedal
Judge whether brake pedal is stepped on, brake pedal, which is stepped on, indicates that vehicle is being braked, and the fading of brake compensation of vehicle has demand, then
The fading of brake for sending the demand that indicates to MCU compensates desired signal.
7th detection unit 832 detects brake disc friction if being less than calibration temperature for the brake disc overheat condition
Coefficient reduces situation；
4th transmission unit 833, if being reduced for the brake disc coefficient of friction, and brake pedal is stepped on, then confirms vehicle
Fading of brake compensation have demand, to electric machine controller MCU send fading of brake compensate desired signal.
In the embodiment, if brake disc overheat condition is less than calibration temperature, it is believed that brake disc overheat condition at this time will not
Cause braking ability to reduce, then continue to test brake disc coefficient of friction and reduce situation, brake disc coefficient of friction exists if detecting
The case where reduction, then judges whether brake pedal is stepped on by the brake signal of detection brake pedal, and brake pedal steps on expression
Vehicle is being braked, and the fading of brake compensation of vehicle has demand, then compensates demand to the fading of brake that MCU sends the demand that indicates
Signal.
In the above embodiment of the present invention, the identification module 83 further includes：
Second computing unit 834, for being according to the friction of the current vehicle speed, brake disc overheat condition and brake disc of vehicle
Number reduces situation and calculates braking compensation torque；
5th transmission unit 835, for braking compensation torque to be sent to electric machine controller MCU.
In the embodiment, after confirmation fading of brake compensation has demand, if brake disc overheat condition reaches calibration temperature, and
Brake pedal is stepped on, then the degree computation of table lookup braking compensation torque that ABS is overheated according to the current vehicle speed and brake disc of vehicle；
Wherein, speed, the degree of brake disc overheat and braking compensation torque are in corresponding relationship, are that user marks in advance specific corresponding to relationship
It is fixed.
After confirmation fading of brake compensation has demand, if brake disc coefficient of friction is reduced, and brake pedal is stepped on, then ABS
According to the current vehicle speed of vehicle and the degree computation of table lookup of brake disc coefficient of friction reduction braking compensation torque；Wherein, speed,
The degree and braking compensation torque of brake disc coefficient of friction reduction are in corresponding relationship, are that user marks in advance specific corresponding to relationship
It is fixed.
ABS reduces situation according to speed, brake disc overheat condition or brake disc coefficient of friction and calculates braking compensation torsion
After square, it is sent to electric machine controller MCU, so that MCU controls driving motor on the basis of original Brake energy recovery torque,
Braking outside amount of exports compensates torque, and auxiliary hydraulic system braking promotes vehicle braking performances, reduces accident rate, mitigates
The injury that driver may be subject to.
In the program, ABS receives relevant information by monitoring faults itself state and state of activation, in conjunction with braking system
System operation conditions identifies that brake disc overheat condition and coefficient of friction reduce situation, reduces according to degree of superheat or coefficient of friction
Degree calculates and exports braking compensation torque command, makes up hydraulic braking moment using the energy regenerating torque of driving motor
Deficiency guarantees that the braking ability of vehicle is reliable, improves traffic safety of the vehicle under this operating condition, reduces contingency occurrence probability.Make
Vehicle is obtained under various operating conditions, operator brake impression is consistent, promotes customer experience, promotes the security level and science and technology of electric vehicle
Sense, enhances the competitiveness of electric vehicle.
The embodiments of the present invention also provide a kind of automobiles, including above-mentioned hydraulic braking decline compensation control device.
This embodiment of the invention, electric machine controller MCU detect the malfunction of driving motor, power battery and ABS, knot
It closes travel condition of vehicle (gear/speed/SOC), enables fading of brake compensation function.Detect the fading of brake compensation of ABS output
Demand and braking compensation torque command, activate the fading of brake compensation function of vehicle, control the braking outside driving motor amount of exports
Torque is compensated, auxiliary hydraulic system braking promotes vehicle braking performances, reduces accident rate, and mitigating driver may be by
Injury.The kinetic energy of vehicle is switched to electric energy and is stored into power battery by the embodiment, improves energy utilization rate, so that vehicle exists
Under various operating conditions, the brake feel of driver is promoted customer experience, promotes the security level and technology sense of electric vehicle, increased by consistent
The competitiveness of forceful electric power motor-car.
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 (19)
- The compensating control method 1. a kind of hydraulic braking is failed, is applied to electric machine controller, which is characterized in that including：Whether detection whole vehicle state, which meets fading of brake, compensates enabled condition；When whole vehicle state meets fading of brake and compensates enabled condition, the fading of brake compensation demand of vehicle is detected；Demand control driving motor, which is compensated, according to the fading of brake exports energy regenerating torque.
- The compensating control method 2. hydraulic braking according to claim 1 is failed, which is characterized in that the detection whole vehicle state Whether meeting the step of fading of brake compensates enabled condition includes：Whether detection vehicle is in high pressure power-up state；When vehicle is in high pressure power-up state, the driving motor, power battery and anti-lock braking system ABS of vehicle are detected Malfunction；If the driving motor, power battery and the equal fault-free of anti-lock braking system ABS, detect gear, the vehicle of vehicle Speed and remaining capacity SOC state；If the gear meets in D gear, E gear or S gear, speed is not less than calibration speed and remaining capacity SOC is no more than calibration Electricity then sends fading of brake to the anti-lock braking system ABS and compensates enable signal.
- The compensating control method 3. hydraulic braking according to claim 2 is failed, which is characterized in that the detection whole vehicle state Whether meeting the step of fading of brake compensates enabled condition further includes：If at least one of the driving motor, power battery and anti-lock braking system ABS are faulty, to combination instrument Table sends fading of brake and compensates fault-signal.
- The compensating control method 4. hydraulic braking according to claim 1 is failed, which is characterized in that meet in whole vehicle state and make It is dynamic fail enabled condition when, the step of detecting the fading of brake compensation demand of vehicle includes：When whole vehicle state meets fading of brake and compensates enabled condition, whether the brake pedal for detecting vehicle is stepped on；If the brake pedal is stepped on, the fading of brake compensation desired signal of anti-lock braking system ABS transmission is obtained.
- The compensating control method 5. hydraulic braking according to claim 1 is failed, which is characterized in that according to the fading of brake Compensating the step of demand control driving motor exports energy regenerating torque includes：When fading of brake compensation demand schedule is shown with demand, receives the braking that anti-lock braking system ABS is sent and compensate torsion Square；According to formula：T=T1+T2Calculate the energy regenerating torque of driving motor output；Wherein, T is the energy regenerating torque of driving motor output；T1For Brake energy recovery torque, T1For with motor current rotating speed Corresponding calibration value；T2Torque is compensated for braking；It controls driving motor and exports the energy regenerating torque.
- The compensating control method 6. a kind of hydraulic braking is failed, is applied to anti-lock braking system, which is characterized in that including：When vehicle high pressure powers on, faults itself state and state of activation are detected；If the malfunction indicates fault-free and the state of activation indicates un-activation, braking system operation conditions is obtained；Identify that the fading of brake of vehicle compensates demand according to the braking system operation conditions.
- The compensating control method 7. hydraulic braking according to claim 6 is failed, which is characterized in that if the malfunction table The step of showing that fault-free and the state of activation indicate un-activation, then obtaining braking system operation conditions include：If the malfunction indicates fault-free and the state of activation indicates un-activation, sent according to electric machine controller MCU Fading of brake compensate enable signal, detection fading of brake compensation function whether enable；After confirmation fading of brake compensation function is enabled, brake disc overheat condition and the brake disc friction system of braking system are detected Number reduces situation.
- The compensating control method 8. hydraulic braking according to claim 7 is failed, which is characterized in that according to the braking system Operation conditions identifies that the step of fading of brake of vehicle compensates demand includes：If the brake disc overheat condition reaches calibration temperature, and brake pedal is stepped on, then confirms the fading of brake compensation of vehicle There is demand, sends fading of brake to electric machine controller MCU and compensate desired signal；If the brake disc overheat condition is less than calibration temperature, detects brake disc coefficient of friction and reduce situation；If the brake disc coefficient of friction is reduced, and brake pedal is stepped on, then confirms that the fading of brake compensation of vehicle has demand, to Electric machine controller MCU sends fading of brake and compensates desired signal.
- The compensating control method 9. hydraulic braking according to claim 8 is failed, which is characterized in that according to the braking system Operation conditions identifies that the step of fading of brake of vehicle compensates demand further includes：Situation, which is reduced, according to the current vehicle speed of vehicle, brake disc overheat condition and brake disc coefficient of friction calculates braking compensation torsion Square；Braking compensation torque is sent to electric machine controller MCU.
- 10. a kind of hydraulic braking decline compensation control device, which is characterized in that including：First detection module, for detecting whether whole vehicle state meets the enabled condition of fading of brake compensation；Second detection module, for detecting the fading of brake of vehicle when whole vehicle state meets fading of brake and compensates enabled condition Compensation demand；Control module exports energy regenerating torque for compensating demand control driving motor according to the fading of brake.
- 11. hydraulic braking decline compensation control device according to claim 10, which is characterized in that the first detection mould Block includes：First detection unit, for detecting whether vehicle is in high pressure power-up state；Second detection unit, for when vehicle is in high pressure power-up state, detect the driving motor of vehicle, power battery and The malfunction of anti-lock braking system ABS；Third detection unit, if being used for the driving motor, power battery and the equal fault-free of anti-lock braking system ABS, Detect gear, speed and the remaining capacity SOC state of vehicle；First transmission unit, if meeting for the gear in D gear, E gear or S gear, speed is not less than calibration speed and residue Electricity SOC then sends fading of brake to the anti-lock braking system ABS and compensates enable signal no more than calibration electricity.
- 12. hydraulic braking decline compensation control device according to claim 11, which is characterized in that the first detection mould Block further includes：Second transmission unit, if at least one of the driving motor, power battery and anti-lock braking system ABS It is faulty, then fading of brake is sent to combination instrument compensate fault-signal.
- 13. hydraulic braking decline compensation control device according to claim 10, which is characterized in that the second detection mould Block includes：4th detection unit, for detecting the brake pedal of vehicle when whole vehicle state meets fading of brake and compensates enabled condition Whether step on；First acquisition unit obtains the fading of brake of anti-lock braking system ABS transmission if stepping on for the brake pedal Compensate desired signal.
- 14. hydraulic braking decline compensation control device according to claim 10, which is characterized in that the control module packet It includes：Receiving unit, for receiving anti-lock braking system ABS and sending when fading of brake compensation demand schedule is shown with demand Braking compensate torque；First computing unit, for according to formula：T=T1+T2Calculate the energy regenerating torque of driving motor output；Wherein, T is the energy regenerating torque of driving motor output；T1For Brake energy recovery torque, T1For with motor current rotating speed Corresponding calibration value；T2Torque is compensated for braking；Control unit exports the energy regenerating torque for controlling driving motor.
- 15. a kind of hydraulic braking decline compensation control device, which is characterized in that including：Third detection module, for detecting faults itself state and state of activation when vehicle high pressure powers on；Module is obtained, if indicating fault-free and state of activation expression un-activation for the malfunction, obtains braking System operation situation；Identification module, for identifying that the fading of brake of vehicle compensates demand according to the braking system operation conditions.
- 16. hydraulic braking decline compensation control device according to claim 15, which is characterized in that the acquisition module packet It includes：5th detection unit, if indicating fault-free and state of activation expression un-activation, basis for the malfunction The fading of brake that electric machine controller MCU is sent compensates enable signal, and whether detection fading of brake compensation function enables；6th detection unit, for after confirmation fading of brake compensation function is enabled, the brake disc for detecting braking system to be excessively enthusiastic Condition and brake disc coefficient of friction reduce situation.
- 17. hydraulic braking decline compensation control device according to claim 16, which is characterized in that the identification module packet It includes：Third transmission unit, if reaching calibration temperature for the brake disc overheat condition, and brake pedal is stepped on, then confirms vehicle Fading of brake compensation have demand, to electric machine controller MCU send fading of brake compensate desired signal；7th detection unit detects brake disc coefficient of friction and subtracts if being less than calibration temperature for the brake disc overheat condition Few situation；4th transmission unit, if being reduced for the brake disc coefficient of friction, and brake pedal is stepped on, then confirms the braking of vehicle Decline compensation has demand, sends fading of brake to electric machine controller MCU and compensates desired signal.
- 18. hydraulic braking decline compensation control device according to claim 17, which is characterized in that the identification module is also Including：Second computing unit, for being reduced according to the current vehicle speed, brake disc overheat condition and brake disc coefficient of friction of vehicle Situation calculates braking compensation torque；5th transmission unit, for braking compensation torque to be sent to electric machine controller MCU.
- 19. a kind of automobile, which is characterized in that fail including hydraulic braking described in any one of claim 10~18 and compensate control Device processed.
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| CN112158187A (en) * | 2020-09-17 | 2021-01-01 | 中国第一汽车股份有限公司 | Deceleration control method under brake disc heat fading working condition |
| CN114670649A (en) * | 2020-12-24 | 2022-06-28 | 威马智慧出行科技(上海)股份有限公司 | Electric automobile energy recovery method and electronic equipment |
| CN114715100A (en) * | 2022-05-16 | 2022-07-08 | 安徽江淮汽车集团股份有限公司 | Compensation control method for vehicle hydraulic braking |
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