Control unit, device and method for recuperative brake control of a vehicle
阅读说明:本技术 用于车辆回收式制动控制的控制单元、装置和方法 (Control unit, device and method for recuperative brake control of a vehicle ) 是由 韩培 钟京华 于 2018-08-10 设计创作,主要内容包括:本发明提供了一种用于车辆回收式制动控制的控制单元,所述控制单元包括:判断模块,所述判断模块被配置成在车辆处于减速状态时能够判断所述车辆是否处于制动阶段;计算模块,所述计算模块被配置成:从所述车辆的另一模块接收滑行能量回收目标值:根据所述车辆的稳定性生成能量回收目标值并发送给所述另一模块;以及在所述车辆执行回收式制动后接收来自所述另一模块的能量回收实际值。本发明还提供了用于车辆回收式制动控制的装置、方法、计算机可读介质和控制设备。利用本发明,能够实现车辆稳定控制与滑行能量回收的结合,从而在确保车辆稳定性的前提下优化能量的回收。(The present invention provides a control unit for regenerative braking control of a vehicle, the control unit comprising: a determination module configured to enable determination of whether a vehicle is in a braking phase when the vehicle is in a decelerating state; a computing module configured to: receiving a coasting energy recovery target value from another module of the vehicle: generating an energy recovery target value according to the stability of the vehicle and sending the energy recovery target value to the other module; and receiving an energy recovery actual value from the other module after the vehicle performs regenerative braking. The invention also provides a device, a method, a computer readable medium and a control device for the regenerative braking control of a vehicle. By utilizing the method and the device, the combination of vehicle stability control and sliding energy recovery can be realized, so that the energy recovery is optimized on the premise of ensuring the vehicle stability.)
1. A control unit for regenerative braking control of a vehicle, the control unit (10) comprising:
a determination module configured to enable determination of whether a vehicle is in a braking phase when the vehicle is in a decelerating state;
a computing module configured to: receiving a coasting energy recovery target value (CRegT) from another module of the vehicle: generating an energy recovery target value (RegT) according to the stability of the vehicle and sending it to the further module (20); and receiving an energy recovery actual value (RegA) from said further module (20) after regenerative braking of said vehicle has been performed.
2. The control unit according to claim 1, characterized in that, if the determination result (B) of the determination module is positive (Y), the calculation module generates a braking energy recovery value (BReg) and a stability factor (K), and the energy recovery target value (RegT) is equal to the braking energy recovery value (BReg) plus the product of the coasting energy recovery target value (CRegT) and the stability factor (K).
3. The control unit according to claim 1, characterized in that if the result (B) of the judgment module is negative (N), the calculation module generates a stability factor (K) and the energy recovery target value (RegT) is equal to the product of the coasting energy recovery target value (CRegT) and the stability factor (K).
4. The control unit according to any one of claims 1 to 3, characterized in that the calculation module receives a coasting energy recovery maximum value (CRegM) from the other module and generates the energy recovery target value (RegT) using the coasting energy recovery maximum value (CRegM).
5. A control unit according to claim 2 or 3, characterized in that the stability factor (K) is a numerical value between 0 and 1 for representing the stability of the vehicle.
6. The control unit according to claim 5, characterized in that the calculation module is configured to generate the stability factor (K) in dependence of driving condition parameters of the vehicle, and the driving condition parameters comprise one or more of wheel speed, steering wheel steering angle, lateral acceleration, relative vehicle speed.
7. An apparatus for regenerative braking control of a vehicle, comprising:
a first module (10), said first module (10) being configured to be able to determine whether a vehicle is in a braking phase when said vehicle is in a deceleration state and to generate an energy recovery target value (RegT) and a received energy recovery actual value (RegA);
a second module (20), said second module (20) being configured to be able to generate a coasting energy recovery target value (CRegT) when the vehicle is in a decelerating state, and to receive said energy recovery target value (RegT) and to generate said energy recovery actual value (RegA); and
a recuperative braking module (30), the recuperative braking module (30) being configured to perform recuperative braking according to the energy recuperation target value (RegT) on command of the second module (20);
wherein the first module (10) and the second module (20) are further configured such that the second module (20) sends the coasting energy recovery target value (CRegT) to the first module (10), the first module (10) generates the energy recovery target value (RegT) according to the stability of the vehicle after receiving the coasting energy recovery target value (CRegT) and sends it to the second module (20), the second module (20) instructs the recuperative braking module (30) to perform recuperative braking according to the energy recovery target value (RegT), generates the energy recovery actual value (RegA) and sends it to the first module (10).
8. The arrangement according to claim 7, characterized in that the first module (10) is further configured such that, if the determination (B) of the first module (10) is positive (Y), the first module (10) generates a braking energy recovery value (BReg) and a stability factor (K), and the energy recovery target value (RegT) is equal to the braking energy recovery value (BReg) plus the product of the coasting energy recovery target value (CReg) and the stability factor (K).
9. The apparatus according to claim 7, characterized in that the first module (10) is further configured such that, if the result (B) of the determination by the first module (10) is negative (N), the first module (10) generates a stability factor (K) and the energy recovery target value (RegT) is equal to the product of the coasting energy recovery target value (CRegT) and the stability factor (K).
10. The apparatus of any one of claims 7 to 9, wherein the second module (20) is further configured to generate a coasting energy recovery maximum value (CRegM), and the first module (10) generates the energy recovery target value (RegT) using the coasting energy recovery maximum value (CRegM).
11. An arrangement according to claim 8 or 9, characterized in that the stability factor (K) is a numerical value between 0 and 1 for representing the stability of the vehicle.
12. The arrangement according to claim 11, characterized in that the first module (10) is configured to generate the stability factor (K) in dependence of driving condition parameters of the vehicle, and the driving condition parameters comprise one or more of wheel speed, steering wheel steering angle, lateral acceleration, relative vehicle speed.
13. An arrangement according to claim 7, characterised in that the first module (10) is an electronic stability control system or a sub-module thereof and the second module (20) is a vehicle control unit or an engine management system or a sub-module thereof.
14. The device according to claim 7, characterized in that the device further comprises a sensing module (40), the sensing module (40) being configured for obtaining a driving condition parameter of the vehicle.
15. A method for regenerative braking control of a vehicle, the method comprising the steps of:
when the vehicle is in a deceleration state, judging whether the vehicle is in a braking stage through a first module (10), and generating a coasting energy recovery target value (CRegT) through a second module (20) and sending the coasting energy recovery target value (CRegT) to the first module (10);
-generating, by said first module (10), an energy recovery target value (RegT) from said coasting energy recovery target value (CRegT) as a function of the stability of said vehicle, according to the judgment result of said first module (10);
-said first module (10) communicating said energy recovery target value (RegT) to said second module (20);
-said second module (20) receives said energy recovery target value (RegT) and instructs a recuperative braking module (30) to perform recuperative braking;
the second module (20) generates and transmits an energy recovery actual value (RegA) to the first module (10).
16. The method according to claim 15, characterized in that, in the step of generating the energy recovery target value (RegT), if the judgment result (B) of the first module (10) is positive (Y), the first module (10) generates a braking energy recovery value (BReg) and a stability factor (K), and the energy recovery target value (RegT) is equal to the braking energy recovery value (BReg) added to the product of the coasting energy recovery target value (CRegT) and the stability factor (K).
17. The method according to claim 15, characterized in that, in the step of generating the energy recovery target value (RegT), if the judgment (B) of the first module (10) is negative (N), the first module (10) generates a stability factor (K) and the energy recovery target value (RegT) is equal to the product of the coasting energy recovery target value (CRegT) and the stability factor (K).
18. The method according to any one of claims 15 to 17, characterized in that, when the vehicle is in a deceleration state, a coasting energy recovery maximum (CRegM) is also generated by the second module (20), and the first module (10) also generates the energy recovery target value (RegT) using the coasting energy recovery maximum (CRegM).
19. Method according to claim 16 or 17, characterized in that the stability factor (K) is a numerical value between 0 and 1 for representing the stability of the vehicle.
20. The method according to claim 19, characterized in that the first module (10) generates the stability factor (K) in dependence of driving condition parameters of the vehicle, and the driving condition parameters comprise one or more of wheel speed, steering wheel steering angle, lateral acceleration, relative vehicle speed.
21. A computer readable storage medium having stored thereon program instructions, wherein the program instructions, when executed by a processor, are capable of implementing the method of any of claims 15 to 20.
22. A control apparatus for regenerative braking control of a vehicle, the control apparatus comprising a memory and a processor, wherein the memory has stored therein program instructions executable on the processor, wherein the processor, when executing the program instructions, is capable of implementing a method according to any one of claims 15 to 20.
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a control unit, an apparatus, a method, a computer-readable storage medium, and a control device for regenerative braking control of a vehicle.
Background
In order to improve the utilization of energy, Electric Vehicles (EV) and Hybrid Electric Vehicles (HEV) widely employ a Regenerative Braking System (RBS) to recover energy. In this way, during vehicle coasting (e.g., accelerator released and brake not depressed) and braking (e.g., brake depressed), the vehicle's electric motor may be allowed to operate as a generator, converting energy from the driveline into electrical energy, while applying a braking torque to the wheels/axles to slow the vehicle. Typically, the RBS is provided by the supplier of the electronic stability control system (ESP) of the vehicle. The RBS of the ESP judges according to the current running condition parameters of the vehicle and determines the regenerative braking torque so as to recover proper energy and improve the driving feeling of a driver on the premise of ensuring the stability of the vehicle.
Due to the need of energy management, more and more complete vehicle manufacturers now want to further optimize the energy recovery of the vehicle by using a system developed by themselves on the basis of outsourced ESPs, i.e. by adding a module for energy recovery to the vehicle control system, such as the Vehicle Control Unit (VCU) or the Engine Management System (EMS), to increase the energy recovery value. The regenerative braking includes both a coast recovery part and a brake recovery part, but since the brake recovery part is directly related to the driving stability of the vehicle with respect to subsystems of the ESP such as an anti-lock braking system (ABS), a Traction Control System (TCS), and an adaptive cruise control system (ACC), the brake recovery part is generally controlled by the ESP to ensure reliable stability. Therefore, more entire car manufacturers add the self-developed sliding energy recovery module only aiming at the sliding stage so as to obtain more recovered energy. However, since the entire manufacturer cannot obtain the parameters of the ESP related to the stability of the vehicle or can obtain only very limited parameters, the VCU/EMS cannot accurately determine the stability of the vehicle, and the calculation result often has a bad influence on the original function of the ESP. For example, if excessive energy is recovered during the coasting phase, the vehicle may slip on icy or snowy roads, which may affect driving safety. However, ESPs can calculate the stability index of the vehicle more accurately than VCU/EMS.
Therefore, there is a need for an apparatus and method for regenerative braking control of a vehicle that better combines coasting energy recovery with vehicle stability control to ensure vehicle stability and optimize energy recovery.
Disclosure of Invention
In view of the drawbacks of the prior art, it is an object of the present invention to provide a control unit, a device and a method for regenerative braking control of a vehicle to mitigate the conflict between coasting energy recovery and vehicle stability control in regenerative braking, ensure the stability of the vehicle and optimize the recovery of energy.
To this end, according to an aspect of the present invention, there is provided a control unit for regenerative braking control of a vehicle, the control unit including:
a determination module configured to enable determination of whether a vehicle is in a braking phase when the vehicle is in a decelerating state;
a computing module configured to: receiving a coasting energy recovery target value from another module of the vehicle: generating an energy recovery target value according to the stability of the vehicle and sending the energy recovery target value to the other module; and receiving an energy recovery actual value from the other module after the vehicle performs regenerative braking.
According to another aspect of the present invention, there is provided an apparatus for regenerative braking control of a vehicle, including:
a first module configured to be able to determine whether a vehicle is in a braking phase when the vehicle is in a decelerating state, and to generate an energy recovery target value and a received energy recovery actual value;
a second module configured to be able to generate a coasting energy recovery target value when the vehicle is in a decelerating state, and to receive the energy recovery target value and generate the energy recovery actual value; and
a regenerative braking module configured to perform regenerative braking according to the energy recovery target value under instruction of the second module;
wherein the first module and the second module are further configured such that the second module sends the coasting energy recovery target value to the first module, the first module generates the energy recovery target value according to the stability of the vehicle after receiving the coasting energy recovery target value and sends the energy recovery target value to the second module, and the second module instructs the recuperative braking module to perform braking according to the energy recovery target value, generates the energy recovery actual value and sends the energy recovery actual value to the first module.
According to a third aspect of the present invention, there is provided a method for regenerative braking control of a vehicle, the method comprising the steps of:
when the vehicle is in a deceleration state, judging whether the vehicle is in a braking stage through a first module, generating a sliding energy recovery target value through a second module, and sending the sliding energy recovery target value to the first module;
according to the judgment result of the first module, the first module generates an energy recovery target value by utilizing the coasting energy recovery target value according to the stability of the vehicle;
the first module communicates the energy recovery target value to the second module;
the second module receives the energy recovery target value and instructs a recovery type braking module to perform braking;
the second module generates and transmits an energy recovery actual value to the first module.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon program instructions, wherein the program instructions, when executed by a processor, are capable of implementing the method.
According to a fifth aspect of the present invention, there is provided a control apparatus for regenerative braking control of a vehicle, the control apparatus comprising a memory and a processor, wherein the memory has stored therein program instructions operable on the processor, wherein the processor is operable to carry out the method when executing the program instructions.
According to the control unit, the device and the method for the regenerative braking control of the vehicle provided by the invention, the combination of the coasting energy recovery and the vehicle stability control can be realized by correcting the coasting energy recovery value from the aspect of the vehicle stability control, and the conflict between the coasting energy recovery and the vehicle stability control is reduced, so that the safety of the vehicle is improved, and the energy recovery is optimized.
Drawings
The features and advantages of the present invention will be better understood by those skilled in the art from the following description of the preferred embodiments of the invention taken in conjunction with the accompanying drawings. Wherein:
FIG. 1 illustrates an architectural diagram of a control unit and apparatus for regenerative braking control of a vehicle according to an embodiment of the present invention;
FIG. 2 shows a schematic diagram of the variation of the stability factor at different stages in the apparatus of FIG. 1;
FIG. 3 shows a flow diagram of a method for regenerative braking control of a vehicle according to an embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that these exemplary embodiments are not meant to limit the invention in any way.
Fig. 1 shows a schematic architecture of a control unit and a device for regenerative braking control of a vehicle according to an embodiment of the invention. The apparatus 1 shown in fig. 1 may be implemented by means of software, hardware or a combination of software and hardware. As shown in fig. 1, the apparatus 1 for regenerative braking control of a vehicle may include a first module 10 (i.e., a control unit for regenerative braking control of a vehicle, for example, an ESP system or a subsystem thereof), a second module 20 (for example, a VCU/EMS system or a subsystem thereof), and a
Generally, the
With continued reference to fig. 1, the cooperation between the
In one embodiment of the present invention, the determining module of the
The
After the
Therefore, through the cooperation between the
In the illustrated embodiment, the
In addition to the
As shown in fig. 1, the apparatus 1 of the present invention may further include a
The calculation of the energy recovery target value RegT is further described below with reference to fig. 2. The decision module of the
As shown in fig. 2, the stability factor K of the vehicle is a numerical value between 0 and 1 for representing the stability of the vehicle. The stability factor K may be expressed as a ratio of the control variable CV to the control threshold CT (CV/CT). As can be seen from fig. 2, the stability factor K varies with the variation of the control variable CV and can be divided into three stages. In a first phase (I), the vehicle is running steadily, the hydraulic brake control module is not activated, the stability factor K is 1, and all regenerative braking may be allowed. In a second phase (II) in which the instability of the vehicle is pending and the hydraulic braking control module is still not activated, which is in the transition range between recuperative braking and hydraulic braking, the stability factor K is a value between 0 and 1. As the instability of the vehicle increases, the stability factor K gradually transitions from 1 to 0. In the third phase (III), the vehicle is unstable, the hydraulic brake control module is activated, the stability factor K is 0, and there is no recuperative braking but all hydraulic braking can be used. Regarding the determination of the stability factor K, the types, the numbers, the threshold values, and the like of the control variables used by different manufacturers are different, and accordingly, the calculation method of the stability factor K is different, but it is obvious to those skilled in the art that the stability factor K can be calculated according to the driving condition parameters of the vehicle. Therefore, the specific calculation process of the stability factor K is not described in detail.
When the judgment module of the
When the judgment module of the
In another embodiment of the present invention, the
The general architecture of the device 1 for regenerative braking control of a vehicle of the invention has been described briefly above, but it should be understood that it does not indicate that the device 1 of the invention may not comprise further other components.
In the above-described embodiments, the
The process of regenerative braking will be further described with reference to a flowchart of a method for regenerative braking control of a vehicle according to an embodiment of the present invention shown in fig. 3.
As shown in fig. 3, at start step S1, the modules are indicated to be functioning properly.
At step S2, the
At step S3, the
At step S4, the
At step S5, the
At step S6, the
Of course, in step S2, the
In an embodiment of the present invention, a computer readable storage medium is also provided, on which program instructions are stored, wherein the program instructions, when executed by a processor, are capable of implementing the method illustrated in fig. 3.
Additionally, in an embodiment of the present invention, there is also provided a control apparatus for regenerative braking control of a vehicle, comprising a memory and a processor, wherein the memory has stored therein program instructions operable on the processor, wherein the processor, when executing the program instructions, is capable of implementing the method described in fig. 3.
The first module corrects the sliding energy recovery value generated by the second module from the perspective of vehicle stability, so that the two modules can be combined, and conflicts between the two modules are reduced, thereby improving the safety of the vehicle and optimizing the recovery of energy.
The present invention has been described in detail with reference to the specific embodiments. It is to be understood that both the foregoing description and the embodiments shown in the drawings are to be considered exemplary and not restrictive of the invention. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit of the invention, and these changes and modifications do not depart from the scope of the invention.
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