Vehicle and braking feedback control method for the same

• US 10,232,839 B2
• Filed: 07/21/2016
• Issued: 03/19/2019
• Est. Priority Date: 01/30/2014
• Status: Active Grant

• Current Assignee: BYD Company Limited
• Original Assignee: BYD Company Limited
• Inventors: Yang, Dongsheng, Lian, Yubo, Zhang, Jintao, Luo, Hongbin
• Primary Examiner(s): Cass, Jean Paul
• Application Number:
  US15/216,437
• Publication Number:
  US 20160325732A1
• Time in Patent Office: 971 Days
• Field of Search: 701 22
• CPC Class Codes: B60K 1/00 Arrangement or mounting of electrical propulsion units B60K7/00 takes precedence; arrangement or mounting of plural diverse prime-movers for mutual or common propulsion B60K6/00; electric transmission arrangements B60K17/12; electric equipment or propulsion of electrically-propelled vehicles per se B60L; current-collectors for power supply lines of electrically-propelled vehicles B60L5/00
• CPC Class Codes: B60K 1/02 comprising more than one electric motor
• CPC Class Codes: B60K 17/354 having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels
• CPC Class Codes: B60K 17/356 having fluid or electric motor, for driving one or more wheels disposition of motor in, or adjacent to, traction wheel B60K7/00
• CPC Class Codes: B60K 2001/001 one motor mounted on a propulsion axle for rotating right and left wheels of this axle
• CPC Class Codes: B60K 2007/0061 the motor axle being parallel to the wheel axle
• CPC Class Codes: B60K 2007/0092 the motor axle being coaxial to the wheel axle
• CPC Class Codes: B60K 6/22 characterised by apparatus, components or means specially adapted for HEVs
• CPC Class Codes: B60K 6/387 Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
• CPC Class Codes: B60K 6/442 Series-parallel switching type
• CPC Class Codes: B60K 6/48 Parallel type
• CPC Class Codes: B60K 6/52 Driving a plurality of drive axles, e.g. four-wheel drive
• CPC Class Codes: B60K 7/00 Disposition of motor in, or adjacent to, traction wheel roller-skate driving mechanisms A63C17/12
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 15/2045 for optimising the use of energy
• CPC Class Codes: B60L 15/2054 by controlling transmissions or clutches
• CPC Class Codes: B60L 2210/30 AC to DC converters
• CPC Class Codes: B60L 2210/40 DC to AC converters
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/12 : Speed
• CPC Class Codes: B60L 2240/421 : Speed
• CPC Class Codes: B60L 2240/423 : Torque
• CPC Class Codes: B60L 2240/425 : Temperature
• CPC Class Codes: B60L 2240/427 : Voltage
• CPC Class Codes: B60L 2240/429 : Current
• CPC Class Codes: B60L 2240/445 : Temperature
• CPC Class Codes: B60L 2240/465 : Slip
• CPC Class Codes: B60L 2240/486 : Operating parameters
• CPC Class Codes: B60L 2240/507 : Operating parameters
• CPC Class Codes: B60L 2240/80 : Time limits
• CPC Class Codes: B60L 2250/26 : by pedal actuation
• CPC Class Codes: B60L 2260/28 : Four wheel or all wheel drive
• CPC Class Codes: B60L 2270/12 : of exhaust
• CPC Class Codes: B60L 2270/145 : Structure borne vibrations
• CPC Class Codes: B60L 3/108 : whilst braking, i.e. ABS
• CPC Class Codes: B60L 3/12 : Recording operating variables ; Monitoring of operating variables
• CPC Class Codes: B60L 50/16 : with provision for separate direct mechanical propulsion
• CPC Class Codes: B60L 50/61 : by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
• CPC Class Codes: B60L 58/21 : having the same nominal voltage
• CPC Class Codes: B60L 7/14 : for vehicles propelled by ac motors
• CPC Class Codes: B60L 7/26 : Controlling the braking effect
• CPC Class Codes: B60W 10/08 : including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/18 : including control of braking systems
• CPC Class Codes: B60W 20/00 : Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 20/10 : Controlling the power contribution of each of the prime movers to meet required power demand
• CPC Class Codes: B60W 20/15 : Control strategies specially adapted for achieving a particular effect
• CPC Class Codes: B60W 2510/18 : Braking system
• CPC Class Codes: B60W 2520/10 : Longitudinal speed
• CPC Class Codes: B60W 2540/12 : Brake pedal position
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2720/403 : between front and rear axle
• CPC Class Codes: B60W 30/18127 : Regenerative braking
• CPC Class Codes: B60Y 2200/92 : Hybrid vehicles
• CPC Class Codes: B60Y 2300/18125 : Regenerative braking
• CPC Class Codes: B60Y 2300/182 : Selecting between different operative modes, e.g. comfort and performance modes
• CPC Class Codes: B60Y 2300/89 : Repartition of braking force, e.g. friction braking versus regenerative braking
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y10S 903/916 : with plurality of drive axles
• CPC Class Codes: Y10S 903/947 : Characterized by control of braking, e.g. blending of regeneration, friction braking

Abstract

The present disclosure discloses a vehicle and a braking feedback control method for the same. The braking feedback control method includes the following steps: detecting a current speed of a vehicle and a depth of a braking pedal of the vehicle; when the current speed of the vehicle is greater than a preset speed, the depth of the braking pedal is greater than 0, and an anti-lock braking system of the vehicle is in a non-working state, controlling the vehicle to enter a braking feedback control mode, where when the vehicle is in the braking feedback control mode, a required braking torque corresponding to the vehicle is obtained according to the depth of the braking pedal, and a braking torque of a first motor generator, a braking torque of a second motor generator, and a braking torque of basic braking performed on the vehicle are distributed according to the required braking torque.

Claims

1. A braking feedback control method for a vehicle, wherein the vehicle comprises an engine unit, a transmission unit adapted to selectively couple with the engine unit and configured to transmit the power generated by the engine unit, a first motor generator coupled with the transmission unit, an output unit, a power switching device, a second motor generator configured to drive at least one of front and rear wheels of the vehicle, and a power battery for supplying power to the first motor generator and the second motor generator, wherein the output unit is configured to transmit the power transmitted by the transmission unit to at least one of the front and rear wheels of the vehicle, the power switching device is adapted to control power transmission between the transmission unit and the output unit, and the braking feedback control method comprises the following steps:

detecting a current speed of the vehicle and a depth of a braking pedal of the vehicle; and

when the current speed of the vehicle is greater than a preset speed, the depth of the braking pedal is greater than 0, and an anti-lock braking system of the vehicle is in a non-working state, controlling the vehicle to enter a braking feedback control mode, wherein when the vehicle is in the braking feedback control mode, a required braking torque corresponding to the vehicle is obtained according to the depth of the braking pedal, and a braking torque of the first motor generator, a braking torque of the second motor generator, and a braking torque of basic braking performed on the vehicle are distributed according to the required braking torque, wherein when the vehicle is in the braking feedback control mode,

a feedback limit value of the first motor generator and a feedback limit value of the second motor generator are obtained according to current running states of the first motor generator and the second motor generator;

a feedback limit value of the motor generator controller is obtained according to a current running state of a motor generator controller of the vehicle;

a current allowable charging power of the power battery is calculated according to a working state of the power battery, and a current feedback limit value of the power battery is obtained according to the current allowable charging power of the power battery; and

a minimum feedback limit value of the feedback limit value of the first motor generator, the feedback limit value of the second motor generator, the feedback limit value of the motor generator controller, and the current feedback limit value of the power battery is obtained.

2. The braking feedback control method for a vehicle according to claim 1, wherein the power switching device is configured as a synchronizer, and the synchronizer is adapted to selectively synchronize between the output unit and the transmission unit.

3. The braking feedback control method for a vehicle according to claim 1, wherein

a braking pedal depth-braking torque curve of the vehicle is obtained according to the ride comfort and the braking performance of the vehicle, and a braking pedal depth-braking feedback torque curve of the vehicle is obtained according to the braking pedal depth-braking torque curve-and a preset braking pedal depth-basic braking torque curve;

a current braking feedback target value corresponding to the vehicle is obtained according to the braking pedal depth-braking feedback torque curve of the vehicle;

a minimum feedback value of the vehicle is obtained according to the minimum feedback limit value and the current braking feedback target value; and

according to the minimum feedback value, braking feedback control is performed on the second motor generator.

4. The braking feedback control method for a vehicle according to claim 3, wherein when braking feedback control is performed, a target torque of the engine unit is sent to an engine control module (ECM), and the ECM controls the engine unit according to the target torque.

5. The braking feedback control method for a vehicle according to claim 3, wherein when the speed of the vehicle is greater than a first speed threshold value, the power switching device is controlled to engage.

6. The braking feedback control method for a vehicle according to claim 3, wherein the braking torque of basic braking performed on the vehicle is obtained according to the depth of the braking pedal and the preset braking pedal depth-basic braking torque curve.

7. The braking feedback control method for a vehicle according to claim 3, wherein

if the minimum feedback value is less than or equal to a maximum output braking torque of the second motor generator, the second motor generator is controlled to output the minimum feedback value;

or

if the minimum feedback value is greater than a maximum output braking torque of the second motor generator, the second motor generator and the first motor generator are controlled to jointly output the minimum feedback value, wherein a braking torque output by the first motor generator is less than a braking torque output by the second motor generator.

8. A vehicle, comprising:

an engine unit

a transmission unit adapted to selectively couple with the engine unit and also configured to transmit the power generated by the engine unit

a first motor generator coupled with the transmission unit

an output unit configured to transmit the power transmitted by the transmission unit to at least one of the front and rear wheels of the vehicle;

a power switching device adapted to control power transmission between the transmission unit and the output unit

a second motor generator configured to drive at least one of the front and rear wheels;

a power battery respectively connected to the first motor generator and the second motor generator to supply power to the first motor generator and the second motor generator; and

a controller, wherein when a current speed of the vehicle is greater than a preset speed, a depth of the braking pedal of the vehicle is greater than 0, and an anti-lock braking system of the vehicle is in a non-working state, the controller controls the vehicle to enter a braking feedback control mode, wherein when the vehicle is in the braking feedback control mode, the controller obtains a required braking torque corresponding to the vehicle according to the depth of the braking pedal, and distributes, according to the required braking torque, a braking torque of the first motor generator, a braking torque of the second motor generator, and a braking torque of basic braking performed on the vehicle, wherein when the vehicle is in the braking feedback control mode, the controller

obtains a feedback limit value of the first motor generator and a feedback limit value of the second motor generator according to current running states of the first motor generator and the second motor generator,

obtains a feedback limit value of the motor generator controller according to a current running state of a motor generator controller of the vehicle, and

obtains a current feedback limit value of the power battery according to the current allowable charging power of the power battery,

and the controller obtains, according to the feedback limit value of the first motor generator, the feedback limit value of the second motor generator, the feedback limit value of the motor generator controller, and the current feedback limit value of the power battery, a minimum feedback limit value of the feedback limit value of the first motor generator, the feedback limit value of the second motor generator, the feedback limit value of the motor generator controller, and the current feedback limit value of the power battery.

9. The vehicle according to claim 8, wherein the power switching device is configured as a synchronizer, and the synchronizer is adapted to selectively synchronize between the output unit and the transmission unit.

10. The vehicle according to claim 8, wherein the controller further obtains a braking pedal depth-braking torque curve of the vehicle according to the ride comfort and the braking performance of the vehicle, obtains a braking pedal depth-braking feedback torque curve of the vehicle according to the braking pedal depth-braking torque curve and a preset braking pedal depth-basic braking torque curve, and obtains a current braking feedback target value corresponding to the vehicle according to the braking pedal depth-braking feedback torque curve of the vehicle, and wherein the controller obtains a minimum feedback value of the vehicle according to the minimum feedback limit value and the current braking feedback target value, and performs, according to the minimum feedback value, braking feedback control on the second motor generator.

11. The vehicle according to claim 10, wherein when braking feedback control is performed, the controller sends a target torque of the engine unit to an engine control module (ECM), and the ECM controls the engine unit according to the target torque.

12. The vehicle according to claim 10, wherein when the speed of the vehicle is greater than a first speed threshold value, the controller controls the synchronizer to engage.

13. The vehicle according to claim 10, wherein the controller further obtains the braking torque of basic braking performed on the vehicle according to the depth of the braking pedal and the preset braking pedal depth-basic braking torque curve.

14. The vehicle according to claim 10, wherein

if the minimum feedback value is less than or equal to a maximum output braking torque of the second motor generator, the controller controls the second motor generator to output the minimum feedback value;

and

if the minimum feedback value is greater than a maximum output braking torque of the second motor generator, the controller controls the second motor generator and the first motor generator to jointly output the minimum feedback value, wherein a braking torque output by the first motor generator is less than a braking torque output by the second motor generator.

15. A braking feedback control method for a vehicle, wherein the vehicle comprises an engine unit, a transmission unit adapted to selectively couple with the engine unit and configured to transmit the power generated by the engine unit, a first motor generator coupled with the transmission unit, and a second motor generator configured to drive at least one of front and rear wheels of the vehicle, and a power battery for supplying power to the first motor generator and the second motor generator, the method comprising:

controlling the vehicle to enter a braking feedback control mode, in which, a required braking torque corresponding to the vehicle is obtained according to a depth of the braking pedal, and a braking torque of the first motor generator, a braking torque of the second motor generator, and a braking torque of basic braking performed on the vehicle are distributed according to the required braking torque, wherein when the vehicle is in the braking feedback control mode,

a feedback limit value of the first motor generator and a feedback limit value of the second motor generator are obtained according to current running states of the first motor generator and the second motor generator;

a feedback limit value of the motor generator controller is obtained according to a current running state of a motor generator controller of the vehicle;

a current allowable charging power of the power battery is calculated according to a working state of the power battery, and a current feedback limit value of the power battery is obtained according to the current allowable charging power of the power battery; and

a minimum feedback limit value of the feedback limit value of the first motor generator, the feedback limit value of the second motor generator, the feedback limit value of the motor generator controller, and the current feedback limit value of the power battery is obtained.