Braking and controllability control method and system for a vehicle with regenerative braking

• US 6,691,013 B1
• Filed: 09/06/2002
• Issued: 02/10/2004
• Est. Priority Date: 09/06/2002
• Status: Active Grant

• Current Assignee: Ford Motor Company
• Original Assignee: Ford Motor Company
• Inventors: Brown, Todd Allen
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US10/064,993
• Time in Patent Office: 522 Days
• Field of Search: 701/22, 701/70, 701/78, 701/83, 180/65.2, 180/65.3, 180/197, 477/188, 477/203, 188/156, 303/152
• US Class Current: 701/70
• CPC Class Codes: B60K 6/44 Series-parallel type
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2270/602 ABS features related thereto
• CPC Class Codes: B60T 2270/613 ESP features related thereto
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• 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 20/13 in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
• CPC Class Codes: B60W 2050/0011 Proportional Integral Differential [PID] controller
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/26 Wheel slip
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: Y02T 10/62 Hybrid vehicles
• CPC Class Codes: Y02T 10/92 Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles

Abstract

The present invention provides a method and system to use feedback control algorithms to monitor and dynamically modify front and rear braking torque to initiate braking based on driver demand, initially favoring regenerative braking more than conventional braking balance would indicate while monitoring and maintaining vehicle controllability factors such as oversteer and understeer. A simple proportional-integral-derivative feedback controller can be used. Vehicle sensors for wheel speed, lateral acceleration, yaw rate, and brake position can provide input to the controller to monitor vehicle conditions and to activate non-regenerative and regenerative braking in varying proportions based on at least one actual vehicle controllability value and predetermined target value for controllability and optimization of energy recovery. Controllability factors can include predetermined longitudinal wheel slip ratios or a comparison of tire slip angle or yaw rate to a target value.

Claims

1. A system for controlling braking of a vehicle comprising:

regenerative brakes connected to wheels mounted on a first axle of said vehicle;

non-regenerative brakes connected to wheels mounted on a second axle of said vehicle different from said first axle;

a plurality of sensors for measuring and providing electronic signals to monitor vehicle inputs;

a controller adapted to continuously receive and process said signals; and

a generator motor activated by said controller for adjustably activating non-regenerative and regenerative braking in varying proportions between the wheels of said first axle and the wheels of said second axle, thereby maintaining a vehicle controllability value within a preselected target range.

2. The system of claim 1, wherein the plurality of sensors comprise a brake pedal position and wheel speed of each wheel of said vehicle.

3. The system of claim 1, wherein the controller is a simple proportional-integral-derivative feedback controller.

4. The system of claim 2, wherein:

the generator motor provides regenerative braking torque to wheels of a rear axle;

the non-regenerative brakes are connected to wheels of a front axle; and

the plurality of sensors further comprise steering angle, lateral acceleration and yaw rate.

5. The system of claim 4, further comprising a vehicle controllability determination comprising a determination of a longitudinal wheel slip ratio value.

6. The system of claim 4, further comprising a vehicle controllability determination comprising a determination of a target and an actual tire slip angle.

7. The system of claim 4, further comprising a vehicle controllability determination comprising a determination of target and an actual yaw rate.

8. The system of claim 5, wherein the controller reduces regenerative braking and proportionally increases non-regenerative braking to maintain vehicle controllability when the longitudinal wheel slip ratio value is greater than 10 percent.

9. The system of claim 5, wherein the controller reduces regenerative braking and proportionally increases non-regenerative braking to maintain vehicle controllability when the longitudinal wheel slip ratio value is greater than 5 percent.

10. The system of claim 5, wherein the controller reduces regenerative braking and proportionally increases non-regenerative braking to maintain vehicle controllability when the longitudinal wheel slip ratio value is greater than a value that is dependent on vehicle operating conditions.

11. A method to continuously control braking and controllability of a vehicle comprising a generator motor adapted to adjustably provide regenerative braking torque to the wheels of a first axle, non-regenerative brakes being connected to wheels of a second axle, the method comprising the steps of:

providing regenerative braking to wheels of said first axle; and

controlling the vehicle by sensing vehicle conditions including brake position and wheel speed of each wheel,

activating non-regenerative and regenerative braking in varying proportion between wheels of said first and second axles,

determining vehicle controllability based on at least one actual vehicle controllability value and at least one predetermined controllability target value, and

reducing regenerative braking while proportionally increasing non-regenerative braking to maintain the actual vehicle controllability value within the predetermined target value.

12. The method of claim 11, wherein the step of controlling the vehicle comprises using a simple proportional-integral-derivative feedback controller.

13. The method of claim 11, wherein said first axle comprises a rear axle and said second axle comprises a front axle;

the non-regenerative brakes provide braking torque to wheels of the front axle; and

the step of sensing vehicle conditions further comprises the step of sensing vehicle conditions for steering angle, lateral acceleration and yaw rate.

14. The method of claim 11, wherein the step of determining vehicle controllability comprises determining a longitudinal wheel slip ratio value.

15. The method of claim 11, wherein the step of determining vehicle controllability comprises determining a target and an actual tire slip angle.

16. The method of claim 11, wherein the step of determining vehicle controllability comprises determining target and an actual yaw rate.

17. The method of claim 14, wherein the step of reducing regenerative braking while proportionally increasing non-regenerative braking is activated when said longitudinal wheel slip ratio is greater than 10 percent.

18. The method of claim 14, wherein the step of reducing regenerative braking while proportionally increasing non-regenerative braking is activated when said longitudinal wheel slip ratio is greater than 5 percent.

19. The method of claim 14, wherein the step of reducing regenerative braking while proportionally increasing non-regenerative braking is activated when said longitudinal wheel slip ratio is greater than a value that is dependent on vehicle operating conditions.

20. An automotive vehicle, comprising:

a generator motor adapted to provide regenerative braking torque to the wheels of a first axle;

non-regenerative brakes connected to the wheels of a second axle;

a controller; and

a control system embodied in the controller for directing the controller to sense vehicle conditions including brake position and wheel speed of each wheel, and, based on said conditions, to activate non-regenerative and regenerative braking in varying proportion between a front axle and a rear axle, and to

determine vehicle controllability based on at least one actual vehicle controllability value and at least one predetermined target controllability value, and

reduce regenerative braking while proportionally increasing non-regenerative braking to maintain the actual vehicle controllability value within the predetermined target value.

21. An article of manufacture to continuously control braking and controllability for a vehicle comprising:

a generator motor having an ability to provide regenerative braking torque to the wheels of at least one axle;

non-regenerative brakes connected to the wheels of at least one axle;

a controller; and

a control system embodied within the controller for directing the controller to sense vehicle conditions comprising brake position and wheel speed of each wheel,

activate non-regenerative and regenerative braking in varying proportion between a front axle and a rear axle,

determine vehicle controllability based on at least one actual vehicle controllability value and at least one predetermined target value, and reduce regenerative braking while proportionally increasing non-regenerative braking to maintain the actual vehicle controllability value within the predetermined target value.