Regenerative braking control method of vehicle

• US 11,845,434 B2
• Filed: 06/04/2019
• Issued: 12/19/2023
• Est. Priority Date: 10/24/2018
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Jeong, Jong Kyu
• Primary Examiner(s): Mustafa, Imran K
• Application Number:
  US16/431,526
• Publication Number:
  US 20200130694A1
• Time in Patent Office: 1,659 Days
• CPC Class Codes: B60K 6/22 characterised by apparatus, components or means specially adapted for HEVs
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 2240/20 angular
• CPC Class Codes: B60L 2240/24 Steering angle
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2240/662 Temperature
• CPC Class Codes: B60L 2240/667 Precipitation
• CPC Class Codes: B60L 2250/26 by pedal actuation
• CPC Class Codes: B60L 2250/28 Accelerator pedal thresholds
• CPC Class Codes: B60L 7/10 Dynamic electric regenerative braking B60L7/22 takes precedence
• CPC Class Codes: B60L 7/26 Controlling the braking effect
• CPC Class Codes: B60T 1/10 by utilising wheel movement for accumulating energy, e.g. driving air compressors
• CPC Class Codes: B60T 2210/10 Detection or estimation of road conditions
• CPC Class Codes: B60T 2210/13 Aquaplaning, hydroplaning
• CPC Class Codes: B60T 2220/04 Pedal travel sensor, stroke sensor; Sensing brake request
• CPC Class Codes: B60T 2240/02 Longitudinal grip detection of road friction B60T2210/10
• CPC Class Codes: B60T 2270/10 ABS control systems
• CPC Class Codes: B60T 2270/20 ASR control systems
• CPC Class Codes: B60T 2270/30 ESP control system
• CPC Class Codes: B60T 2270/602 ABS features related thereto
• CPC Class Codes: B60T 2270/603 : ASR features related thereto
• CPC Class Codes: B60T 2270/613 : ESP features related thereto
• CPC Class Codes: B60T 8/1761 : responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
• CPC Class Codes: B60T 8/326 : Hydraulic systems
• CPC Class Codes: B60W 2420/403 : Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/42 : Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/26 : Wheel slip
• CPC Class Codes: B60W 2520/28 : Wheel speed
• CPC Class Codes: B60W 2540/10 : Accelerator pedal position
• CPC Class Codes: B60W 2540/12 : Brake pedal position
• CPC Class Codes: B60W 2552/00 : Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/40 : Coefficient of friction
• CPC Class Codes: B60W 2555/20 : Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 30/02 : Control of vehicle driving stability
• CPC Class Codes: B60W 30/045 : Improving turning performance
• CPC Class Codes: B60W 30/18127 : Regenerative braking
• CPC Class Codes: B60W 30/18145 : Cornering
• CPC Class Codes: B60W 30/18172 : Preventing, or responsive to skidding of wheels
• CPC Class Codes: B60Y 2200/91 : Electric vehicles
• CPC Class Codes: B60Y 2200/92 : Hybrid vehicles
• CPC Class Codes: B60Y 2300/022 : Stability in turns or during cornering
• CPC Class Codes: B60Y 2300/18125 : Regenerative braking
• CPC Class Codes: F16D 61/00 : Brakes with means for making the energy absorbed available for use F16D57/00 takes precedence
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

A regenerative braking control method of a vehicle, may include a first operation of determining a driving risk of a road surface on the basis of a status of the road surface while driving; a second operation of determining whether an accelerator pedal is released while driving; a third operation of determining whether a brake pedal is operated while driving; and a fourth operation of performing no regenerative braking when the accelerator pedal is determined as being released, the driving risk of the road surface is determined as being high, and when the brake pedal is determined as not being operated.

Claims

1. A regenerative braking control method of a vehicle, the regenerative braking control method comprising:

a first operation of determining, by a control unit, a driving risk of a road surface on a basis of a status of the road surface while driving;

a second operation of determining, by the control unit, when an accelerator pedal is released while driving;

a third operation of determining, by the control unit, when a brake pedal is operated while driving; and

a fourth operation of performing neither friction braking nor regenerative braking by the control unit configured for concluding so as not to generate control signal for performing the regenerative braking in a state in which the accelerator pedal is released and at the same time the brake pedal is determined as not being operated when the controller concludes that the driving risk of the road surface is determined as being high, so that a lock phenomenon is prevented from occurring at a front wheel driveshaft and at a rear wheel driveshaft, thereby preventing an understeer phenomenon and an oversteer phenomenon,

wherein the first operation includes a color detecting operation of determining the driving risk of the vehicle driving on the road surface on a basis of a measured value of a vision sensor of the vehicle which detects a color of the road surface,

wherein when a detected color of the road surface is a same as a predetermined color, the driving risk of the road surface is determined as being high, and

wherein the first operation further includes;

determining a number of operation times of a traction control system (TCS) for preventing wheel slip and an operating time of the TCS after the color detecting operation and then after a starting of the vehicle is turned on; and

re-determining the driving risk of the road surface as being high, when the number of operation times of the TCS is equal to or greater than a number of predetermined times for which an occurrence rate of the wheel slip is determined as being high and accumulation of the operating time of the TCS is equal to or greater than a predetermined time for which the occurrence rate of the wheel slip is determined as being high.

2. The regenerative braking control method of claim 1, wherein the color detecting operation further includes determining the driving risk of the road surface as being high, when the accelerator pedal is determined as being released, the driving risk of the road surface is determined as being high, and when the brake pedal is determined as not being operated.

3. The regenerative braking control method of claim 1, wherein the color detecting operation further includes determining the driving risk of the road surface as not being high, when the accelerator pedal is determined as being released, the driving risk of the road surface is determined as being high, and when the brake pedal is determined as not being operated.

4. The regenerative braking control method of claim 1, wherein the first operation further includes a rain detecting operation of determining the driving risk of the vehicle driving on the road surface on a basis of a measured value of a rain sensor of the vehicle which detects rainwater.

5. The regenerative braking control method of claim 4, wherein the rain detecting operation includes determining the driving risk of the road surface as being high, when the measured value of the rain sensor is equal to or greater than a reference value for determining the road surface as being wet.

6. The regenerative braking control method of claim 5, wherein the rain detecting operation further includes determining the driving risk of the road surface as not being high, when the measured value of the rain sensor is less than the reference value for determining the road surface as being wet.

7. The regenerative braking control method of claim 4, wherein the first operation further includes determining the driving risk of the road surface as being high, when the measured value of the rain sensor is equal to or greater than a reference value for determining the road surface as being wet.

8. The regenerative braking control method of claim 4, wherein the first operation further includes:

determining the road surface as being in a ponding state, when a difference in wheel speed between a front left wheel speed and a front right wheel speed occurs after the rain detecting operation; and

re-determining the driving risk of the road surface as being high, when the road surface is determined as being in the ponding state and then the accelerator pedal is determined as being released within a predetermined time after the vehicle is determined as driving on the road surface which is in the ponding state.

9. The regenerative braking control method of claim 4, wherein the first operation further includes determining that the driving risk of the road surface is determined by the color detecting operation, when an external air temperature of the vehicle is less than a reference temperature which is set to a temperature at which icing occurs on the road surface.

10. The regenerative braking control method of claim 9, wherein the first operation further includes determining that the driving risk of the road surface is determined as being high by the rain detecting operation, when the external air temperature of the vehicle is equal to or higher than the reference temperature.

11. The regenerative braking control method of claim 1, further including:

a fifth operation of generating a braking force of the vehicle by performing only the regenerative braking among hydraulic braking and the regenerative braking, when the driving risk of the road surface is determined as not being high in the first operation, the accelerator pedal is determined as being released, and when the brake pedal is determined as not being operated.

12. The regenerative braking control method of claim 11, wherein when an execution condition of electronic stability control (ESC) is determined as being satisfied, the regenerative braking is terminated and the ESC is performed.

13. The regenerative braking control method of claim 1, further including:

a sixth operation of generating a braking force of the vehicle by performing the regenerative braking and hydraulic braking, when the driving risk of the road surface is determined as not being high in the first operation, the accelerator pedal is determined as being released, and when the brake pedal is determined as being operated.

14. The regenerative braking control method of claim 1, further including:

a seventh operation of generating a braking force of the vehicle by performing the regenerative braking and hydraulic braking, when the driving risk of the road surface is determined as being high in the first operation, the accelerator pedal is determined as being released, and when the brake pedal is determined as being operated.

15. The regenerative braking control method of claim 14, wherein when one of execution conditions of anti-lock brake system (ABS) and the ESC is determined as being satisfied, the ABS or the ESC satisfying the one of the execution conditions is executed.

16. The regenerative braking control method of claim 1, further including:

an eighth operation of determining when an execution condition of electronic stability control (ESC) for steering a driving direction of the vehicle is satisfied after the fourth operation;

a ninth operation of executing the ESC, when the execution condition of the ESC is determined as being satisfied; and

a tenth operation of allowing the vehicle to drive in an inertial driving mode in which the accelerator pedal is released, when the execution condition of the ESC is determined as not being satisfied.