CN101474965B - Active brake control method of hybrid power electric automobile - Google Patents

Abstract

The invention relates to an active braking control method for a hybrid power electric automobile, suitable for the braking control of the automobile. The method comprises that: the automobile braking control is divided into an active braking driving mode and an inactive braking driving mode, wherein the active braking driving mode is used in emergent braking and traffic congestion braking control; the inactive braking driving mode is used in common braking control; the method also comprises the identification of emergent braking and traffic congestion braking; and before a braking pedal is operated, a drive motor of the electric automobile is controlled to carry out active braking. The automobile active braking control method can shorten the response time of a braking system, shorten the braking distance, reduce the manipulation strength of a driver, relieve the fatigue of the driver, carry out braking recycling in advance, increase the ratio of braking recycling, improve fuel economy of the whole automobile and has higher practical value.

Description

A kind of active brake control method of hybrid power electric automobile

Technical field

The present invention relates to a kind of mixed power electric car brake control method, belong to electronlmobil braking technology field.

Background technology

Stopping distance is and the direct relevant brake efficiency index of driving safety.With reference to accompanyingdrawing 1, braking procedure divided generally by chaufeur by the time receives reaction time T behind the stopping-down signal₀, pedal switches and overcomes the time T of system's hysteresis₁, drg in-service time T₂With lasting braking time T₃Form.When travel in the down town, the distance between car and the car is shorter, often needs braking deceleration continually, and the chaufeur reaction then occurs slightly slowly easily such as accident such as knocking into the back, and frequent brake operating makes driver fatigue easily.

By DE 10 2,004 030 464 known a kind of methods that deceleration of electrons is regulated that are used for, it is according to the reset speed of acceleration pedal, handle a space that pre-filling device is eliminated car side brake of servo-hydraulic brake equipment, the opening time of the car side brake when the brake activation pedal can be reduced by eliminating the space, stopping distance can be shortened thus.Known by CN 101096206A and CN 101134458A, the driving method of described servo-hydraulic brake equipment is expanded to more motoring condition, no longer be confined to the reset speed of acceleration pedal.Yet in the prior art, the brake equipment and the control method that shorten the automobile brake distance are to be achieved in the servo-hydraulic brake equipment; For the vehicle that this servo-hydraulic brake equipment or similar electric controlled brake system are not installed, need to seek other modes and shorten the automobile brake distance.

The drive wheel of mixed power electric car is all by motor-driven, or part is by motor-driven; Utilize motor to carry out the important channel that braking energy reclaims becomes hybrid power raising fuel economy.The brake energy feedback system of having developed referring to patent of invention 200610113586.8 " composite braking system for electric automobile ", has obtained successful Application on certain type HCNG series hybrid-power city bus and certain type fuel battery city carriage.Simultaneously, the retarder device is used on passenger vehicle and lorry widely, utilizes the retarder device to brake the life-span that can improve the car load brake system, improves braking safety.

Thereby also before the operation brake pedal, do not utilize the drive motor of electronlmobil or the retarder device of automobile to carry out the technology that initiatively braking is shortened the reaction time of brake system, shortened stopping distance at present; Thereby initiatively do not carry out the technology that driver fatigue is alleviated in initiatively braking at present according to the drive motor of city driving operating mode electronlmobil or the retarder device of automobile.

Summary of the invention

The purpose of this invention is to provide a kind of hybrid vehicle active brake control method, be used for solving at the automobile emergency braking and the road conditions glancing impact that blocks up, it is elongated that the slow and chaufeur of the response time of brake system reacts the stopping distance that causes slowly, and the fatigue that causes of chaufeur frequent operation; The present invention is by before the driver's operation brake pedal, and the drive motor of control electronlmobil initiatively reclaims braking, thereby shortens response time, the shortening stopping distance of brake system, alleviates driver fatigue; Before the operation brake pedal, reclaim braking simultaneously, increased the ratio that reclaims braking.

Technical scheme of the present invention is achieved in that a kind of hybrid vehicle active brake control method, this automobile active brake control method is by bywheel speed sensors 1 or motor speed sensor,brake controller 2,wheel friction brake 3,semiaxis 4,electric machine controller 5,motor 6,main reduction gear 7,braking pressure sensor 8, brakingpressure control cock 9,gas cylinder 10, brakepedal position sensor 11, bicavate tandembrake activation valve 12, the composite braking system that acceleratorpedal position sensor 13 is formed is realized, it is characterized in that this method is that automobile brake control is divided into " initiatively braking driving model " and " non-active braking driving model ", wherein emergency braking and use " initiatively braking driving model " when blocking up the road conditions control of braking, use " non-active braking driving model " during common control of braking, this pattern is by the calculating decision of brake controller, and its concrete controlled step is as follows:

A. calculate the emergency braking index E: gather acceleration pedal reset speed a and setting value a by brake controller₀More definite, if a 〉=a₀, E=E then₀, E wherein₀Be constant, if a＜a₀, E=0 then; Setting value a wherein₀Be defined as acceleration pedal reset speed reference value,, obtain through statistics, be used to distinguish the driver and whether will carry out emergency braking according to repeatedly gathering acceleration pedal reset speed a in calibration phase; Wherein acceleration pedal reset speed a is by the signal A of brake controller collection accelerator pedal position sensor, and differentiating as calculated obtains a=Δ A/ Δ t, is used for characterizing the speed of cancelling propulsive effort;

B. calculate total braking frequency index B: effective braking number of times of gathering in n the unit time section by brake controller calculates, wherein B is the aviation value of the braking frequency in n the unit time section, be used to judge whether automobile travels in the road conditions of blocking up, wherein n is the integer between 5～20, and the unit time section is 0.5～5 minute; Total braking frequency index B time per unit upgrades once, new total braking frequency index B=(n-1)/n*B '+1/n*b, and B is limited in [0,10], and wherein B ' is the total braking frequency index before upgrading; Wherein the braking frequency index b is the number of times of the effective braking in the unit time section, gathers the signal of brake pedal position sensor by brake controller, through calculating; Wherein effectively braking is defined as, and a complete procedure of hybrid brake assembly brake activation power is once effectively braking in vehicle traveling process; B₀For the particular value of total braking frequency index B, as judging whether automobile travels in the threshold value of road conditions of blocking up,,, obtain through statistics according to the speed of a motor vehicle of repeatedly gathering the automotive operation road condition in calibration phase, and definition E₀＞B₀

C. calculate braking index C, wherein C=E+B according to above-mentioned E and B;

D. judge braking index C and setting value C₀Relation, C wherein₀=B₀If, C≤C₀, then be judged as " non-active braking driving model ", do not carry out the active braking, common braking mode is adopted in the car load braking;

If C＞C e.₀, then being judged as " initiatively braking driving model ",brake controller 2 obtains the signal A of accelerator pedal position sensor, relatively A and setting value A₀Size, if A＜A₀Then carry out the active braking,brake controller 2 sends motor regenerative braking torque command toelectric machine controller 5,electric machine controller 5 is accepted the regenerative braking torque command and is controlledmotor 6 brakings, send lock torque, lock torque is passed to the input shaft ofretarder 7 by the output shaft ofmotor 6, two ends bymain reduction gear 7 are passed tosemiaxis 4, be passed to wheel by semiaxis, wheel and ground produce and hinder the braking force that vehicle advances, thereby make car retardation, finish once and initiatively return initial point after the braking; A wherein₀Setting value is the particular value of the signal A of accelerator pedal position sensor, is measured by calibration process, distinguishes acceleration pedal idle travel and acceleration pedal effective travel; If A 〉=A₀Then do not carry out the active braking, then repeating step a, b, c, d and e.

In the technique scheme, the n described in the step b is 10, and the unit time section is 1 minute.

The automobile active brake control method that proposes, its advantage are to utilize the drive motor of automobile to carry out the active braking under " initiatively braking driving model ", thereby shorten response time, the shortening stopping distance of brake system, alleviate driver fatigue; Can reclaim braking in advance, increase the ratio that reclaims braking, improve economy; Set " initiatively braking driving model " and " non-active braking driving model ", when guaranteeing the traditional driving habit of vehicle, under particular condition, implemented new function.

Description of drawings

Fig. 1 is in the emergency braking process, the time history scheme drawing of car deceleration degree.

Fig. 2 is the scheme drawing of battery-driven car electricity-gas composite braking system.

Fig. 3 is the diagram of circuit according to one embodiment of the present of invention.

The specific embodiment

Fig. 2 is the structural representation of battery-driven car electricity-gas composite braking system.This system comprises wheel speed sensors 1 (motor speed sensor),brake controller 2,wheel friction brake 3,semiaxis 4,electric machine controller 5,motor 6,main reduction gear 7,braking pressure sensor 8, brakingpressure control cock 9,gas cylinder 10, brakepedal position sensor 11 and bicavate tandem brake activation valve 12.Brakecontroller 2 has signal circuit to be connected withwheel speed sensors 1,electric machine controller 5,braking pressure sensor 8, brakingpressure control cock 9, brake pedal position sensor 11.Gas circuit at first by bicavate tandembrake activation valve 12, by brakingpressure control cock 9,braking pressure sensor 8, insertswheel friction brake 3 fromgas cylinder 10 afterwards atlast.Motor 6 andelectric machine controller 5 are connected by high-power circuit, and the output shaft ofmotor 6 connects the input shaft ofmain reduction gear 7, twotermination semiaxis 4 ofmain reduction gear 7, and semiaxis then links to each other with wheel.

Brake controller 2, reception is sent the frictional braking air-pressure regulating command, is sent motor regenerative braking torque command toelectric machine controller 5 to brakingpressure control cock 9 from the braking pressure signal ofbaroceptor 8, from the chaufeur braking intention signal of brakepedal position sensor 11 with from the regenerative braking torque limit signal ofelectric machine controller 5.

Braking pressure is subjected to the dual control of bicavate tandembrake activation valve 12 and brakingpressure control cock 9, is used for drivewheels friction brake 3 and produces braking torque.Bicavate tandembrake activation valve 12 directly is subjected to the control of chaufeur brake pedal operation, and 9 of braking pressure control cocks are braked at chaufeur on the basis of intention, according to the further control brake air pressure of the order of brake controller.Brakingpressure control cock 9 is regulated the braking pressure in bicavate tandem brake activation valve downstream respectively.

In addition, described vehicle also comprises at least one acceleratorpedal position sensor 13, can calculate by means of this sensor and obtain the operation information of chaufeur to acceleration pedal, comprises the speed of the position of pedal and the pedal that resets etc.

Fig. 3 is the diagram of circuit according to one embodiment of the present of invention.The function of drive motor be help chaufeur under emergency braking driving model and/or " initiatively braking driving model " in brake activation power on one or more axletrees at least in part before the driver's operation brake pedal.Can improve the braking response of chaufeur-Vehicular system by the active braking, thereby shorten stopping distance.According to the present invention, " initiatively braking driving model " combines chaufeur and Vehicular system, and according to the driving intention of chaufeur, any have the intention of braking tendency to be identified and to be performed.Just any oil operation that the driver of braking intention is arranged, for example under " initiatively braking driving model ", the driver resets acceleration pedal to less position, usually less than A with normal acceleration pedal reset speed₀, this moment, drive motor just was activated, and drive motor is to wheel brake activation power.

The present invention is divided into " initiatively braking driving model " and " non-active braking driving model " with automobile brake control, emergency braking and use " initiatively braking driving model " when blocking up the road conditions control of braking wherein, use during common control of braking " non-active braking driving model ", this pattern is by the calculating decision of brake controller, and its concrete controlled step is as follows:

A. calculate the emergency braking index E: gather acceleration pedal reset speed a and setting value a by brake controller₀More definite, if a 〉=a₀, E=E then₀, E wherein₀Be constant, if a＜a₀, E=0 then; Setting value a wherein₀Be defined as acceleration pedal reset speed reference value,, obtain through statistics, be used to distinguish the driver and whether will carry out emergency braking according to repeatedly gathering acceleration pedal reset speed a in calibration phase; Wherein acceleration pedal reset speed a is by the signal A of brake controller collection accelerator pedal position sensor, and differentiating as calculated obtains a=Δ A/ Δ t, is used for characterizing the speed of cancelling propulsive effort;

B. calculate total braking frequency index B: effective braking number of times of gathering in n the unit time section by brake controller calculates, wherein B is the aviation value of the braking frequency in n the unit time section, be used to judge whether automobile travels in the road conditions of blocking up, wherein n is the integer between 5～20, and the unit time section is 0.5～5 minute; Total braking frequency index B time per unit upgrades once, new total braking frequency index B=(n-1)/n*B '+1/n*b, and B is limited in [0,10], and wherein B ' is the total braking frequency index before upgrading; Wherein the braking frequency index b is the number of times of the effective braking in the unit time section, gathers the signal of brake pedal position sensor by brake controller, through calculating; Wherein effectively braking is defined as, and a complete procedure of hybrid brake assembly brake activation power is once effectively braking in vehicle traveling process; B₀For the particular value of total braking frequency index B, as judging whether automobile travels in the threshold value of road conditions of blocking up,,, obtain through statistics according to the speed of a motor vehicle of repeatedly gathering the automotive operation road condition in calibration phase, and definition E₀＞B₀

C. calculate braking index C, wherein C=E+B according to above-mentioned E and B;

D. judge braking index C and setting value C₀Relation, C wherein₀=B₀If, C≤C₀, then be judged as " non-active braking driving model ", do not carry out the active braking, common braking mode is adopted in the car load braking;

If C＞C e.₀, then being judged as " initiatively braking driving model ",brake controller 2 obtains the signal A of accelerator pedal position sensor, relatively A and setting value A₀Size, if A＜A₀Then carry out the active braking,brake controller 2 sends motor regenerative braking torque command toelectric machine controller 5,electric machine controller 5 is accepted the regenerative braking torque command and is controlledmotor 6 brakings, send lock torque, lock torque is passed to the input shaft ofretarder 7 by the output shaft ofmotor 6, two ends bymain reduction gear 7 are passed tosemiaxis 4, be passed to wheel by semiaxis, wheel and ground produce and hinder the braking force that vehicle advances, thereby make car retardation, finish once and initiatively return initial point after the braking; A wherein₀Setting value is the particular value of the signal A of accelerator pedal position sensor, is measured by calibration process, distinguishes acceleration pedal idle travel and acceleration pedal effective travel; If A 〉=A₀Then do not carry out the active braking, then repeating step a, b, c, d and e.

The selection of n and unit time need be set according to different vehicles, thereby reaches best effect, and in the technique scheme at present embodiment, the n described in the step b is 10, and the unit time section is 1 minute.

More specifically, initiatively braking takes place under two kinds of conditions, and one is the chaufeur acceleration pedal that resets fast in the vehicle traveling process, and it two is the vehicle ' acceleration pedal that resets in the road conditions of blocking up, above-mentioned two kinds of conditions overlap, and satisfy a kind of in above-mentioned two kinds of conditions and promptly carry out the active braking.The present invention enter in judgement " initiatively braking driving model " thus afterwards will by drive motor at least on one or more axletrees brake activation power carry out necessary active braking and further shorten stopping distance.Simultaneously, the present invention also is provided with program and is used for judging and withdrawing from " initiatively braking driving model ", returns to original initiatively " non-active braking driving model " of braking that do not need.

The present invention is not restricted to above-mentioned exemplary embodiments, and the present invention is suitable for the elec. vehicle of front axle, diaxon or multi axle drive equally, the composite braking system that particularly suitable is made up of the brake system and the regenerative braking system of hydraulic pressure or other types; The present invention is suitable for the vehicle that has fluid power or current vortex retarder device of front axle, diaxon or multi axle drive equally, the composite braking system that particularly suitable is made up of the brake system of hydraulic pressure or other types and fluid power or current vortex retarder device.

Claims (2)

Translated fromChinese

1.一种混合动力电动汽车主动制动控制方法，该汽车主动制动控制方法是通过由轮速传感器(1)或电机转速传感器，制动控制器(2)，车轮摩擦制动器(3)，半轴(4)，电机控制器(5)，电机(6)，主减速器(7)，制动气压传感器(8)，制动气压调节阀(9)，气瓶(10)，制动踏板位置传感器(11)，双腔式串列制动阀(12)，加速踏板位置传感器(13)组成的混合制动系统实现的，其特征在于该方法是将汽车制动控制分为“主动制动驾驶模式”和“非主动制动驾驶模式”，其中紧急制动和拥堵路况制动控制时使用“主动制动驾驶模式”，普通制动控制时使用“非主动制动驾驶模式”，这两种模式由制动控制器(2)的计算决定，其具体控制步骤如下：1. A hybrid electric vehicle active braking control method, the automobile active braking control method is by wheel speed sensor (1) or motor speed sensor, braking controller (2), wheel friction brake (3), Half shaft (4), motor controller (5), motor (6), final reducer (7), brake air pressure sensor (8), brake air pressure regulating valve (9), gas cylinder (10), brake Pedal position sensor (11), dual-chamber tandem brake valve (12), accelerator pedal position sensor (13) composed of a hybrid braking system is characterized in that the method is divided into "active brake control" Braking driving mode" and "non-active braking driving mode", in which the "active braking driving mode" is used for emergency braking and congested road braking control, and the "non-active braking driving mode" is used for normal braking control, These two modes are determined by the calculation of the brake controller (2), and the specific control steps are as follows:a.计算紧急制动指数E：通过制动控制器采集加速踏板复位速度a与设定值a₀比较确定，若a≥a₀，则E＝E₀，其中E₀为常数，若a＜a₀，则E＝0；其中设定值a₀定义为加速踏板复位速度参考值，在标定阶段，根据多次采集加速踏板复位速度a经过统计得到，用于区分司机是否将要进行紧急制动；其中加速踏板复位速度a由制动控制器采集加速踏板位置传感器的信号A，经计算求导数得到a＝ΔA/Δt，用来表征撤销驱动力的速度；a. Calculation of emergency braking index E: Accelerator pedal reset speed a collected by the brake controller is determined by comparing with the set value a₀ , if a≥a₀ , then E=E₀ , where E₀ is a constant, if a< a₀ , then E=0; where the set value a₀ is defined as the accelerator pedal reset speed reference value. In the calibration stage, the accelerator pedal reset speed a is obtained through statistics based on multiple acquisitions, and is used to distinguish whether the driver is about to perform emergency braking ; Wherein the acceleration pedal reset speed a is collected by the brake controller from the signal A of the accelerator pedal position sensor, and the derivative is calculated to obtain a=ΔA/Δt, which is used to represent the speed of canceling the driving force;b.计算总制动频率指数B：通过制动控制器采集n个单位时间段内的有效制动次数经计算得到，其中B为n个单位时间段内的制动频率的平均值，用于判断汽车是否行驶在拥堵路况，其中n为5～20之间的整数，单位时间段为0.5～5分钟；总制动频率指数B每单位时间更新一次，新的总制动频率指数B＝(n-1)/n*B’+1/n*b，B被限制在[0，10]，其中B’是更新前的总制动频率指数；其中制动频率指数b为单位时间段内的有效制动的次数，由制动控制器采集制动踏板位置传感器的信号，经过计算得到；其中有效制动定义为，在汽车行驶过程中混合制动装置施加制动力的一个完整过程为一次有效制动；B₀为总制动频率指数B的一个特定值，作为判断汽车是否行驶在拥堵路况的门限值，在标定阶段，根据多次采集汽车运行道路工况的车速，经过统计得到，并且定义E₀＞B₀；b. Calculation of the total braking frequency index B: obtained by calculating the effective braking times in n unit time periods collected by the brake controller, where B is the average value of the braking frequency in n unit time periods, used for Judging whether the car is driving in congested road conditions, where n is an integer between 5 and 20, and the unit time period is 0.5 to 5 minutes; the total braking frequency index B is updated once per unit time, and the new total braking frequency index B=( n-1)/n*B'+1/n*b, B is limited to [0, 10], where B' is the total braking frequency index before updating; where the braking frequency index b is the unit time period The number of effective braking is calculated by the brake controller by collecting the signal of the brake pedal position sensor; the effective braking is defined as a complete process of applying the braking force by the hybrid braking device during the running of the vehicle. Effective braking; B₀ is a specific value of the total braking frequency index B, which is used as the threshold value for judging whether the car is driving in congested road conditions. , and define E₀ >B₀ ;c.根据上述的E和B计算出制动指数C，其中C＝E+B；c. Calculate the braking index C according to the above E and B, where C=E+B;d.判断制动指数C与设定值C₀的关系，其中C₀＝B₀，如果C≤C₀，则判断为“非主动制动驾驶模式”，不进行主动制动，整车制动采用普通制动模式；d. Judging the relationship between the braking index C and the set value C₀ , where C₀ =B₀ , if C ≤ C₀ , it is judged as "non-active braking driving mode", no active braking is performed, and the whole vehicle system Use normal braking mode when moving;e.如果C＞C₀，则判断为“主动制动驾驶模式”，制动控制器(2)获取加速踏板位置传感器的信号A，比较A与设定值A₀的大小，如果A＜A₀，则进行主动制动，制动控制器(2)向电机控制器(5)发出电机回馈制动转矩命令，电机控制器(5)接受回馈制动转矩命令并控制电机(6)制动，发出制动力矩，制动力矩通过电机(6)的输出轴传递至主减速器(7)的输入轴，通过主减速器(7)的两端传递至半轴(4)，通过半轴传递至车轮，车轮与地面产生阻碍车辆前进的制动力，从而使车辆减速，完成一次主动制动后返回起始点；其中A₀设定值为加速踏板位置传感器的信号A的特定值，由标定过程测量得到，区分加速踏板空行程与加速踏板有效行程；如果A≥A₀则不进行主动制动，然后重复步骤a、b、c、d和e。e. If C>C₀ , it is judged as "active braking driving mode", the brake controller (2) obtains the signal A of the accelerator pedal position sensor, compares A with the set value A₀ , if A<A₀ , active braking is performed, the brake controller (2) sends the motor feedback braking torque command to the motor controller (5), and the motor controller (5) receives the feedback braking torque command and controls the motor (6) Braking, sending out braking torque, the braking torque is transmitted to the input shaft of the final drive (7) through the output shaft of the motor (6), and transmitted to the half shaft (4) through the two ends of the final drive (7), through The half shaft is transmitted to the wheel, and the wheel and the ground generate a braking force that hinders the vehicle from moving forward, so that the vehicle decelerates and returns to the starting point after completing an active braking; where the A₀ setting value is the specific value of the signal A of the accelerator pedal position sensor, Measured by the calibration process, distinguish the idle stroke of the accelerator pedal from the effective stroke of the accelerator pedal; if A≥A₀ , do not perform active braking, and then repeat steps a, b, c, d and e.2.按照权利要求1所述的混合动力电动汽车主动制动控制方法，其特征在于：步骤b中所述的n为10，单位时间段为1分钟。2. The active braking control method for a hybrid electric vehicle according to claim 1, wherein n in step b is 10, and the unit time period is 1 minute.

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