CN111661050A - Vehicle and braking torque control method thereof - Google Patents

Vehicle and braking torque control method thereof Download PDF

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Publication number
CN111661050A
CN111661050A CN201910167730.3A CN201910167730A CN111661050A CN 111661050 A CN111661050 A CN 111661050A CN 201910167730 A CN201910167730 A CN 201910167730A CN 111661050 A CN111661050 A CN 111661050A
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Prior art keywords
wheel
vehicle
slip rate
braking torque
torque control
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Inventor
郭潇然
何亮
石冠男
卢甲华
贾莉
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Zhengzhou Yutong Bus Co Ltd
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Zhengzhou Yutong Bus Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention relates to a vehicle and a braking torque control method thereof. The method comprises the following steps: in the vehicle braking process, if the opening degree of a brake pedal is smaller than a set threshold value of the opening degree of the brake pedal, estimating the current slip rate of a wheel according to the wheel speed of the wheel, the rolling radius of the wheel and the wheel center speed of the wheel; judging whether the vehicle turns or not according to the steering wheel turning angle signal; if the vehicle turns, controlling the wheel slip rate in a first slip rate interval; and if the vehicle does not turn, controlling the wheel slip ratio in a second slip ratio interval. The method realizes that the braking torque control is started in advance compared with the straight line running during the turning running, so that the braking torque control opportunities of the vehicle under the turning working condition and the straight line working condition are different, the stability and smoothness of the braking of the vehicle under the turning working condition are improved, and the applicability of the vehicle is improved.

Description

Vehicle and braking torque control method thereof
Technical Field
The invention relates to a vehicle and a braking torque control method thereof.
Background
At present, the following braking modes are mostly adopted for new energy automobiles: the opening degree of the brake pedal only adopts an electric brake mode before the idle stroke, and both the electric brake mode and a mechanical brake mode exist after the idle stroke, the regenerative brake can be fully utilized by the brake mode to improve the economy, and the cost is low. In order to prevent the vehicle from skidding due to wheel locking during braking, the electric brake needs to be removed when an anti-lock brake (ABS) signal is triggered (i.e., when the wheels are locked).
At present, the control schemes for solving the problem of electric braking (namely regenerative braking) when the ABS is triggered mainly comprise two schemes: the electric brake is removed when the ABS is triggered, if the electric brake is recovered after the ABS signal is recovered, the scheme can cause wheels to be locked to trigger the ABS for many times when the electric brake of a low-attachment road surface is dominant due to the delay of torque built by a motor, so that the front and the back of a vehicle are rushed in the braking process, and the braking is not smooth; and 2, when the ABS is triggered, the electric brake is removed, and the electric brake is not applied any more in the braking process, when the electric brake on the low-attachment road surface is dominant, the electric brake is removed due to the fact that the ABS is triggered, the braking distance is increased when the braking force is weakened, and the vehicle has a forward impact feeling at the moment that the torque is removed. In order to solve the problems, the chinese patent application with application publication No. CN108859778A discloses a method and a device for controlling regenerative braking of a new energy vehicle, which detect an identification signal of an anti-lock braking system in real time during braking, and when the signal is valid, control a motor to gradually reduce braking torque, thereby avoiding a vehicle forward-rush phenomenon caused by removing electric braking. However, because the lateral forces applied to the vehicle in the straight running state and the turning running state are different, the vehicle still has sideslip phenomena of different degrees when being in the turning working condition under the control of the method of the patent application document, and the stability of the vehicle is poor.
Disclosure of Invention
The invention aims to provide a vehicle braking torque control method, which is used for solving the problem of poor stability of the vehicle during turning caused by the fact that the same braking control strategy is adopted in the conventional control method under the turning working condition and the straight line working condition; still provide a vehicle simultaneously for solve current vehicle and adopt the same brake control strategy to lead to the relatively poor problem of stability when the vehicle turns under turn operating mode and sharp operating mode.
In order to achieve the above object, the present invention provides a vehicle braking torque control method, comprising the steps of:
1) in the vehicle braking process, judging whether the opening of a brake pedal is larger than or equal to a set brake pedal opening threshold value or not, if not, acquiring a steering wheel corner signal, the wheel speed, the wheel rolling radius and the wheel center speed in real time, and estimating the current wheel slip rate according to the acquired wheel speed, wheel rolling radius and wheel center speed; judging whether the vehicle turns or not according to the steering wheel turning angle signal;
2) if the vehicle turns, judging whether the current slip rate of the wheel is greater than or equal to the upper limit turning slip rate threshold value or not, if so, controlling the braking torque of the motor to be reduced, and controlling the wheel slip rate in a first slip rate section, wherein the upper limit of the first slip rate section is the upper limit turning slip rate threshold value; if the vehicle does not turn, judging whether the current slip rate of the wheel is greater than or equal to the upper limit linear slip rate threshold value or not, if so, controlling the braking torque of the motor to be reduced, and controlling the slip rate of the wheel in a second slip rate section, wherein the upper limit of the second slip rate section is the upper limit linear slip rate threshold value; the upper limit turning slip rate threshold value is smaller than the upper limit straight line slip rate threshold value.
In addition, the invention further provides a vehicle which comprises a vehicle body and a vehicle control unit, wherein the vehicle control unit executes the vehicle braking torque control method.
The beneficial effects are that: when the opening degree of the brake pedal is smaller than the set opening degree threshold value of the brake pedal, the pedal depth is not high at the moment, mechanical braking is less involved, and vehicle braking is mainly electric braking, so that an electric braking scheme is implemented through the current slip rate of the wheels. The stability of the motor braking torque control based on the slip rate has larger difference between the turning working condition and the straight working condition, when the vehicle turns, the slip is easier to occur in the turning running under the conditions of the same braking torque, the vehicle speed, the road surface and the like than in the straight running due to different lateral forces of tires on two sides, therefore, the setting of the upper limit turning slip rate threshold value in the electric braking scheme in the turning running is smaller than the upper limit straight slip rate threshold value in the straight running, the braking torque control can be started in advance compared with the straight running in the turning running, the braking torque control opportunities of the vehicle in the turning working condition and the straight working condition are different, the stability and the smoothness of the braking of the vehicle in the turning working condition are improved, and the applicability of the vehicle is.
Further, in the vehicle and the brake torque control method thereof, if the opening degree of the brake pedal is greater than or equal to the set threshold value of the opening degree of the brake pedal, the brake torque of the motor is controlled to be reduced when the ABS is triggered until the ABS is turned off.
The beneficial effects are that: the precondition of ABS triggering is that the opening degree of a brake pedal is larger than or equal to a set opening degree threshold value of the brake pedal, and when the ABS is triggered, a motor is controlled to gradually reduce the brake torque with the actual brake torque when the ABS is triggered, so that the phenomenon of automobile forward rush caused by electric brake removal is avoided.
Further, in the vehicle and the braking torque control method thereof, when the braking torque of the motor is controlled to be decreased, the braking torque of the motor is gradually decreased according to the set slope.
The beneficial effects are that: the motor is controlled to gradually reduce the braking torque with the set torque descending slope, and the smoothness of the automobile braking when the ABS is triggered is improved.
Further, in the vehicle and the braking torque control method thereof, the current slip ratio λ of the wheel is:
Figure BDA0001986878480000031
in the formula, ω is wheel speed, r is wheel rolling radius, and ν is wheel center speed.
The beneficial effects are that: the current slip rate of the wheel can be obtained more accurately through the calculation formula.
Further, in the vehicle and the braking torque control method thereof, the wheel center speed v is as follows:
Figure BDA0001986878480000032
where V is the vehicle longitudinal speed, b is the wheel track, and W is the vehicle yaw rate.
The beneficial effects are that: the wheel center speed of the wheel can be obtained more accurately through the calculation formula.
Further, in the vehicle and the braking torque control method thereof, the vehicle longitudinal vehicle speed V is:
Figure BDA0001986878480000033
in the formula, rl,rrRadius of the left and right driven wheels, wl,wrThe wheel speeds of the left driven wheel and the right driven wheel are respectively the wheel turning angles.
The beneficial effects are that: the longitudinal speed of the vehicle can be more accurately obtained through the calculation formula. And the longitudinal speed of the vehicle is obtained through calculation and is not measured by depending on inertial navigation equipment, so that the method has stronger applicability and is easy to popularize.
Drawings
FIG. 1 is a flowchart of a vehicle braking torque control method embodiment 1 of the invention;
fig. 2 is a flowchart of a vehicle braking torque control method embodiment 2 of the invention.
Detailed Description
Vehicle braking torque control method embodiment 1:
the vehicle braking torque control method proposed by the present embodiment is shown in fig. 1, and includes the following steps:
1) during vehicle braking, it is determined whether the brake pedal opening (i.e., Brk) is greater than or equal to a set brake pedal opening threshold (i.e., Brk)set) If Brk < BrksetAcquiring a steering wheel corner signal, a wheel speed, a wheel rolling radius and a wheel center speed of a wheel in real time, and estimating the current slip rate of the wheel according to the acquired wheel speed, wheel rolling radius and wheel center speed of the wheel;
the lambda calculation formula of the current slip rate of the wheel is as follows:
Figure BDA0001986878480000041
the wheel center speed v is as follows:
Figure BDA0001986878480000042
the vehicle longitudinal speed V is:
Figure BDA0001986878480000043
in the formula, rl,rrRadius of the left and right driven wheels, wl,wrThe wheel rotation angle is the wheel rotation angle of the left driven wheel and the right driven wheel, the wheel track (the wheel track of the two wheels which are symmetrical left and right), the yaw angular velocity of the vehicle is W, the wheel speed is omega, and the wheel rolling radius is r.
In this embodiment, the vehicle yaw angular velocity may be obtained by a sensor, the vehicle longitudinal speed is calculated, and as another embodiment, the vehicle longitudinal speed and the vehicle yaw angular velocity may be measured by an inertial navigation device installed on a vehicle mass center longitudinal axis.
Judging whether the vehicle turns or not according to the steering wheel angle signal, and when the steering wheel angle (SteerRad) is larger than or equal to a set steering wheel angle threshold (SteerRad)set) If so, indicating that the vehicle turns; and when the steering wheel angle is smaller than the set steering wheel angle threshold value, indicating that the vehicle is not turned.
2) If SteerRad is not less than SteerRadsetThen it is determined whether the current slip rate of the wheel (i.e., λ) is greater than or equal to the upper limit turn slip rate threshold (i.e., λ)set1) It is also determined whether the current wheel slip ratio is less than or equal to a lower turn slip ratio threshold (i.e., λ)set2) If λ is not less than λset1Controlling the braking torque of the motor to be reduced, and if lambda is less than or equal to lambdaset2If the vehicle speed is higher than the set speed, controlling the braking torque of the motor to be increased, and controlling the wheel slip rate in a first slip rate interval, wherein the upper limit of the first slip rate interval is an upper limit turning slip rate threshold value, and the lower limit of the first slip rate is a lower limit turning slip rate threshold value; if the current slip rate of the wheel is within the first slip rate interval, maintaining the current motor braking torque;
if SteerRad < SteerRadsetThen, thenJudging whether the current slip rate of the wheel is larger than or equal to the upper limit linear slip rate threshold value (namely lambda)set3) It is also determined whether the current wheel slip ratio is less than or equal to a lower linear slip ratio threshold (i.e., λ)set4) If λ is not less than λset3Controlling the braking torque of the motor to be reduced, and if lambda is less than or equal to lambdaset4If the vehicle speed is higher than the set speed, controlling the braking torque of the motor to increase, and controlling the wheel slip rate in a second slip rate interval, wherein the upper limit of the second slip rate interval is an upper limit linear slip rate threshold value, and the lower limit of the second slip rate interval is a lower limit linear slip rate threshold value; if the current slip rate of the wheel is within the second slip rate interval, maintaining the current motor braking torque;
when the vehicle is in a turning working condition, the lateral force applied to the vehicle is large, and the acting force of tires on two sides to the ground is different, so that lambda isset1＜λset3。
In this embodiment, the braking torque of the motor is controlled to be gradually reduced and increased according to a set slope when being reduced and increased, and as another embodiment, the braking torque of the motor can be gradually reduced and increased according to a set curve as long as the braking stability and smoothness of the vehicle are ensured.
In order to limit the motor braking torque in the processes of reduction and increase, a target value can be set to limit the interval of the motor braking torque, and SteerRad is more than or equal to SteerRad in the step 2)setWhen λ is not less than λset1Controlling the braking torque of the motor to be reduced to BrkTrq1, and if lambda is less than or equal to lambdaset2Controlling the motor braking torque to increase to BrkTrq2, where SteerRad < SteerRadsetWhen λ is not less than λset3Controlling the braking torque of the motor to be reduced to BrkTrq3, and if lambda is less than or equal to lambdaset4Then the motor braking torque is controlled to increase to BrkTrq 4. BrkTrq1, BrkTrq2, BrkTrq3, and BrkTrq4 are set according to: the method comprises the steps of theoretically calculating the corresponding braking torque when wheels of the road with different adhesion coefficients are locked as a set initial value, then calibrating the finally required electric braking torque according to the actual test result of the vehicle, and certainly calibrating according to the test and setting according to the requirement.
The stability of the braking scheme based on the slip rate in the embodiment has larger difference between the turning working condition and the straight working condition, so that when the vehicle is in the turning working condition, the wheel slip rate is controlled in a first slip rate interval by controlling the braking torque of the motor; when the vehicle is in a straight line working condition, the wheel slip rate is controlled in the second slip rate interval by controlling the braking torque of the motor, so that the wheel slip rate of the vehicle is also controlled in the optimal interval when the vehicle is in a turning working condition, the self-adaptive control of the vehicle in the turning working condition and the straight line working condition is realized, and the stability and the smoothness of the braking of the vehicle in the turning working condition are improved.
Vehicle braking torque control method embodiment 2:
the vehicle braking torque control method proposed in this embodiment differs from the vehicle braking torque control method embodiment 1 in that, during braking of the vehicle, the brake pedal opening degree (i.e., Brk) is increased to be greater than or equal to the set brake pedal opening degree threshold value (i.e., Brk)set) A method of controlling vehicle braking torque.
The specific steps are shown in fig. 2:
1) in the braking process of the vehicle, judging whether the opening degree of the brake pedal is larger than or equal to a set opening degree threshold value of the brake pedal, and if Brk is smaller than BrksetAcquiring a steering wheel corner signal, a wheel speed, a wheel rolling radius and a wheel center speed of a wheel in real time, and estimating the current slip rate of the wheel according to the acquired wheel speed, wheel rolling radius and wheel center speed of the wheel; judging whether the vehicle turns or not according to the steering wheel turning angle signal;
2) if the vehicle turns, judging whether the current slip rate of the wheel is greater than or equal to the upper limit turning slip rate threshold value or not, if so, controlling the braking torque of the motor to be reduced, and controlling the wheel slip rate in a first slip rate section, wherein the upper limit of the first slip rate section is the upper limit turning slip rate threshold value; if the vehicle does not turn, judging whether the current slip rate of the wheel is greater than or equal to the upper limit linear slip rate threshold value or not, if so, controlling the braking torque of the motor to be reduced, and controlling the slip rate of the wheel in a second slip rate section, wherein the upper limit of the second slip rate section is the upper limit linear slip rate threshold value; the upper limit turning slip rate threshold value is larger than the upper limit straight line slip rate threshold value;
the specific implementation processes of step 1) and step 2) are already described in embodiment 1 of the vehicle braking torque control method, and are not described herein again.
3) If Brk is more than or equal to BrksetAnd controlling the motor braking torque to be reduced when the ABS is triggered, and gradually reducing the motor braking torque according to a set slope until the ABS is closed, and maintaining the current motor braking torque.
When the ABS is triggered, the braking torque of the motor is gradually reduced according to a set slope, and as other implementation modes, the braking torque can also be gradually reduced according to a set curve as long as the stability and smoothness of the vehicle braking are ensured.
ABSactive is an identification signal of the ABS, and indicates that the ABS is triggered when ABSactive is 1, and indicates that the ABS is turned off (which may also be referred to as not triggered or recovered) when ABSactive is 0.
In the braking process of the vehicle, different braking control schemes are adopted at different stages, and smooth transition from pure electric braking to gas-electric composite braking can be realized.
Vehicle embodiment 1:
the vehicle provided in this embodiment includes a vehicle body and a vehicle controller, where the vehicle controller executes a vehicle braking torque control method, and an implementation process of the specific vehicle braking torque control method is described in the above vehicle braking torque control method embodiment 1, and is not described herein again.
The braking torque control method of the present invention is applicable to a new energy vehicle including a motor drive, and may be applied to a hybrid vehicle and a fuel vehicle, etc. which are braked by a motor drive as other embodiments, which are not limited in the present invention.
Vehicle embodiment 2:
the vehicle provided in this embodiment includes a vehicle body and a vehicle controller, where the vehicle controller executes a vehicle braking torque control method, and an implementation process of the specific vehicle braking torque control method is described in the above vehicle braking torque control method embodiment 2, and is not described herein again.
The braking torque control method of the present invention is applicable to a new energy vehicle including a motor drive, and may be applied to a hybrid vehicle and a fuel vehicle, etc. which are braked by a motor drive as other embodiments, which are not limited in the present invention.

Claims (7)

1.A vehicle braking torque control method characterized by comprising the steps of:
1) in the vehicle braking process, judging whether the opening of a brake pedal is larger than or equal to a set brake pedal opening threshold value or not, if not, acquiring a steering wheel corner signal, the wheel speed, the wheel rolling radius and the wheel center speed in real time, and estimating the current wheel slip rate according to the acquired wheel speed, wheel rolling radius and wheel center speed; judging whether the vehicle turns or not according to the steering wheel turning angle signal;
2) if the vehicle turns, judging whether the current slip rate of the wheel is greater than or equal to the upper limit turning slip rate threshold value or not, if so, controlling the braking torque of the motor to be reduced, and controlling the wheel slip rate in a first slip rate section, wherein the upper limit of the first slip rate section is the upper limit turning slip rate threshold value; if the vehicle does not turn, judging whether the current slip rate of the wheel is greater than or equal to the upper limit linear slip rate threshold value or not, if so, controlling the braking torque of the motor to be reduced, and controlling the slip rate of the wheel in a second slip rate section, wherein the upper limit of the second slip rate section is the upper limit linear slip rate threshold value; the upper limit turning slip rate threshold value is smaller than the upper limit straight line slip rate threshold value.
2. The vehicle braking torque control method according to claim 1, characterized in that if the brake pedal opening is greater than or equal to the set brake pedal opening threshold, the motor braking torque is controlled to decrease when the ABS is triggered until the ABS is turned off.
3. The vehicle braking torque control method according to claim 1 or 2, characterized in that the motor braking torque is gradually decreased in accordance with a set slope while controlling the motor braking torque to be decreased.
4. The vehicle braking torque control method according to claim 1 or 2, characterized in that the wheel current slip ratio λ is:
Figure FDA0001986878470000011
in the formula, ω is wheel speed, r is wheel rolling radius, and ν is wheel center speed.
5. The vehicle braking torque control method according to claim 4, wherein the wheel center speed v is:
Figure FDA0001986878470000012
where V is the vehicle longitudinal speed, b is the wheel track, and W is the vehicle yaw rate.
6. The vehicle braking torque control method according to claim 5, characterized in that the vehicle longitudinal vehicle speed V is:
Figure FDA0001986878470000021
in the formula, rl,rrRadius of the left and right driven wheels, wl,wrThe wheel speeds of the left driven wheel and the right driven wheel are respectively the wheel turning angles.
7. A vehicle comprising a vehicle body and a vehicle control unit, characterized in that the vehicle control unit executes the vehicle braking torque control method according to any one of claims 1-6.
CN201910167730.3A 2019-03-06 2019-03-06 Vehicle and braking torque control method thereof Pending CN111661050A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112896167A (en) * 2021-03-08 2021-06-04 东风汽车集团股份有限公司 Anti-skid control method and control system for driving of two-wheel drive vehicle
CN113044041A (en) * 2021-03-09 2021-06-29 中国第一汽车股份有限公司 Automobile speed and tire slip rate estimation method based on wheel speed and whole automobile acceleration
CN113547922A (en) * 2021-07-09 2021-10-26 江铃汽车股份有限公司 Pure electric vehicle energy recovery torque exit slope control method
CN115257396A (en) * 2022-05-31 2022-11-01 重庆长安新能源汽车科技有限公司 Torque control method and system for reducing starting slip of new energy automobile and vehicle
CN118438893A (en) * 2024-07-05 2024-08-06 北京福田欧辉新能源汽车有限公司 Vehicle brake control method, electronic device and vehicle

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Application publication date: 20200915