A secondary braking assist and multi-stage deceleration torque control system for a vehicle

Abstract

The present invention provides a secondary braking assistance and multi-stage deceleration torque control system for a vehicle. The control system specifically includes: a motor speed sensor subsystem that obtains the current motor speed of the vehicle; an electronic throttle subsystem that obtains the target vehicle speed and torque; a control processor subsystem that is built with an SPM motor learning program and a speed zoning program to determine the target deceleration torque required for the vehicle based on the motor speed and the target vehicle speed; the electronic throttle subsystem provides a deceleration torque when the motor is in a rotating state with the throttle opening being zero; the braking subsystem provides a greater deceleration torque than the original deceleration torque after obtaining a brake signal; the motor subsystem provides different coasting deceleration torques and enhanced deceleration torques during braking in each speed range; different deceleration torques are adjusted in each speed range during the braking state; through the solution of the present disclosure, without adding additional accessory components to the vehicle, the actual situation of using secondary braking assistance is accurately adjusted through the control program of the control processor subsystem, preventing the vehicle from having too large or too small deceleration torque during coasting and braking in the full speed range, which may affect the vehicle's handling and comfort, improving the energy recovery efficiency and riding safety, and ensuring the improvement of braking deceleration safety.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle automatic control, and particularly relates to a secondary braking assistance and multi-stage deceleration torque control system for a vehicle. Background Art

[0002] With the continuous development of two-wheeled vehicle technology, various deceleration technologies are provided to ensure the safety of the vehicle during the deceleration braking process. By controlling the magnitude of the deceleration torque, the vehicle is decelerated. In the prior art, in order to improve the energy utilization rate, new energy vehicles are generally equipped with a coasting deceleration system. The existing deceleration braking torque control schemes have problems such as poor energy recovery effect, inconvenient actual use, strong jerks when starting the energy recovery, inhumane design, and affecting the vehicle's maneuverability and safety. Summary of the Invention

[0003] The technical problem solved by the present invention is to provide a secondary braking assistance and multi-stage deceleration torque control system for a vehicle, including an electronic throttle sensor subsystem, a braking sensor subsystem, a control processor subsystem, a motor, and a motor speed sensor subsystem. The electronic throttle sensor subsystem is used to obtain the target speed and torque of the vehicle input by the driver; the braking sensor subsystem is used to obtain the current braking state; the information obtained by the electronic throttle sensor subsystem and the braking sensor subsystem is transmitted to the control processor subsystem. The control processor subsystem is provided with an SPM motor learning program and a speed zone program. The SPM motor learning program can determine the corresponding target rear-wheel torque of the vehicle according to the speed of the motor; the speed zone program is divided into a coasting deceleration mode and a deceleration torque mode. In the state where the target throttle opening is zero and the vehicle is in a coasting state, the deceleration torque provided is the coasting deceleration mode. In the coasting deceleration mode, the deceleration torque is finely adjusted in each speed interval of the motor, and the deceleration torque is enhanced during braking; the deceleration torque mode is to adjust different deceleration torques in each speed interval during the braking state; the motor provides power for the vehicle, and the control processor subsystem is used to control the motor; the motor speed sensor subsystem is used to obtain the current speed data, and the motor speed sensor subsystem can transmit the obtained speed data to the control processor subsystem.

[0004] Preferably, decelerating the vehicle in the coasting deceleration mode includes: the electronic throttle opening signal input control subsystem of the electronic throttle sensor subsystem achieves the vehicle target speed; the electronic throttle opening signal input control subsystem of the electronic throttle sensor subsystem achieves the motor target deceleration torque.

[0005] Preferably, decelerating the vehicle in the coasting deceleration mode includes: the braking sensor subsystem obtaining a braking signal and inputting it to the control subsystem to achieve the target speed of the vehicle; the braking sensor subsystem obtaining a braking signal and inputting it to the control subsystem to achieve the target deceleration torque of the motor; the braking sensor subsystem obtaining a braking signal and inputting it to the control subsystem to convert the recovered power into electrical energy and input it to the battery subsystem.

[0006] Preferably, decelerating the vehicle in the coasting deceleration mode includes: the electronic throttle opening signal of the electronic throttle sensor subsystem and the rotational speed signal of the motor rotational speed sensor subsystem are input to the control subsystem to achieve the target deceleration torque at the current rotational speed of the motor.

[0007] Preferably, decelerating the vehicle in the coasting deceleration mode includes: the braking sensor subsystem obtaining a braking signal and the rotational speed signal of the motor rotational speed sensor subsystem being input to the control subsystem to achieve the target deceleration torque at the current rotational speed of the motor.

[0008] Preferably, decelerating the vehicle in the deceleration torque mode includes: the control processor subsystem implementing a calculation method for distinguishing the full-range rotational speed of the motor and adjusting the deceleration torque in each rotational speed interval, and obtaining the adjustment method of the phase current peak corresponding to 1 NM of the motor through the SPM motor learning program.

[0009] Preferably, decelerating the vehicle in the coasting deceleration mode includes: the multi-stage deceleration torque control system debugging the deceleration torque data in each rotational speed interval when the throttle opening signal of the electronic throttle sensor subsystem is zero under the condition that the motor rotational speed sensor subsystem obtains rotational speed data.

[0010] Preferably, decelerating the vehicle in the deceleration torque mode includes: the multi-stage deceleration torque control system debugging the deceleration torque data in each rotational speed interval when the braking sensor subsystem obtains a braking signal input under the condition that the motor rotational speed sensor subsystem obtains rotational speed data.

[0011] Preferably, when the torque direction of the motor is opposite to the forward direction of the vehicle, it is determined that the motor torque is the deceleration torque.

[0012] The present invention relates to a secondary braking assistance and multi-stage deceleration torque control system for a vehicle. In the control system, a motor speed sensor subsystem acquires the current motor speed of the vehicle; an electronic throttle subsystem acquires the target vehicle speed and torque; a control processor subsystem has a built-in SPM motor learning program and a speed partitioning program to determine the target deceleration torque required by the vehicle according to the motor speed and the target vehicle speed; the electronic throttle subsystem provides a deceleration torque when the motor is in a rotating state when the throttle opening is zero; the brake subsystem provides a greater deceleration torque under the original deceleration torque after acquiring a brake signal; the motor subsystem provides different sliding deceleration torques and enhanced deceleration torques during braking in each speed range; different deceleration torques are adjusted in each speed range in the braking state; through the scheme disclosed in the present invention, without adding additional auxiliary components of the vehicle, the actual situation of using the secondary braking assistance is accurately adjusted by controlling the control processor subsystem control program, so as to prevent the vehicle from sliding and braking in the full speed range. The deceleration torque is too large or too small, which affects the vehicle's controllability and comfort, improves energy recovery efficiency and riding safety, and ensures the improvement of braking deceleration safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 A schematic diagram of the process structure of a two-stage braking assistance and multi-stage deceleration torque control system for a vehicle in this application

[0015] Figure 2 This is an adjustment interface diagram of a vehicle's secondary braking assistance and multi-stage deceleration torque control system.

[0016] Among them: 1: electronic throttle sensor subsystem; 2. brake sensor subsystem; 3. control processor subsystem; 4. SPM motor learning program; 5. speed partition program; 6. electric motor; 7. motor speed sensor subsystem. DETAILED DESCRIPTION

[0017] A two-stage brake assist and multi-stage deceleration torque control system for a vehicle according to an embodiment of the present invention will be described below.

[0018] Specific Embodiment 1, a secondary braking assistance and multi-stage deceleration torque control system for a vehicle, comprising an electronic throttle sensor subsystem 1, a braking sensor subsystem 2, a control processor subsystem 3, a motor 6, and a motor speed sensor subsystem 7. The electronic throttle sensor subsystem 1 is used to obtain the target speed and torque of the vehicle input by the driver; the braking sensor subsystem 2 is used to obtain the current braking state; the information obtained by the electronic throttle sensor subsystem 1 and the braking sensor subsystem 2 is transmitted to the control processor subsystem 3. An SPM motor learning program 4 and a speed zoning program 5 are set in the control processor subsystem 3. The SPM motor learning program 4 can determine the corresponding target rear-wheel torque of the vehicle according to the speed of the motor 6; the speed zoning program 5 is divided into a coasting deceleration mode and a deceleration torque mode. In the state where the target throttle opening is zero and the vehicle is in a coasting state, the deceleration torque provided is the coasting deceleration mode. In the coasting deceleration mode, the deceleration torque is finely adjusted in each speed range of the motor, and the deceleration torque is enhanced during braking; the deceleration torque mode is to adjust different deceleration torques in each speed range during the braking state; the motor 6 provides power for the vehicle, and the control processor subsystem 3 is used to control the motor 6; the motor speed sensor subsystem 7 is used to obtain the current speed data, and the motor speed sensor subsystem 7 can transmit the obtained speed data to the control processor subsystem 3.

[0019] Decelerating the vehicle in the coasting deceleration mode includes: the electronic throttle opening signal of the electronic throttle sensor subsystem 1 is input to the control subsystem to achieve the target speed of the vehicle; the electronic throttle opening signal of the electronic throttle sensor subsystem 1 is input to the control subsystem to achieve the target deceleration torque of the motor.

[0020] Decelerating the vehicle in the coasting deceleration mode includes: the braking sensor subsystem 2 obtains a braking signal and inputs it to the control subsystem to achieve the target speed of the vehicle; the braking sensor subsystem 2 obtains a braking signal and inputs it to the control subsystem to achieve the target deceleration torque of the motor; the braking sensor subsystem 2 obtains a braking signal and inputs it to the control subsystem to convert the recovered power into electrical energy and input it to the battery subsystem.

[0021] Decelerating the vehicle in the coasting deceleration mode includes: the electronic throttle opening signal of the electronic throttle sensor subsystem 1 and the speed signal of the motor speed sensor subsystem 7 are input to the control subsystem to achieve the target deceleration torque at the current speed of the motor.

[0022] Decelerating the vehicle in the coasting deceleration mode includes: the braking sensor subsystem 2 obtains a braking signal and the speed signal of the motor speed sensor subsystem 7 and inputs it to the control subsystem to achieve the target deceleration torque at the current speed of the motor.

[0023] Decelerating the vehicle in the deceleration torque mode includes: the control processor subsystem 4 implements the calculation method for distinguishing the full-range motor speed and the adjustment method for obtaining the peak phase current corresponding to 1 NM of the motor for the deceleration torque in each speed range through the SPM motor learning program 5.

[0024] Decelerating the vehicle in the coasting deceleration mode includes: the multi-segment deceleration torque control system obtains the deceleration torque debugging data for each speed range when the throttle opening signal of the electronic throttle sensor subsystem 1 is zero under the condition that the motor speed sensor subsystem 7 acquires speed data.

[0025] Decelerating the vehicle in the deceleration torque mode includes: the multi-segment deceleration torque control system obtains the deceleration torque debugging data for each speed range when the brake sensor subsystem 2 acquires a brake signal input under the condition that the motor speed sensor subsystem 7 acquires speed data.

[0026] When the torque direction of the motor 6 is opposite to the vehicle forward direction, it is determined that the torque of the motor 6 is the deceleration torque.

[0027] See Figure 1 , during the use of the secondary braking assistance and multi-segment deceleration torque control system for a vehicle, the vehicle is equipped with a speed sensor subsystem, and the speed sensor subsystem collects the motor state of the speed. The control subsystem can collect the state information of the motor in real time through the sensor. For example, the current motor speed is 100 revolutions per minute.

[0028] When the electronic throttle opening is zero and the motor speed is greater than or equal to 100 revolutions per minute (the effective speed of the regenerative braking system can be adjusted according to actual needs), the coasting deceleration of the control subsystem takes effect to make the motor generate deceleration torque until the motor speed is less than 100 revolutions per minute and the regenerative braking system fails and no longer provides deceleration torque.

[0029] When the electronic throttle opening is zero and the motor speed is greater than 100 revolutions per minute (the effective speed of the coasting deceleration can be adjusted according to actual needs), when a brake signal is input to the control subsystem, the braking assistance enhanced deceleration torque takes effect until the motor speed is less than 100 revolutions per minute and the coasting deceleration fails and no longer provides deceleration torque.

[0030] When the electronic throttle opening is not zero and the motor speed is greater than 100 revolutions per minute (the effective speed of the coasting deceleration can be adjusted according to actual needs), when a brake signal is input to the control subsystem, the braking assistance deceleration torque takes effect (braking priority) until the motor speed is less than 100 revolutions per minute and the braking assistance deceleration torque recovery system fails and no longer provides deceleration torque.

[0031] See Figure 2, the motor sensor subsystem; connected to the control subsystem. In this embodiment, the vehicle is equipped with a sensor subsystem, which includes various sensors for collecting the operating state information of the motor. Through the sensors, the state information of the motor can be collected in real time. Specifically, the peak phase current corresponding to 1 NM of the motor is obtained through the SPM motor learning program, the current motor speed is collected through the motor speed sensor, and through the program of the control subsystem, the maximum speed of the motor can be intuitively and conveniently divided into several speed regions. For example, if the maximum speed of the current motor is 6000 revolutions per minute, it is divided into 10 speed regions, and the corresponding speed intervals are 0 - 600, 601 - 1200, 1201 - 1800, 1801 - 2400, 2401 - 3000, 3001 - 3600, 3601 - 4200, 4201 - 4800, 4801 - 5400, 5401 - 6000, with the unit of revolutions per minute. Different coasting deceleration torques can be intuitively and conveniently set in these speed intervals, and different deceleration torques can also be separately set in different speed intervals in the braking enhanced deceleration state.

[0032] The computer program product of this embodiment can correspondingly execute the content in the above-mentioned embodiment of the power recovery method for the vehicle. For the parts not described in detail in this embodiment, refer to the content recorded in the above-mentioned method embodiment and will not be elaborated here.

[0033] It should be noted that the computer-readable medium in the present disclosure can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of a computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. The above computer-readable medium can be included in an electronic device; it can also exist separately without being assembled into the electronic device.

[0034] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0035] The above are only embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A secondary braking assistance and multi-stage deceleration torque control system for a vehicle, comprising an electronic throttle sensor subsystem (1), a braking sensor subsystem (2), a control processor subsystem (3), an electric motor (6), and a motor speed sensor subsystem (7). Characterized in that: The electronic throttle sensor subsystem (1) is used to obtain the target speed and torque of the vehicle input by the driver; the braking sensor subsystem (2) is used to obtain the current braking state; the information obtained by the electronic throttle sensor subsystem (1) and the braking sensor subsystem (2) is transmitted to the control processor subsystem (3). An SPM motor learning program (4) and a speed zoning program (5) are set in the control processor subsystem (3). The SPM motor learning program (4) can determine the target rear-wheel torque of the vehicle according to the speed of the electric motor (6); the speed zoning program (5) is divided into a coasting deceleration mode and a deceleration torque mode. In the state where the target throttle opening is zero and the vehicle is in a coasting state, the deceleration torque provided is the coasting deceleration mode. In the coasting deceleration mode, the deceleration torque is finely adjusted in each speed range of the motor, and the deceleration torque is enhanced during braking; the deceleration torque mode is to adjust different deceleration torques in each speed range during the braking state; the electric motor (6) provides power for the vehicle, and the control processor subsystem (3) is used to control the electric motor (6); the motor speed sensor subsystem (7) is used to obtain the current speed data, and the motor speed sensor subsystem (7) can transmit the obtained speed data to the control processor subsystem (3).

2. A secondary braking assistance and multi-stage deceleration torque control system for a vehicle according to claim 1, Characterized in that, The deceleration of the vehicle in the coasting deceleration mode includes: the electronic throttle opening signal input control subsystem of the electronic throttle sensor subsystem (1) achieves the vehicle target speed; the electronic throttle opening signal input control subsystem of the electronic throttle sensor subsystem (1) achieves the target deceleration torque of the motor.

3. A secondary braking assistance and multi-stage deceleration torque control system for a vehicle according to claim 1, Characterized in that, The deceleration of the vehicle in the coasting deceleration mode includes: the braking sensor subsystem (2) obtains the braking signal input control subsystem to achieve the vehicle target speed; the braking sensor subsystem (2) obtains the braking signal input control subsystem to achieve the target deceleration torque of the motor; the braking sensor subsystem (2) obtains the braking signal input control subsystem to convert the recovered power into electrical energy and input it into the battery subsystem.

4. A secondary braking assistance and multi-stage deceleration torque control system for a vehicle according to claim 1, Characterized in that, The deceleration of the vehicle in the coasting deceleration mode includes: the electronic throttle opening signal of the electronic throttle sensor subsystem (1) and the speed signal of the motor speed sensor subsystem (7) are input into the control subsystem to achieve the target deceleration torque at the current speed of the motor.

5. A secondary braking assistance and multi-stage deceleration torque control system for a vehicle according to claim 1, It is characterized in that In the coasting deceleration mode, decelerating the vehicle includes: the braking sensor subsystem (2) obtains a braking signal and the motor speed sensor subsystem (7) obtains a speed signal and inputs it to the control subsystem to achieve the target deceleration torque at the current motor speed.

6. A secondary braking assistance and multi-stage deceleration torque control system for a vehicle according to claim 1, It is characterized in that In the deceleration torque mode, decelerating the vehicle includes: the control processor subsystem (4) realizes the adjustment method of obtaining the phase current peak corresponding to 1 NM of the motor through the SPM motor learning program (5) for the motor global speed discrimination calculation method and the deceleration torque in each speed range.

7. A secondary braking assistance and multi-stage deceleration torque control system for a vehicle according to claim 1, It is characterized in that In the coasting deceleration mode, decelerating the vehicle includes: the multi-stage deceleration torque control system debugs the deceleration torque data in each speed range when the throttle opening signal of the electronic throttle sensor subsystem (1) is zero under the condition that the motor speed sensor subsystem (7) obtains speed data.

8. A secondary braking assistance and multi-stage deceleration torque control system for a vehicle according to claim 1, It is characterized in that In the deceleration torque mode, decelerating the vehicle includes: the multi-stage deceleration torque control system debugs the deceleration torque data in each speed range when the braking sensor subsystem (2) obtains a braking signal input under the condition that the motor speed sensor subsystem (7) obtains speed data.

9. A secondary braking assistance and multi-stage deceleration torque control system for a vehicle according to claim 1, It is characterized in that When the torque direction of the motor (6) is opposite to the vehicle forward direction, it is determined that the torque of the motor (6) is the deceleration torque.

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