A vehicle regenerative braking feedback prompting system, method and vehicle

Abstract

The application discloses a vehicle regenerative braking feedback prompting system, method and vehicle. The vehicle regenerative braking feedback prompting system comprises a feedback prompting control module, a feedback prompting sending module, a vehicle braking management control module and a motor control module. The vehicle braking management control module is used for generating a braking control signal. The motor control module is used for receiving the braking control signal, and is further used for generating a motor driving control signal and a generator regenerative braking control signal. The feedback prompting control module is used for generating a first control instruction, and calculating and determining a vehicle regenerative braking process feedback prompting control parameter, so as to generate a second control instruction based on the calculation result of the vehicle regenerative braking process feedback prompting control parameter. The feedback prompting sending module is used for receiving the second control instruction, and obtaining vehicle regenerative braking process feedback prompting information according to the second control instruction. The application can make the vehicle driver more accurately master the current driving state of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle regenerative braking control technology, and in particular to a vehicle regenerative braking feedback prompting system, method and vehicle. Background Technology

[0002] Automakers have gradually developed and launched regenerative braking technology for vehicles, and have widely applied it to the braking systems of new energy vehicles (such as pure electric vehicles, hybrid electric vehicles, and fuel cell electric vehicles). However, the application of regenerative braking technology and the different control strategies employed both affect the driver's subjective experience during braking. Furthermore, if the driver cannot accurately grasp the vehicle's current braking state or braking force distribution strategy, a poor driving experience will result, and there may even be a certain risk of traffic accidents. Therefore, there is an urgent need to develop a feedback and alert technology based on the regenerative braking process to inform the driver of the vehicle's current braking state, thereby improving the driver's driving experience. Summary of the Invention

[0003] This invention provides a vehicle regenerative braking feedback system, method, and vehicle to address the current problem that drivers cannot accurately grasp the vehicle's current braking status or regenerative braking force distribution strategy, resulting in poor subjective driving experience and driving risks.

[0004] According to one aspect of the present invention, a vehicle regenerative braking feedback prompting system is provided, the vehicle regenerative braking feedback prompting system comprising: a feedback prompting control module, a feedback prompting sending module, a vehicle braking management control module, and a motor control module; the feedback prompting control module is electrically connected to the feedback prompting sending module and the vehicle braking management control module respectively, and the vehicle braking management control module is electrically connected to the motor control module;

[0005] The vehicle braking management and control module is used to generate braking control signals;

[0006] The electric motor control module is used to receive the braking control signal generated by the vehicle braking management control module, and provide regenerative braking force to the vehicle based on the braking control signal; it is also used to receive the driving force and regenerative braking force requirements from the vehicle control unit and the vehicle braking management control module, generate electric motor drive control signal and generator regenerative braking control signal, and transmit the electric motor drive control signal and generator regenerative braking control signal to the electric motor / generator and related sensors and actuators, so as to control the vehicle electric motor / generator to output driving force and regenerative braking force as needed;

[0007] The feedback prompt control module is used to receive the vehicle's braking force control requirements and driving force control requirements, generate a first control command, and calculate and determine the vehicle regenerative braking process feedback prompt control parameters according to the first control command, so as to generate a second control command based on the calculation result of the vehicle regenerative braking process feedback prompt control parameters.

[0008] The feedback prompt sending module is used to receive the second control command and obtain feedback prompt information on the vehicle regenerative braking process according to the second control command.

[0009] Optionally, the feedback prompt control module includes a processor, a storage unit, an output unit, an input unit, and a transmission unit, wherein the processor is electrically connected to the storage unit, the output unit, the input unit, and the transmission unit, respectively.

[0010] The input unit is used to receive the vehicle's braking force control requirements and driving force control requirements;

[0011] The transmission unit is used to acquire the analysis and calculation results from other electronic control units in the vehicle and the relevant parameters collected by various sensors based on the vehicle's braking force control requirements and driving force control requirements, and to feed the analysis and calculation results and the relevant parameters back to the processor.

[0012] The storage unit is used to determine, based on the first control command, the calculation method for the feedback prompt control parameters of the vehicle regenerative braking process and the preset parameters required by the calculation method;

[0013] The processor is used to generate a second control command based on the calculation results of the control parameters prompted by the vehicle's regenerative braking process;

[0014] The output unit is used to receive the second control command fed back by the processor and transmit the second control command to other control modules and actuators of the vehicle.

[0015] Optionally, the vehicle regenerative braking feedback system further includes: an engine management system electronic control unit, an engine speed sensor, and a throttle position sensor. The feedback control module is electrically connected to the engine management system electronic control unit via the vehicle control unit, and the engine management system electronic control unit is electrically connected to the engine speed sensor and the throttle position sensor.

[0016] Optionally, the vehicle regenerative braking feedback system further includes: a transmission electronic control unit and a transmission gear position sensor. The feedback control module is electrically connected to the transmission electronic control unit through the vehicle control unit, and the transmission electronic control unit is electrically connected to the transmission gear position sensor.

[0017] Optionally, the vehicle regenerative braking feedback system further includes: a vehicle dynamics stability control system electronic control unit, a longitudinal acceleration sensor, a lateral acceleration sensor, a yaw rate sensor, an inertial measurement unit, a steering wheel angle sensor, and a wheel speed sensor. The feedback prompt control module is electrically connected to the vehicle dynamics stability control system electronic control unit through the vehicle control unit. The vehicle dynamics stability control system electronic control unit is electrically connected to the longitudinal acceleration sensor, the lateral acceleration sensor, the yaw rate sensor, the inertial measurement unit, the steering wheel angle sensor, and the wheel speed sensor, respectively.

[0018] Optionally, the vehicle regenerative braking feedback system further includes: a vehicle dynamics stability control system electronic control unit, a longitudinal acceleration sensor, a lateral acceleration sensor, a yaw rate sensor, an inertial measurement unit, a steering wheel angle sensor, and a wheel speed sensor. The feedback control module is electrically connected to the motor control module, the motor control module is electrically connected to the vehicle dynamics stability control system electronic control unit, and the vehicle dynamics stability control system electronic control unit is electrically connected to the longitudinal acceleration sensor, the lateral acceleration sensor, the yaw rate sensor, the inertial measurement unit, the steering wheel angle sensor, and the wheel speed sensor, respectively.

[0019] Optionally, the vehicle regenerative braking feedback system further includes: a remote information exchange system electronic control unit, a human-machine interaction system electronic control unit, and a seat pressure sensor. The feedback prompt control module is electrically connected to the remote information exchange system electronic control unit, the human-machine interaction system electronic control unit, and the seat pressure sensor through the vehicle control unit. The remote information exchange system electronic control unit is electrically connected to the human-machine interaction system electronic control unit.

[0020] According to another aspect of the present invention, a vehicle is provided, the vehicle including the vehicle regenerative braking feedback prompting system according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a vehicle regenerative braking feedback prompting method is provided, the vehicle regenerative braking feedback prompting method comprising:

[0022] Braking control signals are generated through the vehicle braking management and control module;

[0023] The electric motor control module receives the braking control signal generated by the vehicle braking management control module and provides regenerative braking force to the vehicle based on the braking control signal.

[0024] Based on the driving force and regenerative braking force requirements received by the electric motor control module from the vehicle control unit and the vehicle braking management control module, the electric motor control module generates an electric motor drive control signal and a generator regenerative braking control signal, and transmits the electric motor drive control signal and the generator regenerative braking control signal to the electric motor / generator and related sensors and actuators to control the vehicle electric motor / generator to output driving force and regenerative braking force as needed.

[0025] The first control command is generated based on the vehicle's braking force control requirements and driving force control requirements received by the feedback prompt control module. The feedback prompt control parameters of the vehicle's regenerative braking process are calculated and determined based on the first control command. The second control command is then generated based on the calculation results of the feedback prompt control parameters of the vehicle's regenerative braking process.

[0026] The feedback prompt sending module receives the second control command and obtains feedback prompt information on the vehicle regenerative braking process based on the second control command.

[0027] Optionally, before generating the first control command based on the vehicle's braking force control requirements and driving force control requirements received by the feedback control module, the method further includes:

[0028] The vehicle regenerative braking feedback prompt function is activated via the feedback prompt control module.

[0029] The technical solution of this invention, the vehicle regenerative braking feedback prompting system, includes a feedback prompting control module, a feedback prompting sending module, a vehicle braking management control module, and a motor control module. The feedback prompting control module is electrically connected to both the feedback prompting sending module and the vehicle braking management control module, and the vehicle braking management control module is electrically connected to the motor control module. The vehicle braking management control module generates a braking control signal. The motor control module receives the braking control signal generated by the vehicle braking management control module and provides regenerative braking force to the vehicle based on the braking control signal. It also receives driving force and regenerative braking force requirements from the vehicle control unit and the vehicle braking management control module, and generates an electric motor control signal. The system transmits the motor drive control signal and generator regenerative braking control signal to the motor / generator and related sensors and actuators to control the vehicle's motor / generator to output driving force and regenerative braking force as needed. The feedback prompt control module receives the vehicle's braking force control request and driving force control request, generates a first control command, and calculates and determines the vehicle's regenerative braking process feedback prompt control parameters based on the first control command. A second control command is then generated based on the calculation results of these parameters. The feedback prompt sending module receives the second control command and obtains the vehicle's regenerative braking process feedback prompt information based on it. This invention solves the problem that drivers currently cannot accurately grasp the vehicle's current braking state or regenerative braking force distribution strategy, resulting in poor subjective driving experience and risks. It enables drivers to more accurately grasp the vehicle's current driving state, improves the driver's driving experience and subjective feeling, alleviates driver anxiety, and simultaneously enhances vehicle safety performance and reduces the risk of traffic accidents.

[0030] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of a vehicle regenerative braking feedback warning system according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the feedback prompt control module provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of a vehicle regenerative braking feedback warning system according to an embodiment of the present invention;

[0035] Figure 4 This is a flowchart illustrating a vehicle regenerative braking feedback prompting method according to an embodiment of the present invention;

[0036] Figure 5 This is a flowchart illustrating the process of implementing the vehicle regenerative braking feedback prompt function in this embodiment of the invention.

[0037] Figure 6 This is a schematic flowchart illustrating the calculation mode selection method for calculating the regenerative braking intensity of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0040] Figure 1 This invention provides a schematic diagram of a vehicle regenerative braking feedback and warning system, applicable to situations requiring timely feedback and control based on the vehicle's regenerative braking process. This vehicle regenerative braking feedback and warning system can be configured in a vehicle. Figure 1 As shown, the vehicle regenerative braking feedback warning system includes:

[0041] The system includes a feedback prompt control module 101, a feedback prompt sending module 102, a vehicle braking management control module 501, and a motor control module 601. The feedback prompt control module 101 is electrically connected to the feedback prompt sending module 102 and the vehicle braking management control module 501, respectively. The vehicle braking management control module 501 is electrically connected to the motor control module 601.

[0042] The vehicle braking management and control module 501 is used to generate braking control signals;

[0043] The electric motor control module 601 is used to receive the braking control signal generated by the vehicle braking management control module 501, and provide regenerative braking force to the vehicle based on the braking control signal; it is also used to receive the driving force and regenerative braking force requirements from the vehicle control unit and the vehicle braking management control module, generate electric motor drive control signal and generator regenerative braking control signal, and transmit the electric motor drive control signal and generator regenerative braking control signal to the electric motor / generator and related sensors and actuators, so as to control the vehicle electric motor / generator to output driving force and regenerative braking force as needed;

[0044] The feedback prompt control module 101 is used to receive the vehicle's braking force control requirements and driving force control requirements, generate a first control command, and calculate and determine the vehicle regenerative braking process feedback prompt control parameters according to the first control command, so as to generate a second control command based on the calculation result of the vehicle regenerative braking process feedback prompt control parameters.

[0045] The feedback prompt sending module 102 is used to receive the second control command and obtain feedback prompt information on the vehicle regenerative braking process according to the second control command.

[0046] The vehicle braking management control module 501 can also be electrically connected to the vehicle control unit 701 to receive the braking force requirements of the vehicle control unit 701 and the driver, generate braking control signals, and transmit the braking control signals to the relevant actuators and motor control modules 601 in the vehicle braking management system, or to the motor / generator in the vehicle.

[0047] The electric motor control module 601 can also be electrically connected to the vehicle control unit 701 to receive braking control signals and provide regenerative braking force to the vehicle based on these signals, selectively providing regenerative braking force of varying intensities. The electric motor control module 601 can also receive driving force and regenerative braking force requirements from the vehicle braking management control module, the vehicle control unit 701, and the driver, generate electric motor drive control signals and generator regenerative braking control signals, and transmit these signals to the electric motor / generator and related sensors and actuators to control the vehicle's electric motor / generator to output driving force and regenerative braking force as needed.

[0048] The feedback prompt control module 101 receives the braking force control requirements and driving force control requirements of the vehicle in the vehicle dynamics control method, generates a first control command, the first control command includes the results of analysis and calculation by other electronic control units in the vehicle or the relevant parameter measurement values ​​(including analog signals and digital signals) collected by various sensors, calculates and determines the feedback prompt control parameters of the vehicle regenerative braking process based on the first control command, the vehicle regenerative braking process feedback prompt control parameters include the regenerative braking intensity during the vehicle regenerative braking process, and generates a second control command based on the calculation results of the vehicle regenerative braking process feedback prompt control parameters, the second control command includes acoustic parameters of the prompt sound, prompt image model parameters, prompt animation model parameters, or other forms of control signals that can represent these parameters.

[0049] The feedback prompt sending module 102 receives the second control command and, based on the acoustic parameters of the prompt sound, the prompt image model parameters, the prompt animation model parameters, or other forms of control signals that can represent these parameters, converts the control information expressed by the control signals into prompt sound signals of different modes to prompt the user about the current regenerative braking intensity of the vehicle, that is, to provide feedback prompt information about the vehicle's regenerative braking process to prompt the user about the current regenerative braking intensity of the vehicle.

[0050] Optionally, the feedback prompt sending module 102 can be implemented using an audio device or other device that can play sounds, images or animations that can be used to prompt the vehicle user about the intensity of the vehicle's regenerative braking. This embodiment does not impose any restrictions on this.

[0051] Based on the above embodiments, see Figure 2 As shown, the feedback prompt control module 101 includes a processor 10101, a storage unit 10102, an output unit 10104, an input unit 10103, and a transmission unit 10105; the processor 10101 is electrically connected to the storage unit 10102, the output unit 10104, the input unit 10103, and the transmission unit 10105 respectively;

[0052] The input unit 10103 is used to receive the vehicle's braking force control requirements and driving force control requirements;

[0053] The transmission unit 10105 is used to generate a first control command based on the vehicle's braking force control requirements and driving force control requirements;

[0054] Storage unit 10102 is used to determine the calculation method of the vehicle regenerative braking process feedback prompt control parameters and the preset parameters required by the calculation method based on the first control command;

[0055] The processor 10101 is used to generate a second control command based on the calculation results of the control parameters provided by the feedback prompts during the vehicle's regenerative braking process;

[0056] The output unit 10104 is used to receive the second control command fed back by the processor 10101 and transmit the second control command to other control modules and actuators of the vehicle.

[0057] The input unit 10103 is used to receive the braking force control requirements and driving force control requirements from the vehicle in the vehicle dynamics control method. The braking force control requirements and driving force control requirements in the vehicle dynamics control method can be described in the following two cases: The first case is the working condition of the vehicle user's manual driving operation mode. The driving force control requirements are based on the accelerator pedal position signal collected by the accelerator pedal position sensor. According to the different driving force output modes of the vehicle, the vehicle control unit 701, the engine management system electronic control unit 201, or the electric motor control module 601 analyze and calculate them. On the other hand, the braking force control requirements are calculated by the vehicle brake management control module 501 based on the braking signal issued by the vehicle user pressing the brake pedal and the vehicle dynamics stability control requirement signal issued by the vehicle dynamics stability control system electronic control unit 401. The second scenario involves vehicles operating at different levels of autonomous or assisted driving. The driving force control requirement is based on the vehicle's dynamic control requirement signal issued by the vehicle's driver assistance system. Depending on the vehicle's different driving force output modes, it is analyzed and calculated by the vehicle control unit 701, the engine management system electronic control unit 201, or the electric motor control module 601. On the other hand, the braking force control requirement is calculated by the vehicle braking management control module 501 based on the vehicle's dynamic control requirement signal issued by the vehicle's driver assistance system and the vehicle dynamic stability control requirement signal issued by the vehicle dynamic stability control system electronic control unit 401.

[0058] The transmission unit 10105 is used to generate a first control command based on the braking force control requirements and driving force control requirements of the vehicle in the vehicle dynamics control method. The first control command is to obtain the analysis and calculation results from other electronic control units in the vehicle and the relevant parameters collected by various sensors, and to feed the analysis and calculation results and the relevant parameters back to the processor 10101.

[0059] The storage unit 10102 is used to store and assist in determining the calculation method of the vehicle regenerative braking process feedback prompt control parameters and the preset parameters required for the calculation method based on the first control command, that is, the calculation method of calculating and determining the vehicle regenerative braking intensity and the preset parameters required for the calculation method, and to determine the vehicle's real-time driving state or real-time dynamic state parameters.

[0060] The processor 10101 is used to determine the working mode and control mode of the vehicle regenerative braking process feedback prompt system according to the first control command fed back by the transmission unit 10105, select the calculation method of the vehicle regenerative braking intensity according to the working mode and control mode, calculate the regenerative braking intensity by combining the first control command and the real-time driving state or real-time dynamic state parameters of the vehicle, generate vehicle regenerative braking process feedback prompt control parameters based on the analysis and calculation results of the real-time driving state of the vehicle and the regenerative braking intensity, and further generate a second control command based on the calculation results of the vehicle regenerative braking process feedback prompt control parameters.

[0061] Based on the above embodiments, see below. Figure 1 The vehicle regenerative braking feedback system further includes: an engine management system electronic control unit 201, an engine speed sensor 202, and a throttle position sensor 203. The feedback prompt control module 101 is electrically connected to the engine management system electronic control unit 201 via the vehicle control unit 701. The engine management system electronic control unit 201 is electrically connected to the engine speed sensor 202 and the throttle position sensor 203.

[0062] It is understandable that the engine management system electronic control unit 201, engine speed sensor 202, and throttle position sensor 203 are only installed in vehicles equipped with an engine or internal combustion engine.

[0063] The vehicle control unit 701 is responsible for comprehensively managing the vehicle's energy conversion process, energy output and input process, driving force and braking force, and related control signal transmission network according to the driver's driving or usage needs.

[0064] The function of the engine management system electronic control unit 201 is to receive various parameter signals collected from all sensors installed on the engine, and, based on the driver's driving intention, the vehicle's power demand, and the current dynamic state and emission characteristics of the engine, generate target control values ​​for corresponding control parameters (or control variables) according to the engine structural parameters pre-stored in the memory of the engine management system electronic control unit 201, as well as mathematical and physical model calculation methods and software programs describing the intake and exhaust system and combustion chamber charge replacement, fuel supply, combustion chamber mixture formation and combustion, different forms of energy conversion and power output during engine operation. Through the control signal transmission line, the control signals describing the target control values ​​of the control parameters (or control variables) are transmitted to the corresponding actuators to execute the corresponding instructions and adjust the working state of the vehicle engine.

[0065] The function of the engine speed sensor 202 is to measure the current crankshaft phase and speed of the vehicle engine, and transmit the speed signal to the engine management system electronic control unit 201 as a reference for describing the engine speed and the combustion phase of each cylinder combustion chamber.

[0066] The function of the throttle position sensor 203 is to measure and collect the current throttle opening position of the vehicle engine; and to transmit the signal describing the opening position to the engine management system electronic control unit 201 through the signal transmission line, as a data reference for describing the vehicle engine intake system and the charge replacement process in the combustion chamber.

[0067] Based on the above embodiments, see below. Figure 1 The vehicle regenerative braking feedback system further includes: a transmission electronic control unit 301 and a transmission gear position sensor 302. The feedback prompt control module 101 is electrically connected to the transmission electronic control unit 301 through the vehicle control unit 701, and the transmission electronic control unit 301 is electrically connected to the transmission gear position sensor 302.

[0068] It is understandable that the transmission electronic control unit 301 and the transmission gear position sensor 302 are only installed in vehicles equipped with transmissions.

[0069] The function of the transmission electronic control unit 301 is to receive various parameter signals collected by all sensors installed on the transmission, such as the transmission gear position sensor 302, and generate control signals describing the target gear of the vehicle transmission based on the driver's driving intention, the current dynamic state of the vehicle powertrain system, and the current kinematic state of the vehicle, according to the software program preset in the memory of the transmission electronic control unit 301. The control signals are then transmitted to the corresponding actuators through the control signal transmission line to execute the corresponding instructions and adjust the gear and operating state of the vehicle transmission.

[0070] The function of the transmission gear position sensor 302 is to monitor the current gear position signal of the vehicle's transmission and transmit the gear position signal to the transmission electronic control unit 301 through the signal transmission line as a reference for describing the vehicle's transmission gear position information.

[0071] Based on the above embodiments, see below. Figure 1 The vehicle regenerative braking feedback system further includes: a vehicle dynamics stability control system electronic control unit 401, a longitudinal acceleration sensor 402, a lateral acceleration sensor 403, a yaw rate sensor 404, an inertial measurement unit 405, a steering wheel angle sensor 406, and a wheel speed sensor 407. The feedback prompt control module 101 is electrically connected to the vehicle dynamics stability control system electronic control unit 401 through the vehicle control unit 701. The vehicle dynamics stability control system electronic control unit 401 is electrically connected to the longitudinal acceleration sensor 402, the lateral acceleration sensor 403, the yaw rate sensor 404, the inertial measurement unit 405, the steering wheel angle sensor 406, and the wheel speed sensor 407, respectively.

[0072] It is understandable that the electronic control unit 401, longitudinal acceleration sensor 402, lateral acceleration sensor 403, yaw rate sensor 404, inertial measurement unit 405, steering wheel angle sensor 406, and wheel speed sensor 407 of the vehicle dynamics stability control system are only installed in vehicles equipped with the relevant electronic equipment or with vehicle dynamics stability control functions.

[0073] Based on the above embodiments, see Figure 3The feedback prompt control module 101 is electrically connected to the motor control module 601, and the motor control module 601 is electrically connected to the vehicle dynamics stability control system electronic control unit 401. The vehicle dynamics stability control system electronic control unit 401 is electrically connected to the longitudinal acceleration sensor 402, the lateral acceleration sensor 403, the yaw rate sensor 404, the inertial measurement unit 405, the steering wheel angle sensor 406, and the wheel speed sensor 407, respectively.

[0074] The function of the electronic control unit 401 of the vehicle dynamics stability control system is to receive signals or data describing the vehicle body state parameters collected by sensors such as longitudinal acceleration sensor 402, lateral acceleration sensor 403, yaw rate sensor 404, inertial measurement unit 405, steering wheel angle sensor 406, and wheel speed sensor 407. Based on the mathematical model, physical model calculation method, and software program describing the kinematic state of the vehicle body that are pre-stored in the memory of the electronic control unit 401 of the vehicle dynamics stability control system, the system calculates the current kinematic state of the vehicle body and compares it with the kinematic state parameters and data describing the safety of the vehicle that are pre-stored in the memory of the electronic control unit 401 of the vehicle dynamics stability control system. According to the comparison result, the system determines (or predicts) whether the current vehicle body is in or will be in an uncontrolled state. According to the determination (or prediction) result, the system transmits the target control values ​​of the corresponding control parameters (or control variables) to the actuators in the vehicle that can control the kinematic state of the vehicle body through the control signal transmission line, executes the corresponding instructions, and adjusts the kinematic state of the vehicle body.

[0075] The longitudinal acceleration sensor 402 measures the longitudinal acceleration of the vehicle along the direction of travel during acceleration or braking deceleration. It transmits the longitudinal acceleration signal to the electronic control unit 401 of the vehicle dynamics stability control system through a signal transmission line, serving as a reference for describing the current longitudinal acceleration and the kinematic state of the vehicle body.

[0076] The function of the lateral acceleration sensor 403 is to measure the lateral acceleration perpendicular to the vehicle's direction of travel during cornering, and transmit the lateral acceleration signal to the electronic control unit 401 of the vehicle dynamics stability control system through the signal transmission line, as a reference for describing the vehicle's current lateral acceleration and vehicle kinematics state.

[0077] The function of the yaw rate sensor 404 is to measure the angular velocity (i.e., yaw rate) of the vehicle's deflection around the vehicle's vertical axis during driving. The yaw rate signal is transmitted to the electronic control unit 401 of the vehicle dynamics stability control system through the signal transmission line, serving as a reference for describing the vehicle's current yaw rate and vehicle kinematic state.

[0078] The function of the inertial measurement unit 405 is to measure the linear acceleration of the vehicle in the longitudinal, transverse, and vertical axes, as well as the angular acceleration of the vehicle around the longitudinal, transverse, and vertical axes. The linear acceleration signals in the three directions and the angular acceleration signals around the three axes are transmitted to the electronic control unit 401 of the vehicle dynamics stability control system through the signal transmission line, as a reference for describing the current kinematic state of the vehicle body or the real-time positioning information of the vehicle body.

[0079] The steering wheel angle sensor 406 measures the steering wheel angle of the vehicle and transmits the steering wheel angle signal to the electronic control unit 401 of the vehicle dynamics stability control system through the signal transmission line, as a reference for describing the driver's current driving intention.

[0080] The function of the wheel speed sensor 407 is to measure the wheel speed of the vehicle and transmit the wheel speed signal to the electronic control unit 401 of the vehicle dynamics stability control system through the signal transmission line, as a reference for describing the current wheel speed and vehicle kinematic state.

[0081] Based on the above embodiments, see below. Figure 1 The vehicle regenerative braking feedback prompt system further includes: a remote information exchange system electronic control unit 801, a human-machine interaction system electronic control unit 901, and a seat pressure sensor 1001. The feedback prompt control module 101 is electrically connected to the remote information exchange system electronic control unit 801, the human-machine interaction system electronic control unit 901, and the seat pressure sensor 1001 through the vehicle control unit 701. The remote information exchange system electronic control unit 801 is electrically connected to the human-machine interaction system electronic control unit 901.

[0082] The remote information exchange system electronic control unit 801 is connected to the feedback prompt control module 101 and the human-machine interaction system electronic control unit 901 through the vehicle control unit 701. At the same time, it shares data with other vehicle users' communication terminals (vehicles authorized by users, with reliable security certificates, and capable of sharing data) or the remote information exchange system electronic control unit 801, the central server operated (or entrusted to be operated) by the automobile manufacturer, the data storage and transmission (sharing) device of the meteorological information release department in the current driving area of ​​the vehicle, and the road information data storage and sharing platform of the car navigation application software, etc., as a reference for calculating and analyzing the vehicle dynamics state and the corresponding control signal processing.

[0083] The function of the electronic control unit 901 of the human-machine interaction system is to provide an interactive interface and a medium for information exchange between the vehicle and the user. It receives and collects various command information from the user (including finger touch and / or gesture information), analyzes the user's intent, generates corresponding control signals based on the control program pre-installed in the electronic control unit 901, and transmits the control signals to other electronic control units and actuators in the vehicle through signal transmission lines to execute the corresponding commands. The electronic control unit 901 also receives control signals from the feedback prompt control module 101 and sends feedback prompt information describing relevant parameters of the vehicle's regenerative braking process (such as regenerative braking intensity) to the vehicle user.

[0084] The function of the seat pressure sensor 1001 is to measure the force on all seats in the vehicle and transmit the signal describing the force on all seats to the relevant electronic control unit (such as the feedback prompt control module 101) in the vehicle through the signal transmission line. The signal will serve as a reference for describing the current gravity (or real-time mass of the vehicle) on the vehicle, and then as a reference for the relevant electronic control unit to calculate the dynamic state of the vehicle.

[0085] It is understood that in this embodiment, feedback information is generated based on various parameters collected by vehicle sensors that describe the vehicle's real-time operating mode (such as driving mode), dynamic state parameters (such as vehicle speed, acceleration, angular velocity, angular acceleration, etc.), and parameters that describe the vehicle's real-time regenerative braking intensity (such as regenerative braking energy, regenerative braking power, etc.). This feedback information is then sent directly to the vehicle's occupants via the vehicle feedback prompt sending module 102, including prompt sounds, to provide feedback on the vehicle's real-time regenerative braking intensity (the amount of regenerative braking energy and the level of regenerative braking power). Alternatively, the feedback information can be sent to the human-machine interaction system electronic control unit 901. Subsequently, the human-machine interaction system electronic control unit 901 sends control information to the vehicle's human-machine interaction system and audio-visual entertainment system to provide the occupants with prompt sounds, prompt images, and prompt animations to provide feedback on the vehicle's real-time regenerative braking intensity.

[0086] Based on the same inventive concept, this invention also provides a vehicle, which includes the vehicle regenerative braking feedback prompting system provided in the above embodiments. The vehicle provided in this invention has the corresponding functional modules and beneficial effects of the vehicle regenerative braking feedback prompting system.

[0087] The vehicle provided in this embodiment of the invention includes a vehicle regenerative braking feedback system. The system comprises a feedback notification control module, a feedback notification sending module, a vehicle braking management control module, and a motor control module. The feedback notification control module is electrically connected to both the feedback notification sending module and the vehicle braking management control module, and the vehicle braking management control module is electrically connected to the motor control module. The vehicle braking management control module generates a braking control signal. The motor control module receives the braking control signal generated by the vehicle braking management control module and provides regenerative braking force to the vehicle based on the braking control signal. It also receives driving force and regenerative braking force from the vehicle control unit and the vehicle braking management control module. The system generates motor drive control signals and generator regenerative braking control signals according to the vehicle's requirements, and transmits these signals to the motor / generator and related sensors and actuators to control the vehicle's motor / generator to output driving force and regenerative braking force as needed. A feedback prompt control module receives the vehicle's braking force control requirements and driving force control requirements, generates a first control command, and calculates and determines feedback prompt control parameters for the vehicle's regenerative braking process based on the first control command. A second control command is then generated based on the calculation results of these parameters. A feedback prompt sending module receives the second control command and obtains feedback prompt information for the vehicle's regenerative braking process based on it. This invention solves the problem that drivers currently cannot accurately grasp the vehicle's current braking state or regenerative braking force distribution strategy, resulting in poor subjective driving experience and risks. It enables drivers to more accurately grasp the vehicle's current driving state, improves the driver's driving experience and subjective feeling, alleviates driver anxiety, and simultaneously enhances vehicle safety performance and reduces the risk of traffic accidents.

[0088] Based on the same inventive concept Figure 4 This invention provides a flowchart illustrating a vehicle regenerative braking feedback and alert method. This embodiment is applicable to situations requiring timely feedback and control based on the vehicle's regenerative braking process. This vehicle regenerative braking feedback and alert method can be executed by a vehicle regenerative braking feedback and alert system, which can be configured within the vehicle. Figure 4 As shown, the vehicle's regenerative braking feedback prompt method includes:

[0089] S110 generates braking control signals through the vehicle braking management control module.

[0090] S120, the electric motor control module receives the braking control signal generated by the vehicle braking management control module, and provides regenerative braking force to the vehicle based on the braking control signal.

[0091] S130: Based on the driving force and regenerative braking force requirements received by the electric motor control module from the vehicle control unit and the vehicle braking management control module, the electric motor control module generates an electric motor drive control signal and a generator regenerative braking control signal, and transmits the electric motor drive control signal and the generator regenerative braking control signal to the electric motor / generator and related sensors and actuators to control the vehicle electric motor / generator to output driving force and regenerative braking force as needed.

[0092] S140, a first control command is generated based on the vehicle's braking force control requirements and driving force control requirements received by the feedback prompt control module, and the vehicle regenerative braking process feedback prompt control parameters are calculated and determined based on the first control command, so as to generate a second control command based on the calculation result of the vehicle regenerative braking process feedback prompt control parameters.

[0093] Based on the above, and according to the needs of vehicle users, the feedback prompt control module can selectively enable the vehicle regenerative braking feedback prompt function, and selectively enable the communication function between the vehicle feedback prompt control module and other controllers, sensors, and actuators of the vehicle. Then, based on the braking force control requirements and driving force control requirements of the vehicle in the vehicle dynamics control method received by the feedback prompt control module, a first control command is generated. The process for enabling the vehicle regenerative braking feedback prompt function can be found in the following example. Figure 5 As shown, specifically:

[0094] S510, determine whether the feedback prompt control module has enabled the vehicle regenerative braking feedback prompt function. If yes, proceed to step S520; otherwise, proceed to step S540.

[0095] S520 enables communication between the vehicle feedback and prompt control module and other controllers, sensors, and actuators in the vehicle.

[0096] The controller, sensor, and actuator include at least one of the following: a feedback prompt sending module, an engine management system electronic control unit, a transmission electronic control unit, a vehicle dynamics stability control system electronic control unit, a wheel speed sensor, a vehicle brake management system electronic control unit, an electric motor electronic control unit, a remote information exchange system electronic control unit, and a human-machine interaction system electronic control unit, and execute step S530.

[0097] S530, by receiving the vehicle's braking force control requirements and driving force control requirements from the feedback prompt control module, generates a first control command.

[0098] S540, disables (or disconnects) the communication function between the vehicle feedback prompt control module and other controllers, sensors, and actuators in the vehicle.

[0099] In other words, step S540 only retains the function of receiving and determining the vehicle user's request to activate the vehicle's regenerative braking feedback.

[0100] The first control command includes the results of analysis and calculation by other electronic control units in the vehicle or the relevant parameter measurement values ​​collected by various sensors, specifically including at least one of the following: vehicle speed, vehicle acceleration, vehicle driving mode, vehicle brake pedal position signal, vehicle accelerator pedal position signal, vehicle transmission current gear ratio (only for vehicles equipped with transmissions, including the current gear information of the vehicle transmission), vehicle transmission system current main drive ratio, vehicle wheel radius, vehicle current rolling resistance coefficient, vehicle current frontal area, vehicle wheel moment of inertia, vehicle powertrain system flywheel moment of inertia (only for vehicles equipped with engines), vehicle first electric generator output (braking) torque, vehicle second electric generator output (braking) torque, vehicle engine output torque (only for vehicles equipped with engines), vehicle basic braking torque, vehicle engine speed (only for vehicles equipped with engines), and vehicle current gravity (or vehicle mass).

[0101] Based on the above, and using the acquired vehicle driving mode, vehicle speed, vehicle acceleration, vehicle brake pedal position signal, vehicle accelerator pedal position signal, and the current gear ratio of the vehicle transmission (only for vehicles equipped with transmissions, including the current gear information of the vehicle transmission), it is determined whether the vehicle is currently in a deceleration (braking) state. If so, a requirement to calculate the vehicle's regenerative braking intensity is generated. The slope angle (or gradient) of the road the vehicle is currently traveling on is acquired, the vehicle's current air drag coefficient is acquired, and the air state parameters of the current atmospheric environment (including atmospheric temperature, atmospheric pressure, air humidity, air density, etc.) and the wind speed and direction of the current atmospheric environment are acquired. Further, a second control command is generated, that is, a requirement to calculate the vehicle's regenerative braking intensity is generated and sent. If not, a command to stop (or prohibit) the calculation of the vehicle's regenerative braking intensity is generated and sent.

[0102] S150, the second control command is received through the feedback prompt sending module, and feedback prompt information of the vehicle regenerative braking process is obtained according to the second control command.

[0103] Furthermore, the feedback prompt control module, based on the vehicle user's needs, whether sufficient types (dimensions) of parameter information describing the vehicle's dynamics calculations are available, and the vehicle's current driving state, selects different regenerative braking intensity calculation methods to calculate the vehicle's regenerative braking intensity, and further calculates the corresponding control parameters (i.e., obtains the second control command) based on the calculation results. For a flowchart of the specific calculation mode selection method for the vehicle's regenerative braking intensity, please refer to... Figure 6 As shown:

[0104] S610, determine whether a requirement for calculating the regenerative braking intensity of the vehicle is generated. If yes, proceed to step S611; otherwise, proceed to step S619.

[0105] S611, obtain the working mode and control mode of the vehicle regenerative braking feedback system, obtain the second control command based on the working mode and control mode, and execute step S612.

[0106] S612, determine whether to select the third calculation mode of vehicle regenerative braking intensity. If yes, proceed to step S613; otherwise, proceed to step S617.

[0107] S613, determine whether the parameters required for the third calculation mode of vehicle regenerative braking intensity have been obtained. If yes, proceed to step S614; otherwise, proceed to step S615.

[0108] S614, calculate the vehicle's regenerative braking intensity using the third calculation mode, and execute step S620.

[0109] The third calculation method for vehicle regenerative braking intensity can be found in the following formula:

[0110]

[0111] In equation 10, RegBrInts mode03 Tq is the vehicle regenerative braking intensity value calculated when the third calculation mode for vehicle regenerative braking intensity is selected in the vehicle regenerative braking feedback prompt system. RegBr Tq represents the regenerative braking torque value, specifically the regenerative braking torque contributed to the system by the electric generator during vehicle regenerative braking. VehDece1Ca1cBr The total braking torque value that causes the vehicle to produce the current real-time deceleration is obtained through equivalent calculation by dynamic calculation method (or preset).

[0112] Since the current real-time deceleration of the vehicle is generated by the resultant force of the driving resistances on the vehicle (the driving resistances on the vehicle include at least one of the following: rolling resistance, air resistance, slope resistance, and acceleration resistance), the equivalent total braking torque value of Equation 10 here needs to obtain the real-time values ​​describing the relevant resistance parameters during the calculation process.

[0113]

[0114] In Equation 11, RegBrInts mode03 P is the vehicle regenerative braking intensity value calculated when the third calculation mode for vehicle regenerative braking intensity is selected in the vehicle regenerative braking feedback prompt system. RegBr P represents the regenerative braking power of the vehicle's regenerative braking system, specifically the regenerative braking power contributed by the electric generator to the system during regenerative braking. VehDecelCalcBr The total braking power value that causes the vehicle to produce the current real-time deceleration (or the equivalent total braking power value of the vehicle during its braking process) is obtained by equivalent calculation through dynamic calculation methods (or preset).

[0115] Since the vehicle's current real-time deceleration is generated by the resultant force of the driving resistance experienced by the vehicle (the driving resistance experienced by the vehicle includes at least one of the following: rolling resistance, air resistance, slope resistance, and acceleration resistance), the real-time values ​​describing the relevant resistance parameters are needed to calculate the equivalent total braking power value in Equation 11.

[0116]

[0117] In Equation 12, RegBrInts mode03 The value of vehicle regenerative braking intensity calculated when the third calculation mode for vehicle regenerative braking intensity is selected in the vehicle regenerative braking feedback system; F RegBr F represents the regenerative braking force of the vehicle's regenerative braking system, specifically the regenerative braking force contributed by the electric generator to the system during regenerative braking. VehDecelCalcBr The total braking force value that causes the vehicle to produce the current real-time deceleration (or the equivalent total braking force value of the vehicle during its braking process) is obtained by equivalent calculation through dynamic calculation methods (or preset).

[0118] Since the vehicle's current real-time deceleration is generated by the resultant force of the driving resistance experienced by the vehicle (the driving resistance experienced by the vehicle includes at least one of the following: rolling resistance, air resistance, slope resistance, and acceleration resistance), the equivalent total braking force value in Equation 12 here needs to obtain the real-time values ​​describing the relevant resistance parameters during the calculation process.

[0119] Based on the type of dynamic parameters used by different vehicle-related electronic control systems (including at least one of the following: vehicle feedback and warning control module, engine management system electronic control unit, vehicle dynamics stability control system electronic control unit, vehicle brake management system electronic control unit, electric motor electronic control unit, and vehicle electronic control unit) when calculating and describing the vehicle's dynamic state (including power demand, braking demand, etc.), the braking torque, braking power, or braking force of the vehicle regenerative braking system can be selected as parameters or variables used in the calculation process. Therefore, at least one of Equations 10, 11, and 12 can be applied to calculate the vehicle regenerative braking intensity corresponding to the third calculation mode.

[0120] S615, determine whether abnormal vehicle operating conditions such as wheel brake lock-up or vehicle sideslip are detected. If yes, proceed to step S616; otherwise, proceed to step S614.

[0121] S616, calculate the vehicle's regenerative braking intensity using the first calculation mode, and execute step S620.

[0122] The first calculation method for vehicle regenerative braking intensity can be found in the following formula:

[0123]

[0124] In formula 1, RegBrInts mode01 Tq is the vehicle regenerative braking intensity value calculated when the first calculation mode for vehicle regenerative braking intensity is selected in the vehicle regenerative braking feedback prompt system. RegBr Tq represents the regenerative braking torque value of the vehicle's regenerative braking system, specifically the regenerative braking torque contributed by the electric generator to the system during regenerative braking. MaxRegBr Under the current vehicle operating conditions, this refers to the maximum regenerative braking torque set in the vehicle regenerative braking control strategy during the vehicle regenerative braking process. In other words, it is the maximum braking torque that the electric generator can contribute to the system during the vehicle regenerative braking process (or the upper limit of the braking torque that can ensure the normal and safe operation of the vehicle).

[0125]

[0126] In formula 2, RegBrInts mode01 P is the vehicle regenerative braking intensity value calculated when the first calculation mode for vehicle regenerative braking intensity is selected in the vehicle regenerative braking feedback system. RegBr P represents the regenerative braking power of the vehicle's regenerative braking system, specifically the regenerative braking power contributed by the electric generator to the system during regenerative braking. MaxRegBr This refers to the maximum regenerative braking power set in the vehicle regenerative braking control strategy under the current vehicle operating conditions. In other words, it is the maximum braking power that the electric generator can contribute to the system during the vehicle regenerative braking process (or the upper limit of braking power that can ensure the normal and safe operation of the vehicle).

[0127]

[0128] In formula 3, RegBrInts mode01 The value of vehicle regenerative braking intensity calculated when the first calculation mode for vehicle regenerative braking intensity is selected in the vehicle regenerative braking feedback system; F RegBr F represents the regenerative braking force of the vehicle's regenerative braking system, specifically the regenerative braking force contributed by the electric generator to the system during regenerative braking. MaxRegBr This refers to the maximum regenerative braking force set in the vehicle regenerative braking control strategy under the current vehicle operating conditions. In other words, it is the maximum braking force that the electric generator can contribute to the system during the vehicle regenerative braking process (or the upper limit of the braking force that can ensure the normal and safe operation of the vehicle).

[0129] Based on the types of dynamic parameters used by different vehicle-related electronic control systems (including at least one of the following: vehicle feedback and warning control module, engine management system electronic control unit, vehicle dynamics stability control system electronic control unit, vehicle brake management system electronic control unit, electric motor electronic control unit, and vehicle electronic control unit) when calculating and describing the vehicle's dynamic state (including power demand, braking demand, etc.), the braking torque, braking power, or braking force of the vehicle regenerative braking system can be selected as parameters or variables used in the calculation process. Therefore, at least one of Equations 1, 2, and 3 can be applied to calculate the vehicle regenerative braking intensity using the first calculation mode.

[0130] S617. Determine whether to select the second calculation mode for vehicle regenerative braking intensity. If yes, proceed to step S618; otherwise, proceed to step S616.

[0131] S618, calculate the vehicle's regenerative braking intensity using the second calculation mode, and execute step S620.

[0132] The second calculation method for vehicle regenerative braking intensity can be found in the following formula:

[0133]

[0134] Tq TotalBr =Tq RegBr +Tq MechFricBr #(Formula 5)

[0135] In equations 4 and 5, RegBrInts mode02 Tq is the vehicle regenerative braking intensity value calculated when the second calculation mode for vehicle regenerative braking intensity is selected in the vehicle regenerative braking feedback prompt system. RegBr Tq represents the regenerative braking torque value of the vehicle's regenerative braking system, specifically the regenerative braking torque contributed by the electric generator to the system during regenerative braking. TotalBr Tq represents the total braking torque of the vehicle during its braking process. MechFricBr It is the mechanical friction braking torque value of the vehicle braking system (also refers to the sum of all other forms of braking torque of the vehicle except for regenerative braking torque).

[0136]

[0137] P TotalBr =P RegBr +P MechFricBr #(Formula 7)

[0138] In equations 6 and 7, RegBrInts mode02 P is the vehicle regenerative braking intensity value calculated when the second calculation mode for vehicle regenerative braking intensity is selected in the vehicle regenerative braking feedback prompt system. RegBr P represents the regenerative braking power of the vehicle's regenerative braking system, specifically the regenerative braking power contributed by the electric generator to the system during regenerative braking. TotalBr P represents the total braking power of the vehicle during its braking process. MechFricBr It refers to the mechanical friction braking power of the vehicle braking system (also the sum of all other forms of braking power of the vehicle except regenerative braking power).

[0139]

[0140] PF TotalBe =F RegBr +F MechFricBr #(Formula 9)

[0141] In equations 8 and 9, RegBrInts mode02 The value of vehicle regenerative braking intensity calculated when the second calculation mode for vehicle regenerative braking intensity is selected in the vehicle regenerative braking feedback system; FRegBr F represents the regenerative braking force of the vehicle's regenerative braking system, specifically the regenerative braking force contributed by the electric generator to the system during regenerative braking. TotalBr F represents the total braking force of the vehicle during its braking process. MechFeicBr It refers to the mechanical friction braking force of the vehicle braking system (also the sum of all other forms of braking force of the vehicle except regenerative braking force).

[0142] Based on the type of dynamic parameters used in calculating and describing the vehicle's dynamic state (including power demand, braking demand, etc.) by different vehicle-related electronic control systems (including at least one of the following: vehicle feedback prompt control module, engine management system electronic control unit, vehicle dynamics stability control system electronic control unit, vehicle brake management system electronic control unit, electric motor electronic control unit, and vehicle electronic control unit), the braking torque, braking power, or braking force of the vehicle regenerative braking system can be selected as parameters or variables used in the calculation process. Therefore, at least one of Equations 4, 6, and 8 can be applied to calculate the vehicle regenerative braking intensity in the second calculation mode.

[0143] S619, set the vehicle regenerative braking intensity value to 0, and proceed to step S620.

[0144] S620 receives feedback information about the vehicle's regenerative braking process based on the second control command.

[0145] Specifically, based on the calculated regenerative braking intensity of the vehicle, the feedback prompt information of the vehicle regenerative braking process is calculated, which includes the acoustic parameters of the prompt sound, the prompt image model parameters, and the prompt animation model parameters.

[0146] Optionally, the feedback prompt information for the vehicle's regenerative braking process can, but is not limited to, adjust the acoustic parameters of its output prompt sound (including sound pressure, sound intensity, sound power, loudness, pitch, or human voice content, etc.) to send sound information to the vehicle user, and prompt image model parameters (including prompt icons and colors, etc.) or prompt animation model parameters (including animation colors, playback speed, rendering effects, etc.). The electronic control unit of the human-machine interaction system processes the above parameters to obtain corresponding control signals, and outputs the control signals to the corresponding actuators or execution devices (such as the central control screen in the vehicle) to send the vehicle's regenerative braking process feedback prompt image or prompt animation to the driver.

[0147] The technical solution of this invention, based on information such as the vehicle brake pedal signal, the braking demand signal calculated by the vehicle's related electronic control unit, the braking force signal of the vehicle's braking system's related actuators, and the power generation of the power generation equipment (such as electric motors / generators) related to the vehicle's regenerative braking function, processes and analyzes the relevant information through a vehicle regenerative braking feedback prompt system. It comprehensively judges the driver's current driving intention and the braking force distribution method and control strategy applied by the vehicle during regenerative braking, generating prompts in different modes (frequency, loudness, timbre, etc.) to achieve the following beneficial technical effects: conveying information such as the vehicle's current braking force distribution state and braking force intensity to the driver, enabling the driver to more accurately grasp the vehicle's current driving state; improving the driver's driving experience and subjective driving feelings, alleviating driver tension; and improving vehicle safety performance, reducing the risk of traffic accidents.

[0148] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0149] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle regenerative braking feedback warning system, characterized in that, include: The system includes a feedback prompt control module, a feedback prompt sending module, a vehicle braking management control module, and an electric motor control module. The feedback prompt control module is electrically connected to the feedback prompt sending module and the vehicle braking management control module, respectively, and the vehicle braking management control module is electrically connected to the motor control module; The vehicle braking management and control module is used to generate braking control signals; The electric motor control module is used to receive the braking control signal generated by the vehicle braking management control module, and provide regenerative braking force to the vehicle based on the braking control signal; it is also used to receive the driving force and regenerative braking force requirements from the vehicle control unit and the vehicle braking management control module, generate electric motor drive control signal and generator regenerative braking control signal, and transmit the electric motor drive control signal and generator regenerative braking control signal to the electric motor / generator and related sensors and actuators, so as to control the electric motor / generator to output driving force and regenerative braking force as needed; The feedback prompt control module is used to receive the vehicle's braking force control requirements and driving force control requirements, generate a first control command, and calculate and determine the vehicle's regenerative braking process feedback prompt control parameters based on the first control command. It then generates a second control command based on the calculation results of these parameters. The first control command includes the results analyzed and calculated by other electronic control units in the vehicle or relevant parameter measurement values ​​collected by various sensors. The feedback prompt control module selects different regenerative braking intensity calculation methods to calculate the vehicle's regenerative braking intensity based on the vehicle user's needs, whether sufficient types of parameters describing the vehicle's dynamics calculations are available, and the vehicle's current driving state. It further calculates the corresponding control parameters based on the calculation results. The feedback prompt sending module is used to receive the second control command and obtain vehicle regenerative braking process feedback prompt information according to the second control command. The vehicle regenerative braking process feedback prompt control parameters include the regenerative braking intensity during the vehicle regenerative braking process.

2. The vehicle regenerative braking feedback system according to claim 1, characterized in that, The feedback prompt control module includes a processor, a storage unit, an output unit, an input unit, and a transmission unit, wherein the processor is electrically connected to the storage unit, the output unit, the input unit, and the transmission unit, respectively. The input unit is used to receive the vehicle's braking force control requirements and driving force control requirements; The transmission unit is used to acquire the analysis and calculation results from other electronic control units in the vehicle and the relevant parameters collected by various sensors based on the vehicle's braking force control requirements and driving force control requirements, and to feed the analysis and calculation results and the relevant parameters back to the processor. The storage unit is used to determine, based on the first control command, the calculation method for the feedback prompt control parameters of the vehicle regenerative braking process and the preset parameters required by the calculation method; The processor is used to generate a second control command based on the calculation results of the control parameters prompted by the vehicle's regenerative braking process; The output unit is used to receive the second control command fed back by the processor and transmit the second control command to other control modules and actuators of the vehicle.

3. The vehicle regenerative braking feedback warning system according to claim 1, characterized in that, The vehicle regenerative braking feedback system further includes: an engine management system electronic control unit, an engine speed sensor, and a throttle position sensor. The feedback control module is electrically connected to the engine management system electronic control unit via the vehicle control unit, and the engine management system electronic control unit is electrically connected to the engine speed sensor and the throttle position sensor.

4. The vehicle regenerative braking feedback warning system according to claim 1, characterized in that, The vehicle regenerative braking feedback system also includes: a transmission electronic control unit and a transmission gear position sensor. The feedback control module is electrically connected to the transmission electronic control unit through the vehicle control unit, and the transmission electronic control unit is electrically connected to the transmission gear position sensor.

5. The vehicle regenerative braking feedback warning system according to claim 1, characterized in that, The vehicle regenerative braking feedback system further includes: a vehicle dynamics stability control system electronic control unit, a longitudinal acceleration sensor, a lateral acceleration sensor, a yaw rate sensor, an inertial measurement unit, a steering wheel angle sensor, and a wheel speed sensor. The feedback control module is electrically connected to the vehicle dynamics stability control system electronic control unit through the vehicle control unit. The vehicle dynamics stability control system electronic control unit is electrically connected to the longitudinal acceleration sensor, the lateral acceleration sensor, the yaw rate sensor, the inertial measurement unit, the steering wheel angle sensor, and the wheel speed sensor, respectively.

6. The vehicle regenerative braking feedback warning system according to claim 1, characterized in that, The vehicle regenerative braking feedback system further includes: a vehicle dynamics stability control system electronic control unit, a longitudinal acceleration sensor, a lateral acceleration sensor, a yaw rate sensor, an inertial measurement unit, a steering wheel angle sensor, and a wheel speed sensor. The feedback prompt control module is electrically connected to the motor control module, and the motor control module is electrically connected to the vehicle dynamics stability control system electronic control unit. The vehicle dynamics stability control system electronic control unit is electrically connected to the longitudinal acceleration sensor, the lateral acceleration sensor, the yaw rate sensor, the inertial measurement unit, the steering wheel angle sensor, and the wheel speed sensor, respectively.

7. The vehicle regenerative braking feedback warning system according to claim 1, characterized in that, The vehicle regenerative braking feedback system also includes: a remote information exchange system electronic control unit, a human-machine interaction system electronic control unit, and a seat pressure sensor. The feedback prompt control module is electrically connected to the remote information exchange system electronic control unit, the human-machine interaction system electronic control unit, and the seat pressure sensor through the vehicle control unit. The remote information exchange system electronic control unit is electrically connected to the human-machine interaction system electronic control unit.

8. A vehicle, characterized in that, The vehicle includes the vehicle regenerative braking feedback warning system as described in any one of claims 1-7.

9. A method for providing feedback and warning during vehicle regenerative braking, characterized in that, include: Braking control signals are generated through the vehicle braking management and control module; The electric motor control module receives the braking control signal generated by the vehicle braking management control module and provides regenerative braking force to the vehicle based on the braking control signal. Based on the driving force and regenerative braking force requirements received by the electric motor control module from the vehicle control unit and the vehicle braking management control module, the electric motor control module generates an electric motor drive control signal and a generator regenerative braking control signal, and transmits the electric motor drive control signal and the generator regenerative braking control signal to the electric motor / generator and related sensors and actuators to control the vehicle electric motor / generator to output driving force and regenerative braking force as needed. The feedback prompt control module generates a first control command based on the vehicle's braking force control requirements and driving force control requirements received from the feedback prompt control module. It then calculates and determines the vehicle's regenerative braking process feedback prompt control parameters based on the first control command, and generates a second control command based on the calculation results of these parameters. The first control command includes the results of analysis and calculation by other electronic control units in the vehicle or relevant parameter measurement values ​​collected by various sensors. The feedback prompt control module selects different regenerative braking intensity calculation methods to calculate the vehicle's regenerative braking intensity based on the vehicle user's needs, whether sufficient types of parameters describing the vehicle's dynamics calculations are available, and the vehicle's current driving state. Based on the calculation results, it further calculates the corresponding control parameters. The feedback prompt sending module receives the second control command and obtains vehicle regenerative braking process feedback prompt information according to the second control command. The vehicle regenerative braking process feedback prompt control parameters include the regenerative braking intensity during the vehicle regenerative braking process.

10. The vehicle regenerative braking feedback prompting method according to claim 9, characterized in that, Before generating the first control command based on the vehicle's braking force control requirements and driving force control requirements received by the feedback control module, the process also includes: The vehicle regenerative braking feedback prompt function is activated via the feedback prompt control module.

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