Vehicle load adaptive regenerative braking

Abstract

According to example embodiments, methods and systems for controlling regenerative braking of a vehicle are provided, including: obtaining, via one or more sensors of the vehicle, sensor data related to a load on the vehicle during a particular vehicle trip; determining, via a processor of the vehicle, a maximum regenerative braking torque of the vehicle for the particular vehicle trip based on the load on the vehicle; and controlling, via an indication provided by the processor, regenerative braking of the vehicle during the particular vehicle trip based on the maximum regenerative braking torque of the vehicle for the particular vehicle trip.

Description

Technical Field

[0001] The technical field generally relates to vehicles, and more specifically, to methods and systems for controlling regenerative braking in vehicles. Background Technology

[0002] Some modern vehicles have regenerative braking capabilities, where some of the energy from the vehicle is recovered through braking and used to charge the vehicle's battery. However, for example, the control of regenerative braking in a vehicle may not always be optimal in balancing the possibility of optimal regenerative braking with vehicle instability.

[0003] Therefore, it is desirable to provide improved methods and systems for controlling regenerative braking, including optimizing regenerative braking torque while maintaining vehicle stability. Furthermore, other desirable features and characteristics of the invention will become apparent from the following detailed description and appended claims, taken in conjunction with the accompanying drawings and background information. Summary of the Invention

[0004] In an exemplary embodiment, a method for controlling regenerative braking of a vehicle is provided, the method comprising: acquiring sensor data relating to a load on the vehicle via one or more sensors of the vehicle during travel of a particular vehicle; determining, via a processor of the vehicle, a maximum regenerative braking torque of the vehicle traveling for the particular vehicle based on the load on the vehicle; and controlling the regenerative braking of the vehicle during travel of the particular vehicle, based on the maximum regenerative braking torque of the vehicle traveling for the particular vehicle, and via an instruction provided by the processor, in conjunction with a driver's braking intention or a braking intention of an autonomous braking system.

[0005] Also in an exemplary embodiment, the method further includes obtaining additional sensor data relating to the speed of the vehicle via one or more additional sensors of the vehicle; wherein the step of determining the maximum braking torque includes determining the maximum braking torque based on speed in addition to load.

[0006] Similarly, in an exemplary embodiment, the steps of controlling regenerative braking include: providing regenerative braking torque in a calculated amount, conditioned on the maximum regenerative braking torque of the vehicle traveling for a particular vehicle, based on the driver's braking intention or the braking intention of the autonomous braking system, via an instruction provided by the processor; and providing any additional required braking torque via friction braking, via an instruction provided by the processor.

[0007] Similarly, in the exemplary embodiment, the processor determines the maximum regenerative braking torque individually for each specific vehicle in such a way that the maximum regenerative braking torque for each specific vehicle is positively correlated with the load on the vehicle for that specific vehicle.

[0008] Also in an exemplary embodiment: the step of obtaining sensor data includes: obtaining axle sensor data relating to the load on a specific axle of the vehicle during the travel of the specific vehicle via one or more axle sensors of the vehicle; the step of determining the maximum regenerative braking torque includes determining the maximum regenerative braking torque for the specific axle traveling for the specific vehicle based on the load on the specific axle via a processor of the vehicle; and the step of controlling regenerative braking includes controlling the amount of regenerative braking torque applied to the specific axle based on the maximum regenerative braking torque for the specific axle traveling for the specific vehicle, according to instructions provided by the processor.

[0009] Also in the exemplary embodiment: the step of obtaining sensor data includes: obtaining front axle sensor data related to the load on the front axle of the vehicle via one or more front axle sensors of the vehicle during the travel of a particular vehicle; and obtaining rear axle sensor data related to the load on the rear axle of the vehicle during the travel of a particular vehicle via one or more rear axle sensors of the vehicle; the step of determining the maximum regenerative braking torque includes, via a processor of the vehicle: determining the maximum regenerative braking torque of the front axle of the vehicle traveling on the front axle based on the load on the front axle; and determining the maximum regenerative braking torque of the rear axle of the vehicle traveling on the rear axle based on the load on the rear axle; and the step of controlling regenerative braking includes, according to instructions provided by the processor: controlling a first amount of regenerative braking torque applied to the front axle based on the maximum regenerative braking torque of the front axle of the vehicle traveling on the front axle; and controlling a second amount of regenerative braking torque applied to the rear axle based on the maximum regenerative braking torque of the rear axle of the vehicle traveling on the rear axle.

[0010] Also in an exemplary embodiment, the method further includes determining the load via a processor based on one or more other parameters of the sensor data.

[0011] In another exemplary embodiment, a system for controlling regenerative braking of a vehicle is provided, the system comprising: one or more sensors configured to acquire sensor data relating to loads on the vehicle during travel of a particular vehicle; and a processor coupled to the one or more sensors and configured to at least facilitate: determining a maximum regenerative braking torque of the vehicle traveling for the particular vehicle based on the loads on the vehicle; and controlling regenerative braking of the vehicle during travel of the particular vehicle, based on the maximum regenerative braking torque of the vehicle traveling for the particular vehicle, via instructions provided by the processor, in conjunction with a driver's braking intention or a braking intention of an autonomous braking system.

[0012] Also in an exemplary embodiment, the system includes one or more additional sensors for the vehicle, configured to acquire additional sensor data relating to the speed of the vehicle; wherein the processor is further configured to at least facilitate determining the maximum braking torque based on the speed of the vehicle in addition to the load.

[0013] Also in an exemplary embodiment, the processor is further configured to at least facilitate: providing regenerative braking torque in a calculated amount, based on the driver's braking intention or the braking intention of the autonomous braking system, conditioned on the maximum regenerative braking torque of the vehicle traveling for a particular vehicle, via instructions provided by the processor; and providing any additional required braking torque via friction braking, via instructions provided by the processor.

[0014] Also in an exemplary embodiment, the processor is further configured to at least facilitate: determining the maximum regenerative braking torque individually for each particular vehicle in such a manner that the maximum regenerative braking torque for each particular vehicle is positively correlated with the load on the vehicle for that particular vehicle.

[0015] Also in an exemplary embodiment: one or more sensors include one or more axle sensors of a vehicle, configured to acquire axle sensor data relating to loads on a particular axle of the vehicle during travel of the particular vehicle; and the processor is further configured to at least facilitate: determining, based on the loads on the particular axle, the maximum regenerative braking torque for the particular axle traveling on the particular vehicle; and, based on the maximum regenerative braking torque for the particular axle traveling on the particular vehicle, controlling the amount of regenerative braking torque applied to the particular axle according to instructions provided by the processor.

[0016] Also in an exemplary embodiment, one or more sensors include: one or more front axle sensors of a vehicle configured to acquire front axle sensor data relating to loads on the front axle of the vehicle during travel of a particular vehicle; one or more rear axle sensors of the vehicle configured to acquire rear axle sensor data relating to loads on the rear axle of the vehicle during travel of a particular vehicle; and the processor is further configured to at least facilitate: determining a maximum regenerative braking torque on the front axle of the vehicle traveling for the particular vehicle based on the loads on the front axle; determining a maximum regenerative braking torque on the rear axle of the vehicle traveling for the particular vehicle based on the loads on the rear axle; and, according to instructions provided by the processor, controlling a first amount of regenerative braking torque applied to the front axle based on the maximum regenerative braking torque on the front axle of the vehicle traveling for the particular vehicle; and controlling a second amount of regenerative braking torque applied to the rear axle based on the maximum regenerative braking torque on the rear axle of the vehicle traveling for the particular vehicle.

[0017] Similarly, in the exemplary embodiment, the processor is also configured to at least facilitate determining the load based on one or more other parameters of the sensor data.

[0018] In another exemplary embodiment, a vehicle is provided, comprising: a body, a propulsion system; one or more sensors; and a processor. The propulsion system is configured to generate motion of the body. The one or more sensors are configured to acquire sensor data relating to loads on the vehicle during travel of the particular vehicle. The processor is coupled to the one or more sensors and is configured to at least facilitate: determining, based on the loads on the vehicle, the maximum regenerative braking torque of the vehicle traveling for the particular vehicle; and, in conjunction with the braking intention of a driver or an autonomous braking system, controlling regenerative braking of the vehicle during travel of the particular vehicle, based on the maximum regenerative braking torque of the vehicle traveling for the particular vehicle, via instructions provided by the processor.

[0019] Also in an exemplary embodiment, the vehicle includes one or more additional sensors configured to acquire additional sensor data relating to the speed of the vehicle; wherein the processor is further configured to at least facilitate determining the maximum braking torque based on the speed of the vehicle in addition to the load.

[0020] Also in an exemplary embodiment, the processor is further configured to at least facilitate: providing regenerative braking torque in a calculated amount, based on the driver's braking intention or the braking intention of the autonomous braking system, conditioned on the maximum regenerative braking torque of the vehicle traveling for a particular vehicle, via instructions provided by the processor; and providing any additional required braking torque via friction braking, via instructions provided by the processor.

[0021] Also in an exemplary embodiment, the processor is further configured to at least facilitate: determining the maximum regenerative braking torque individually for each particular vehicle in such a manner that the maximum regenerative braking torque for each particular vehicle is positively correlated with the load on the vehicle for that particular vehicle.

[0022] Also in an exemplary embodiment: one or more sensors include one or more axle sensors of a vehicle, configured to acquire axle sensor data relating to loads on a particular axle of the vehicle during travel of the particular vehicle; and the processor is further configured to at least facilitate: determining, based on the loads on the particular axle, the maximum regenerative braking torque for the particular axle traveling on the particular vehicle; and, based on the maximum regenerative braking torque for the particular axle traveling on the particular vehicle, controlling the amount of regenerative braking torque applied to the particular axle according to instructions provided by the processor.

[0023] Also in an exemplary embodiment, one or more sensors include: one or more front axle sensors of a vehicle configured to acquire front axle sensor data relating to loads on the front axle of the vehicle during travel of a particular vehicle; one or more rear axle sensors of the vehicle configured to acquire rear axle sensor data relating to loads on the rear axle of the vehicle during travel of a particular vehicle; and the processor is further configured to at least facilitate: determining a maximum regenerative braking torque on the front axle of the vehicle traveling for the particular vehicle based on the loads on the front axle; determining a maximum regenerative braking torque on the rear axle of the vehicle traveling for the particular vehicle based on the loads on the rear axle; and, according to instructions provided by the processor, controlling a first amount of regenerative braking torque applied to the front axle based on the maximum regenerative braking torque on the front axle of the vehicle traveling for the particular vehicle; and controlling a second amount of regenerative braking torque applied to the rear axle based on the maximum regenerative braking torque on the rear axle of the vehicle traveling for the particular vehicle. Attached Figure Description

[0024] The present disclosure is described below with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0025] Figure 1 This is a functional block diagram of a vehicle having regenerative braking capability and a control system for controlling regenerative braking based on loads on the vehicle axles, according to an exemplary embodiment.

[0026] Figure 2 This is a regenerative braking system for load control on a vehicle axle, according to an exemplary embodiment, and can be combined with a control system thereof. Figure 1 A flowchart of the process achieved by means of transportation; and

[0027] Figures 3 to 4 The exemplary embodiments are illustrated. Figure 2 An exemplary implementation of the process. Detailed Implementation

[0028] The following detailed description is exemplary in nature and is not intended to limit this disclosure or its application and use. Furthermore, it is not intended to be bound by the foregoing background information or any theories set forth in the following detailed description.

[0029] Figure 1 A vehicle 100 is shown. In various embodiments and as described below, the vehicle 100, according to exemplary embodiments, includes a control system 102 for controlling various functions of the vehicle 100, including controlling regenerative braking of the vehicle 100 based on the load on one or more axles 114 of the vehicle 100. Figure 1 As shown, the vehicle 100 has two axles 114, including a front axle 115 and a rear axle 117. It should be understood that in different embodiments, the vehicle 100 may include a different number of axles 114.

[0030] In various embodiments, vehicle 100 includes an automobile. In some embodiments, vehicle 100 can be any of many different types of automobiles, such as, for example, a sedan, van, truck, or SUV, and can be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD), and / or various other types of vehicles. In some embodiments, vehicle 100 may also include motorcycles or other vehicles, such as aircraft, spacecraft, boats, etc., and / or one or more other types of mobile platforms (e.g., robots and / or other mobile platforms).

[0031] like Figure 1 The illustrated vehicle 100 includes a body 104 disposed on a chassis 116. The body 104 substantially surrounds the other components of the vehicle 100. The body 104 and the chassis 116 may together form a frame. The vehicle 100 also includes a plurality of wheels 112 and axles 114 coupled thereto. Each wheel 112 is rotatably coupled to the chassis 116 near a corresponding corner of the body 104 to facilitate movement of the vehicle 100. In one embodiment, the vehicle 100 includes four wheels 112, although this may differ in other embodiments (e.g., for trucks and certain other vehicles).

[0032] The drive system 110 is mounted on the chassis 116 and drives the wheels 112 via axle 114. In the illustrated embodiment, the drive system includes a propulsion system comprising one or more engines 111 and / or motors 113. In one embodiment, the drive system 110 includes an internal combustion engine 111 and an electric motor / generator 113 coupled to its transmission. However, it will be understood that this may differ in other embodiments. For example, in some embodiments, an electric motor / generator 113 may be utilized without the additional engine 111, etc. In various embodiments, the vehicle 100 may incorporate any one or a combination of many different types of propulsion systems, such as: for example, a gasoline or diesel fuel internal combustion engine, a "flexible fuel vehicle" (FFV) engine (i.e., using a mixture of gasoline and alcohol), a gaseous compound (e.g., hydrogen and / or natural gas) fuel engine, an internal combustion engine / electric motor hybrid engine, and an electric motor.

[0033] Similarly, Figure 1 The vehicle 100, as depicted, also includes a rechargeable energy storage system (RESS) 108. In various embodiments, the RESS 108 (e.g., including one or more vehicle batteries) powers the drive system 110, such as one or more of its engines 111 and / or its motor 113.

[0034] In addition, such as Figure 1 The vehicle 100, as depicted, also includes a braking system 106. In various embodiments, the braking system 106 includes a brake pedal 107 for the driver of the vehicle 100 to provide input for controlling braking via the braking system 106. In various embodiments, the braking system 106 includes regenerative braking functionality (e.g., where the motor 113 operates in reverse mode to charge the RESS 108) and non-regenerative braking functionality (e.g., where friction braking is used only without charging the RESS 108). In some embodiments, the driver may control braking by providing driver braking input, at least in part, via the brake pedal 107 or via one or more other means such as an accelerator pedal (e.g., in some embodiments, such as "one-pedal actuation," where releasing the pedal (e.g., the accelerator pedal) can cause the driver to request deceleration and / or braking, etc.). Also in some embodiments, braking intent may be obtained from one or more autonomous functions and / or systems of the vehicle (e.g., autonomous driving, semi-autonomous driving, adaptive cruise control, etc.).

[0035] exist Figure 1 In the illustrated embodiment, the control system 102 is coupled to the braking system 106 and the drive system 110. In some embodiments, such as Figure 1As shown in the diagram, the control system 102 can also be connected to the RESS 108 (e.g., directly connected to the RESS 108 and / or indirectly connected to the RESS 108 via the drive system 110). Similarly, as... Figure 1 As illustrated, in various embodiments, the control system 102 includes a sensor array 120 and a controller 140.

[0036] In various embodiments, sensor array 120 includes various sensors that acquire sensor data to obtain information for controlling the braking (including regenerative braking) of the vehicle and various other vehicle functions. In the illustrated embodiment, sensor array 120 includes one or more input sensors 121, a front axle sensor 122, a rear axle sensor 123, other load sensors 124, and a speed sensor 125. It should be understood that in some embodiments, sensor array 120 may also include any number of other sensors.

[0037] In various embodiments, input sensor 121 receives input from the driver of vehicle 100. In various embodiments, input sensor 121 includes one or more brake pedal sensors coupled to brake pedal 107 of braking system 106. For example, in some embodiments, input sensor 121 includes one or more brake pedal travel sensors and / or brake pedal force sensors for detecting driver engagement of the brake pedal.

[0038] Similarly, in various embodiments, the front axle sensor 122 measures the load on the front axle 115 of the vehicle 100. In some embodiments, the front axle sensor 122 measures the mass and / or weight of the load on the front axle 115. In some embodiments, the front axle sensor 122 is integrated with and / or attached to the front axle 115 and / or otherwise coupled to the front axle 115.

[0039] Additionally, in various embodiments, the rear axle sensor 123 measures the load on the rear axle 117 of the vehicle 100. In some embodiments, the rear axle sensor 123 measures the mass and / or weight of the load on the rear axle 117. In some embodiments, the rear axle sensor 123 is integrated with and / or attached to the rear axle 117 and / or otherwise coupled to the rear axle 117.

[0040] Similarly, in various embodiments, the other load sensors 124 include one or more sensors configured to obtain sensor data that can be used to estimate loads on one or more axles 114 of the vehicle 100. For example, in some embodiments, the other load sensors 124 may include one or more scales and / or other sensors configured to measure or detect the total mass and / or total weight and / or center of gravity of the vehicle 100, as well as other possible sensors.

[0041] Similarly, in various embodiments, speed sensor 125 includes one or more sensors configured to measure and / or detect the speed of vehicle 100 and / or other sensor data that can be used to calculate the speed of vehicle 100. In some embodiments, speed sensor 125 includes one or more wheel speed sensors coupled to one or more wheels 112 of vehicle 100. In some other embodiments, speed sensor 125 may include, as other examples, one or more other speed sensors for vehicle 100, one or more accelerometers for vehicle 100, etc.

[0042] In some embodiments, the sensor array 120 may also include one or more additional types of sensors, such as one or more torque sensors as an example, as well as other different possible types of sensors.

[0043] In various embodiments, controller 140 is coupled to sensor array 120. In various embodiments, controller 140 may also be coupled to braking system 106, RESS 108, and / or drive system 110 (e.g., including its engine 111 and / or motor 113). Also in various embodiments, controller 140 includes a computer system (also referred to herein as computer system 140) and includes processor 142, memory 144, interface 146, storage device 148, and computer bus 150. In various embodiments, controller (or computer system) 140 controls the braking (including regenerative braking) of vehicle 100 and various other vehicle functions based on loads on different axles 115, 117. In various embodiments, controller 140 controls various other functions of vehicle 100, including its motion, for example, as part of the engine control unit (ECU) of vehicle 100. In various embodiments, controller 140... Figure 2 The process involves 200 steps and Figures 3 to 4 The implementation, and further described below, provides these and other functionalities.

[0044] In various embodiments, the controller 140 (and, in some embodiments, the control system 102 itself) is disposed within the body 104 of the vehicle 100. In one embodiment, the control system 102 is mounted on the chassis 116. In some embodiments, the controller 140 and / or the control system 102 and / or one or more components thereof may be disposed outside the body 104, for example on a remote server, in the cloud, or on other devices that remotely perform image processing.

[0045] It should be understood that controller 140 may otherwise differ from... Figure 1The embodiments illustrated herein. For example, controller 140 may be coupled to or otherwise utilize one or more remote computer systems and / or other control systems, for example as part of one or more of the aforementioned vehicle 100 devices and systems.

[0046] In the illustrated embodiment, the computer system of controller 140 includes a processor 142, a memory 144, an interface 146, a storage device 148, and a bus 150. The processor 142 performs the computational and control functions of controller 140 and may include any type of processor or multiple processors, a single integrated circuit such as a microprocessor, or any suitable number of integrated circuit devices and / or circuit boards working together to perform the functions of a processing unit. During operation, processor 142 executes one or more programs 152 contained in memory 144, and thus controls the general operation of controller 140 and the computer system of controller 140, typically in the course of performing the tasks described herein, such as... Figure 2 Process 200 and Figures 3 to 4 The implementation of this is further described below.

[0047] Memory 144 can be any suitable type of memory. For example, memory 144 can include various types of dynamic random access memory (DRAM) such as SDRAM, various types of static RAM (SRAM), and various types of non-volatile memory (PROM, EPROM, and flash memory). In some examples, memory 144 is located on the same computer chip as processor 142 and / or co-located on the same computer chip as processor 142. In the illustrated embodiment, memory 144 stores the above-described program 152 and one or more stored values ​​156 (e.g., thresholds for controlling regenerative braking).

[0048] Bus 150 is used to transmit programs, data, status, and other information or signals between various components of the computer system of controller 140. Interface 146 allows communication with the computer system of controller 140, for example from system drivers and / or another computer system, and can be implemented using any suitable methods and devices. In one embodiment, interface 146 obtains various data from sensor array 120. Interface 146 may include one or more network interfaces for communicating with other systems or components. Interface 146 may also include one or more network interfaces for communicating with technicians, and / or one or more storage interfaces for connecting to storage devices, such as storage device 148.

[0049] Storage device 148 can be any suitable type of storage device, including various types of direct access memory and / or other memory devices. In one exemplary embodiment, storage device 148 includes memory 144 from which a program product of program 152 can be received, and program 152 executes. Figure 2 One or more embodiments of process 200 and Figures 3 to 4 The implementation is as described below in conjunction with the following. In another exemplary embodiment, the program product may be stored directly in memory 144 and / or disk (e.g., disk 157) and / or otherwise accessed by memory 144 and / or disk (e.g., disk 157), as mentioned below.

[0050] Bus 150 can be any suitable physical or logical means of connecting computer systems and components. This includes, but is not limited to, direct hardwired connections, fiber optics, infrared, and wireless bus technologies. During operation, program 152 is stored in memory 144 and executed by processor 142.

[0051] It should be understood that although this exemplary embodiment has been described in the context of a full-featured computer system, those skilled in the art will recognize that the mechanisms of this disclosure are capable of being distributed as a program product, and that one or more types of non-transitory computer-readable signal-bearing media are used to store programs and their instructions and to implement their distribution, such as non-transitory computer-readable media carrying programs and containing computer instructions stored therein for causing a computer processor (such as processor 142) to execute and implement the program. Such program products can take many forms, and this disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used for implementing the distribution. Examples of signal-bearing media include: recordable media such as floppy disks, hard disk drives, memory cards, and optical disks; and transmission media such as digital and analog communication links. It should be understood that cloud-based storage and / or other technologies may also be utilized in some embodiments. Similarly, it should be understood that the computer system of controller 140 may also differ in other ways. Figure 1 The embodiments illustrated herein, such as the computer system of controller 140, may be connected to or may otherwise utilize one or more remote computer systems and / or other control systems.

[0052] Reference Figure 2 A flowchart of a process 200 for load-controlled regenerative braking on a vehicle axle, according to an exemplary embodiment, is provided. In various embodiments, process 200 may be combined with... Figure 1 The vehicle 100, including its control system 102, is used for implementation. The following is in conjunction with... Figure 2 as well as Figure 3 and Figure 4(It depicts an exemplary implementation of process 200) to describe process 200.

[0053] like Figure 2 As depicted, process 200 begins at step 202. In one embodiment, process 200 begins when the vehicle is in motion or the ignition cycle begins, such as when the driver or other user approaches or enters the vehicle 100, when the driver or other user turns on the vehicle and / or its ignition device (e.g., by turning a key, engaging a key fob, or pressing a start button, etc.), or when the vehicle begins operation (e.g., by driver action for a driver-controlled vehicle or via control system 102 in the case of an autonomous vehicle). In one embodiment, the steps of process 200 are performed continuously during vehicle operation.

[0054] In various embodiments, sensor data is obtained (step 204). In various embodiments, sensor data is obtained for the load on the axle of the vehicle 100.

[0055] In various embodiments, step 204 (obtaining sensor data) may be considered to include multiple steps (or sub-steps) 206-210 and other possible steps, as described below.

[0056] For example, in various embodiments, front axle load data is obtained in step 206. In various embodiments, via... Figure 1 Front axle sensor 122 measures and / or obtains Figure 1 The mass (or weight) of the load on the front axle 115. In some embodiments, the mass (or weight) of the load on the front axle 115 is transmitted via... Figure 1 The front axle sensor 122, via which the sensor is provided Figure 1 The signal is provided by the processor 142.

[0057] Similarly, in various embodiments, rear axle load data is obtained in step 208. In various embodiments, via... Figure 1 The rear axle sensor 123 measures and / or obtains Figure 1 The mass (or weight) of the load on the rear axle 117. In some embodiments, the mass (or weight) of the load on the rear axle 117 is transmitted via... Figure 1 The rear axle sensor 123, via which the information is provided Figure 1 The signal is provided by the processor 142.

[0058] Additionally, in various embodiments, other sensor data is obtained in step 210. In various embodiments, this data is based on the vehicle's total mass (or weight), the vehicle's center of gravity, and / or via... Figure 1 Other load sensors 124 obtain other sensor data to estimate Figure 1The mass (or weight) of the load on the rear axle 117. In some embodiments, this sensor data is transmitted via... Figure 1 Other load sensors 124, provided thereto Figure 1 The processor 142 provides signals, for example, to use these values ​​and / or other parameter values ​​to utilize a load estimation algorithm to estimate the load on one or both of the first and / or rear axles 115, 117.

[0059] Additionally, in various embodiments, the braking intention of a vehicle may also be determined by obtaining sensor data, such as from the driver and / or the vehicle's autonomous systems. For example, in some embodiments, sensor data regarding the driver's braking intention may be obtained via sensors coupled to the vehicle's brake pedal, accelerator pedal, and / or propulsion system. As an additional example, braking intention may also be determined for one or more autonomous driving systems of the vehicle, such as one or more systems for autonomous driving, semi-autonomous driving, adaptive cruise control, etc. Also in some embodiments, other sensor data may include data from... Figure 1 The speed data from the speed sensor 125 may also include, in some embodiments, one or more other types of sensor values ​​(e.g., torque values).

[0060] In various embodiments, sensor data is acquired during steps 204-210 throughout the duration of the current vehicle travel cycle, and preferably continuously throughout the duration of the current vehicle travel cycle.

[0061] In various embodiments, sensor data is received by a processor (step 212). In various embodiments, Figure 1 The processor 142 (e.g., of the engine control unit of vehicle 100) obtains the sensor data from steps 204-210. In some embodiments, the processor 142 obtains the sensor data by sending data to... Figure 1 The sensor array 120 and / or one or more associated load sensing devices send queries or otherwise communicate with Figure 1 The sensor array 120 and / or one or more associated load sensing devices negotiate to receive sensor data. In some embodiments, this query or negotiation occurs when the vehicle starts (e.g., at key-up) and after the vehicle has stopped for a predetermined amount of time (e.g., a predetermined number of seconds in some embodiments). In some other embodiments, this query or negotiation may continue to occur throughout process 200.

[0062] In some embodiments, filtering is performed on the sensor data (step 214). In different embodiments, Figure 1The processor 142 applies one or more filtering techniques to the sensor data in steps 204-212 to ensure the reasonableness of the sensor data values.

[0063] In various embodiments, one or more maximum torque limits for regenerative braking are calculated (step 216). In various embodiments, the processor (such as...) Figure 1 The processor 142) calculates the maximum torque limit based on the sensor data from steps 204-212 and as filtered during step 214. In various embodiments, the maximum torque limit is based on... Figure 1 The load measured and / or calculated for shaft 114. Specifically, in various embodiments, the maximum torque limit is a function of the positively correlated shaft load, such that: (i) the maximum torque limit increases with increasing shaft load; and (ii) the maximum torque limit decreases with decreasing shaft load. In various embodiments, the maximum torque limit is also based on vehicle speed.

[0064] In various embodiments, the maximum torque limit is increased (when axle load increases) and decreased (when axle load decreases) in such a way as to optimize regenerative braking torque while helping to maintain vehicle stability. Specifically, in some embodiments, this is based on a physics-based model: when there is a relatively high load on the axle, the vehicle is able to provide additional regenerative braking torque while maintaining vehicle stability, compared to other cases where there is a relatively low load on the axle.

[0065] In various embodiments, the maximum torque limit for regenerative braking can be raised and lowered individually for each axle 114 of the vehicle 100. For example, in some embodiments, the maximum torque limit for regenerative braking of the front axle 115 and rear axle 117 can be determined separately for each axle 115 and 117 based on different individual loads on the front axle 115 and rear axle 117, respectively. In some other embodiments, the maximum torque limit for different axles 115 and 117 can be raised and / or lowered independently based on the loads on the individual front axle 115 and rear axle 117, respectively. However, this can vary in other embodiments. In some embodiments, the maximum torque limit for regenerative braking may be determined individually or collectively for one or more shaft loads, individually or collectively, or some other combination thereof (e.g., in some embodiments, the maximum torque limit may be based on the higher of the two loads on shafts 115, 117, or the smaller of the two loads on shafts 115, 117, or the average of the loads on shafts 115, 117, etc.), and other possible variations in different embodiments, for the shaft individually and / or collectively.

[0066] As mentioned above, in some embodiments, the maximum regenerative braking torque of each axle 115, 117 can be calculated individually based on a separate load determined for each respective axle 115, 117. For example, in some embodiments: (i) the maximum regenerative braking torque of the front axle for a particular vehicle's operation is determined based on a front axle load, which is determined or measured based on front axle sensor data relating to the load on the front axle of the vehicle during the particular vehicle's operation; and (ii) the maximum regenerative braking torque of the rear axle for a particular vehicle's operation is determined based on a rear axle load, which is determined or measured based on rear axle sensor data relating to the load on the rear axle of the vehicle during the particular vehicle's operation. However, this may differ in other embodiments.

[0067] Similarly, in various embodiments, the maximum regenerative braking torque is determined individually by the processor for each specific vehicle in such a way that the maximum regenerative braking torque for each specific vehicle is positively correlated with the load on the vehicle for that specific vehicle. Specifically, in various embodiments: (i) when driving for a specific vehicle (e.g., ignition cycle), the load increases, driving for that specific vehicle via... Figure 1 The processor 142 increases the maximum regenerative braking torque; and (ii) when the load decreases for a particular vehicle (e.g., ignition cycle), the processor 142 increases the maximum regenerative braking torque; and when the load decreases for a particular vehicle, the processor 142 increases the maximum regenerative braking torque for a particular vehicle. Figure 1 The processor 142 reduces the maximum regenerative braking torque.

[0068] In various embodiments, a regenerative torque is applied (step 218). In various embodiments, a processor (such as...) Figure 1 The processor 142) uses Figure 1 The braking system 106 and motor 113 control the braking of the vehicle 100, including the application of friction and regenerative braking. In various embodiments, the processor 142, conditioned on the maximum torque limit of step 216, provides an indication of regenerative braking torque (e.g., including reversing the motor 113 to counteract the braking force of the vehicle 100) based on the driver's braking intention (e.g., based on sensor data regarding the vehicle's brake pedal and / or accelerator pedal and / or propulsion system) and / or the braking intention of the autonomous braking system (e.g., from an autonomous driving system, adaptive cruise control, etc.). Figure 1 (The RESS 108 is charged). In various embodiments, regenerative braking torque is provided computationally based on the driver's or autonomous system's braking intent, conditioned on the maximum regenerative braking torque of the vehicle traveling for a particular vehicle, and any additional required braking torque is provided via friction braking via instructions provided by the processor.

[0069] In some embodiments, the regenerative braking torque of each axle of the vehicle is controlled individually based on the corresponding maximum regenerative braking torque values ​​of the respective axles of the vehicle. For example, in some embodiments, the regenerative braking torque is controlled, according to instructions provided by a processor to the vehicle's braking system, in such a way as to: (i) provide a first amount of regenerative braking torque applied to the front axle based on the first maximum regenerative braking torque applied to the front axle for a particular vehicle; and (ii) provide a second amount of regenerative braking torque applied to the rear axle based on the second maximum regenerative braking torque applied to the rear axle for a particular vehicle. However, this may differ in other embodiments. For example, in some embodiments, regenerative braking may be provided across two axles in equal amounts based on one or more defined axle loads, and other possible variations in different embodiments.

[0070] In various embodiments, the remainder of the current driving cycle throughout process 200 utilizes the maximum torque limit of step 216. In various embodiments, for each driving cycle, the maximum torque limit is dynamically adjusted in step 216 and utilized in step 218.

[0071] In various embodiments, it is determined whether the current vehicle travel cycle is completed (step 222). In various embodiments, the determination is performed throughout the current vehicle travel cycle, for example, continuously throughout the current vehicle travel cycle.

[0072] In various embodiments, if it is determined during step 222 that the current vehicle travel cycle is not completed, the process returns to step 204 and repeats steps 204-220 until it is determined in the iteration of step 220 that the current vehicle travel cycle is completed. Also in various embodiments, once it is determined in the iteration of step 220 that the current vehicle travel cycle is completed, process 200 terminates in step 222.

[0073] Figure 3 and Figure 4 An exemplary implementation of process 200 according to an exemplary embodiment is provided.

[0074] First, such as Figure 3 As shown, a first illustration 300 is provided, which illustrates the regenerative braking torque calculated as a function of the vehicle speed according to a first exemplary embodiment.

[0075] like Figure 3 The first illustration 300 provides a curve of regenerative braking torque based on the vehicle speed. Specifically, the first illustration 300 includes an x-axis 301 representing the vehicle speed in kilometers per hour (kph) and a y-axis 302 representing the regenerative braking torque in newton-meters (Nm).

[0076] like Figure 3 The diagram shows that when the vehicle speed is within the first range of 315, the regenerative braking torque includes a range with a first value of 310. For example... Figure 3 As shown, within this first range 315 where vehicle speeds are relatively low (e.g., approximately 0 to 5 km / h in the illustrated example), the first value 310 of the regenerative braking torque increases in magnitude as a function of vehicle speed, with a positive slope and an upward trajectory. In various embodiments, this corresponds to the end of the mixing of regenerative braking torque and friction braking torque.

[0077] Similarly, Figure 3 The diagram shows that when the vehicle speed is in a second range of 325, which is greater than the first range of 315, the regenerative braking torque also includes a range of a second value of 320. For example... Figure 3 As shown, within this second range 325 at moderate vehicle speeds (e.g., approximately five to seventy-five kilometers per hour in the illustrated example), the second value 320 of the regenerative braking torque is flat in magnitude, with zero slope. In various embodiments, this corresponds to the maximum regenerative braking torque used to maintain vehicle stability, such as in... Figure 2 The process was calculated during the 200 period.

[0078] Similarly, Figure 3 The diagram shows that when the vehicle speed is in a third range 335, which is greater than both the first range 315 and the second range 325, the regenerative braking torque also includes a range with a third value 330. For example... Figure 3 As shown, in this third range 335 where vehicle speeds are relatively high (e.g., above approximately 75 km / h in the illustrated example), the third value 330 of the regenerative braking torque decreases as a function of vehicle speed, exhibiting a negative slope. In various embodiments, this corresponds to... Figure 1 The capabilities of the RESS 108 and the maximum regenerative braking torque at the current power level.

[0079] Next, as Figure 4 The illustration provided is a second figure 400, which shows the regenerative braking torque calculated as a function of the vehicle speed according to a second exemplary embodiment. Figure 4 The second illustration 400 includes the same x-axis 301 (representing vehicle speed in kilometers per hour (kph)) and y-axis 302 (representing regenerative braking torque in newton-meters (Nm)). The second illustration 400 also plots data from... Figure 3 The first value of the regenerative braking torque is 310, the second value is 320 and the third value is 330.

[0080] However, according to the second exemplary embodiment, the second figure 400 depicts possible different offsets of the second value 320 of the regenerative braking torque, indicating that, based on... Figure 2 The possible different offsets of the maximum value of the regenerative braking torque in step 216 of process 200.

[0081] Specifically, according to an exemplary embodiment, if the shaft load exceeds a predetermined threshold, the relatively high maximum value 460 of the regenerative braking torque is used as the new second value 460 of the regenerative braking torque, instead of the value from... Figure 3 The original second value 320. Conversely, also according to the exemplary embodiment, if the shaft load is less than a predetermined threshold, the relatively low maximum value 470 of the regenerative braking torque is used as the new second value 470 of the regenerative braking torque, instead of the value from the original second value 320. Figure 3 The original second value is 320.

[0082] Therefore, as Figure 4 As shown, in various embodiments, based on Figure 2 The maximum value calculated in step 216 of process 200 is used as the regenerative braking torque, instead of different maximum values ​​of 460 or 470. Figure 3 The original maximum value is 320. For example... Figure 4 As shown, in an exemplary embodiment, the difference between the different maximum values ​​460 and 470 can be represented by the difference magnitude 450.

[0083] Therefore, methods, systems, and vehicles are provided for controlling the regenerative braking torque of a vehicle based on the load on its axles. Dynamically adjusting the maximum regenerative braking torque using the current load on the vehicle's axles offers the potential for optimal regenerative braking while maintaining vehicle stability.

[0084] In various embodiments, the techniques described herein can be used in conjunction with vehicles that have a human driver but also autonomous capabilities (e.g., adaptive cruise control). In various embodiments, the techniques described herein can also be used in conjunction with autonomous vehicles (such as semi-autonomous and / or fully autonomous vehicles).

[0085] It should be understood that the systems, vehicles, and methods may differ from those depicted in the accompanying drawings and described herein. For example, Figure 1 The vehicle 100 and / or its parts may be compatible with Figure 1 The differences are illustrated in the diagram. Similarly, it should be understood that the steps in process 200 may differ from those in the diagram. Figure 2 The steps depicted in the diagram, and / or the individual steps of process 200, can occur simultaneously and / or in different ways. Figure 2 The sequence shown in the diagram occurs. Similarly, it should be understood that in various embodiments, Figure 3 and Figure 4 The various implementations can also differ.

[0086] While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that numerous variations exist. It should also be understood that the exemplary embodiments or multiple exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of this disclosure in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient roadmap for implementing the exemplary embodiments or multiple exemplary embodiments. It should be understood that various changes can be made to the function and arrangement of the elements without departing from the scope of this disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. A method for controlling regenerative braking of a vehicle, the method comprising: Front axle sensor data relating to the front axle load on the front axle of the vehicle is obtained via one or more front axle sensors during vehicle operation; Rear axle sensor data relating to the rear axle load on the rear axle of the vehicle is obtained via one or more rear axle sensors during the operation of the vehicle; Additional sensor data relating to the speed of the vehicle is obtained via one or more additional sensors of the vehicle; The maximum regenerative braking torque of the front axle of the vehicle is determined by the processor of the vehicle based on both the front axle load and the speed of the vehicle. The processor determines the maximum regenerative braking torque of the rear axle of the vehicle while it is in motion, based on both the rear axle load and the speed of the vehicle. as well as Based on the driver's braking intention or the braking intention of the autonomous braking system, the regenerative braking of the vehicle during its operation is controlled by applying a first amount of regenerative braking torque to the front axle based on the maximum regenerative braking torque of the front axle and a second amount of regenerative braking torque to the rear axle based on the maximum regenerative braking torque of the rear axle, via instructions provided by the processor. Wherein, if the front axle load exceeds a first predetermined threshold, the relatively higher maximum value is used as the maximum regenerative braking torque of the front axle; if the front axle load is less than a second predetermined threshold, the relatively lower maximum value is used as the maximum regenerative braking torque of the front axle. Wherein, if the rear axle load exceeds the first predetermined threshold, the relatively higher maximum value is used as the maximum regenerative braking torque of the rear axle; if the rear axle load is less than the second predetermined threshold, the relatively lower maximum value is used as the maximum regenerative braking torque of the rear axle.

2. The method according to claim 1, wherein, The steps for controlling the regenerative braking include: Regenerative braking torque is provided in a calculated amount based on the driver's braking intention or the braking intention of the autonomous braking system, conditioned on the maximum regenerative braking torque of the front axle and the maximum regenerative braking torque of the vehicle traveling on the vehicle, via the instructions provided by the processor; and Any additional required braking torque is provided via friction braking, as indicated by the processor.

3. The method according to claim 1, wherein, The processor determines the maximum regenerative braking torque of the front axle and the maximum regenerative braking torque of the rear axle individually for each vehicle, such that the maximum regenerative braking torque of the front axle for each vehicle is positively correlated with the front axle load on the vehicle and the maximum regenerative braking torque of the rear axle for each vehicle is positively correlated with the rear axle load on the vehicle.

4. The method according to claim 1, further comprising: The processor determines the front axle load or the rear axle load based on one or more other parameters from the sensor data.

5. A system for controlling regenerative braking of a vehicle, the system comprising: One or more front axle sensors are configured to acquire front axle sensor data relating to the front axle load on the front axle of the vehicle during vehicle operation; One or more rear axle sensors are configured to acquire rear axle sensor data relating to the rear axle load on the rear axle of the vehicle during travel. One or more additional sensors are configured to acquire additional sensor data related to the speed of the vehicle; as well as A processor, coupled to the one or more front axle sensors, the one or more rear axle sensors, and the one or more additional sensors, is configured to at least facilitate: The maximum regenerative braking torque of the front axle of the vehicle is determined based on both the front axle load and the speed of the vehicle. The maximum regenerative braking torque of the rear axle of the vehicle is determined based on both the rear axle load and the speed of the vehicle. as well as Based on the driver's braking intention or the braking intention of the autonomous braking system, the regenerative braking of the vehicle during its operation is controlled by applying a first amount of regenerative braking torque to the front axle based on the maximum regenerative braking torque of the front axle and a second amount of regenerative braking torque to the rear axle based on the maximum regenerative braking torque of the rear axle, via instructions provided by the processor. Wherein, if the front axle load exceeds a first predetermined threshold, the relatively higher maximum value is used as the maximum regenerative braking torque of the front axle; if the front axle load is less than a second predetermined threshold, the relatively lower maximum value is used as the maximum regenerative braking torque of the front axle. Wherein, if the rear axle load exceeds the first predetermined threshold, the relatively higher maximum value is used as the maximum regenerative braking torque of the rear axle; if the rear axle load is less than the second predetermined threshold, the relatively lower maximum value is used as the maximum regenerative braking torque of the rear axle.

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