Brake compensation control system and method during limited energy recovery

Abstract

The invention provides a brake compensation control system and method during limited energy recovery, and relates to the field of energy recovery. According to the method and the device, after the master control node calculates the total sliding energy recovery torque, whether the total sliding energy recovery torque is within the preset expected torque range or not is checked, so that unexpected speed reduction of the whole vehicle caused by inaccurate calculation of the total sliding energy recovery torque of the master control node can be avoided; and the brake compensation control accuracy when the energy recovery is limited is improved. In addition, the hydraulic execution module conducts rationality verification and range verification operation on the hydraulic braking torque, unexpected speed reduction of the whole vehicle caused by unreasonable or inaccurate hydraulic braking torque distributed to the main control node can be avoided, and the braking compensation control accuracy when energy recovery is limited is improved.

Description

Technical Field

[0001] The present application relates to the field of energy recovery, and more specifically, to a braking compensation control system and method when energy recovery is limited. Background Art

[0002] The coasting energy recovery braking function is enabled. When the vehicle's energy recovery braking is limited, in order to maintain consistent drivability of the entire vehicle, the hydraulic braking torque is output to compensate for the limited part of the motor braking.

[0003] During braking, how to accurately implement brake compensation control when energy recovery is limited is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In view of this, the present application provides a brake compensation control system and method when energy recovery is limited, so as to solve the problem of the urgent need to accurately implement brake compensation control when energy recovery is limited.

[0005] In order to solve the above technical problems, this application adopts the following technical solutions:

[0006] A braking compensation control system when energy recovery is limited, comprising a main control node, a hydraulic execution module and a motor execution module;

[0007] The main control node is used to calculate the total coasting energy recovery torque, and if the total coasting energy recovery torque is within a preset expected torque range, distribute the total coasting energy recovery torque to obtain a hydraulic braking torque and a motor braking torque, and send the hydraulic braking torque to a hydraulic execution module, and send the motor braking torque to a motor execution module;

[0008] The hydraulic execution module is used to perform a rationality check and a range check operation on the hydraulic braking torque, and if both the rationality check and the range check are passed, perform a braking operation according to the hydraulic braking torque;

[0009] The motor execution module is used for executing a braking operation corresponding to the motor braking torque.

[0010] Optionally, when the main control node is used to distribute the total coasting energy recovery torque to obtain the hydraulic braking torque and the motor braking torque, it is specifically used to:

[0011] Obtaining the maximum braking torque of the motor execution module;

[0012] If the total coasting energy recovery torque is greater than the maximum braking torque, using the maximum braking torque as the motor braking torque;

[0013] The difference between the total coasting energy recovery torque and the maximum braking torque is used as the hydraulic braking torque.

[0014] Optionally, sending the hydraulic braking torque to a hydraulic execution module, and sending the motor braking torque to a motor execution module, comprises:

[0015] Sending the hydraulic braking torque to a hydraulic braking torque request external module, and outputting the hydraulic braking torque request value to a hydraulic execution module through the hydraulic braking torque request external module;

[0016] The motor braking torque is sent to a motor braking torque request external transmission module, and the motor braking torque request external transmission module outputs a motor braking torque request value to a motor execution module.

[0017] Optionally, when the hydraulic execution module is used to perform rationality check on the hydraulic braking torque, it is specifically used to:

[0018] Acquiring vehicle operation information; the vehicle operation information includes vehicle gear value, vehicle speed, motor torque, and the enabling state of the braking compensation function when energy recovery is limited;

[0019] If the vehicle operation information satisfies any one of the first condition, the second condition or the third condition, it is determined that the rationality check fails; the first condition is that the vehicle gear value is D gear, the vehicle speed is greater than the preset vehicle speed threshold, and the motor torque is positive; the second condition is that the vehicle gear value is R gear, the vehicle speed is greater than the preset vehicle speed threshold, and the motor torque is negative; the third condition is that the enabling state of the braking compensation function when energy recovery is limited is that the braking compensation function when energy recovery is limited is not enabled;

[0020] If the vehicle operation information does not satisfy any one of the first condition, the second condition and the third condition, it is determined that the rationality check has passed.

[0021] Optionally, when the hydraulic actuator module is used to perform a range check operation on the hydraulic brake torque, it is specifically used to:

[0022] determining whether the hydraulic braking torque is within a preset hydraulic braking range;

[0023] If it is, it is determined that the range check has passed;

[0024] If not, the range check fails.

[0025] Optionally, the master control node is further used for:

[0026] Acquire the hydraulic brake torque request value output by the hydraulic brake torque request external module, and acquire the motor brake torque request value output by the motor brake torque request external module;

[0027] If the sum of the hydraulic brake torque request value and the motor brake torque request value exceeds the total brake safety threshold, output a downgrade instruction to the hydraulic execution module;

[0028] Determining whether the motor braking torque request value exceeds the motor braking safety threshold;

[0029] If the motor braking torque request value exceeds the motor braking safety threshold, a downgrade instruction is output to the motor execution module.

[0030] Optionally, the hydraulic execution module is also used for:

[0031] In response to the downgrade command, calculating a driver demand torque;

[0032] Calculating a hydraulic braking reference torque according to the driver's required torque and the motor braking actual torque of the motor execution module;

[0033] Get the accelerator pedal opening and brake pedal opening;

[0034] determining an execution strategy according to the accelerator pedal opening, the brake pedal opening and the hydraulic brake reference torque;

[0035] An operation corresponding to the execution policy is executed.

[0036] Optionally, the hydraulic execution module is used to determine the execution strategy according to the accelerator pedal opening, the brake pedal opening and the hydraulic brake reference torque, specifically for:

[0037] If the accelerator pedal opening is not zero, configuring the execution strategy to release pressure at a first rate;

[0038] If the brake pedal opening is not zero, determine the pedal braking torque, take the sum of the hydraulic brake reference torque and the pedal braking torque as the target braking torque, and determine the execution strategy to brake according to the target specified torque;

[0039] If the accelerator pedal opening and the brake pedal opening are both zero, the execution strategy is set to release pressure at a second rate after braking for a specified time according to the hydraulic brake reference torque; the first rate is greater than the second rate.

[0040] Optionally, the master control node is further used for:

[0041] The torque of the motor execution module when executing the braking operation is monitored.

[0042] A braking compensation control method when energy recovery is limited is applied to the above-mentioned braking compensation control system when energy recovery is limited. The braking compensation control method when energy recovery is limited includes:

[0043] The main control node calculates the total coasting energy recovery torque, and if the total coasting energy recovery torque is within a preset expected torque range, distributes the total coasting energy recovery torque to obtain a hydraulic braking torque and a motor braking torque, sends the hydraulic braking torque to a hydraulic execution module, and sends the motor braking torque to a motor execution module;

[0044] The hydraulic execution module performs a rationality check and a range check operation on the hydraulic braking torque, and if both the rationality check and the range check are passed, performs a braking operation according to the hydraulic braking torque;

[0045] The motor execution module executes a braking operation corresponding to the motor braking torque.

[0046] The present application provides a control system and method for brake compensation when energy recovery is limited. In the present application, after calculating the total coasting energy recovery torque, the master control node will check whether the total coasting energy recovery torque is within the preset expected torque range, which can avoid the unexpected deceleration of the whole vehicle caused by the inaccurate calculation of the total coasting energy recovery torque of the master control node, and improve the accuracy of brake compensation control when energy recovery is limited. In addition, the hydraulic execution module performs rationality verification and range verification operations on the hydraulic brake torque, which can avoid the unexpected deceleration of the whole vehicle caused by unreasonable or inaccurate values ​​assigned to the hydraulic brake torque by the master control node, and improve the accuracy of brake compensation control when energy recovery is limited. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0048] Figure 1 A structural diagram of a braking compensation control system when energy recovery is limited in an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of a braking compensation control system when energy recovery is limited in an embodiment of the present invention;

[0050] Figure 3is a schematic diagram of another scenario of a braking compensation control system when energy recovery is limited in an embodiment of the present invention;

[0051] Figure 4 is a flow chart of a rationality verification method in an embodiment of the present invention;

[0052] Figure 5 The figure is a flow chart of a braking compensation control method when energy recovery is limited in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] The coasting energy recovery braking function is enabled. When the vehicle's energy recovery braking is limited, in order to maintain consistent drivability of the entire vehicle, the hydraulic braking torque is output to compensate for the limited part of the motor braking.

[0055] During braking, how to accurately implement brake compensation control when energy recovery is limited is a technical problem that technical personnel in this field urgently need to solve.

[0056] To this end, the present invention provides a braking compensation control system and method when energy recovery is limited. In this application, after calculating the total coasting energy recovery torque, the master control node will check whether the total coasting energy recovery torque is within the preset expected torque range, which can avoid the unexpected deceleration of the whole vehicle caused by the inaccurate calculation of the total coasting energy recovery torque of the master control node, and improve the accuracy of the braking compensation control when energy recovery is limited. In addition, the hydraulic execution module performs rationality verification and range verification operations on the hydraulic braking torque, which can avoid the unexpected deceleration of the whole vehicle caused by unreasonable or inaccurate values ​​assigned to the hydraulic braking torque by the master control node, and improve the accuracy of the braking compensation control when energy recovery is limited.

[0057] Based on the above content, an embodiment of the present invention provides a braking compensation control system when energy recovery is limited. Figure 1 , may include a main control node 11, a hydraulic execution module 12 and a motor execution module 13.

[0058] Among them, Figure 2 As shown, the main control node calculates the total coasting energy recovery torque, allocates motor braking and hydraulic braking based on function enable judgment, and requests the hydraulic execution module and the motor execution module to execute the corresponding torque requests respectively.

[0059] Failures such as the motor braking torque assigned by the master control node being too large, the motor braking torque actually executed by the motor execution module being too large, and the motor braking torque not being executed unexpectedly when the motor execution module does not receive the motor braking torque request can be avoided through corresponding measures such as torque monitoring of the master control node. The hydraulic execution module can also avoid the hydraulic braking torque actually being too large, response delays, jamming when executing hydraulic braking, and unexpected execution of hydraulic braking torque when no hydraulic braking torque request is received. However, the current solution still has the following failures that cannot be covered:

[0060] 1. The total torque calculation of the glide energy recovery of the master control node is too large;

[0061] 2. The torque allocated to the hydraulic brake by the master control node is too large;

[0062] 3. The master node function is mistakenly enabled;

[0063] Therefore, it is necessary to design a safety solution to monitor the above-mentioned legacy failures to avoid hazards.

[0064] To this end, in the embodiment of the present invention, the implementation process of the main control node, the hydraulic execution module and the motor execution module is improved, and the improved functional diagram is as follows: Figure 3 .

[0065] The master control node can calculate the total coasting energy recovery torque through its own total coasting energy recovery torque calculation module. In order to prevent the total coasting energy recovery torque calculated by the master control node from being invalid due to being too large, thereby causing unexpected deceleration of the whole vehicle, in the embodiment of the present invention, a preset expected torque range of the total coasting energy recovery torque is set, and the expected total coasting energy recovery torque protection module is used to determine whether the total coasting energy recovery torque is within the preset expected torque range. If it is, it means that the numerical range of the total coasting energy recovery torque currently calculated is reasonable and will not cause unexpected deceleration.

[0066] If the total coasting energy recovery torque is within the preset expected torque range, if the function enable judgment module determines that the braking compensation function when energy recovery is limited is turned on, that is, the user allows the braking compensation operation when energy recovery is limited, then the coasting energy recovery torque distribution module is used to distribute the total coasting energy recovery torque to obtain the hydraulic braking torque and the motor braking torque. If the braking compensation function when energy recovery is limited is not turned on, the torque distribution operation is not performed.

[0067] During specific distribution, the coasting energy recovery torque distribution module considers the actual negative torque capacity of the motor execution module and gives priority to the motor negative torque capacity. When the motor negative torque capacity cannot meet the calculated total coasting energy recovery torque, the missing part is compensated by hydraulic braking.

[0068] To elaborate, the actual negative torque capacity of the motor execution module is determined by the maximum braking torque of the motor execution module. The maximum braking torque of the motor execution module is obtained. If the total coasting energy recovery torque is not greater than the maximum braking torque, it means that the current motor braking can provide the required braking force. At this time, only motor braking is performed, and hydraulic braking is not performed.

[0069] If the total coasting energy recovery torque is greater than the maximum braking torque, it means that the current motor braking cannot provide the required braking force and hydraulic braking assistance is required. At this time, the maximum braking torque is used as the motor braking torque, and the difference between the total coasting energy recovery torque and the maximum braking torque is used as the hydraulic braking torque. At this time, the sum of the motor braking and the hydraulic braking is theoretically the required total coasting energy recovery torque.

[0070] Subsequently, the main control module sends the hydraulic braking torque to the hydraulic execution module, and sends the motor braking torque to the motor execution module, so that the hydraulic execution module and the motor execution module perform corresponding braking operations.

[0071] After receiving the hydraulic braking torque, the hydraulic execution module does not brake immediately according to the torque, but performs rationality check and range check operations on the hydraulic braking torque. If both the rationality check and the range check are passed, the braking operation is performed according to the hydraulic braking torque. The range check can avoid unexpected deceleration of the whole vehicle caused by the failure of the main control node to assign a large hydraulic braking torque, and the rationality check can avoid unexpected deceleration of the whole vehicle caused by the failure of the main control node function to be incorrectly enabled.

[0072] After receiving the motor braking torque, the motor execution module executes a braking operation corresponding to the motor braking torque.

[0073] In order to ensure the reliability of the execution of the motor execution module, the main control node can monitor the torque of the motor execution module when it performs a braking operation. Failures such as the unexpected execution of the motor braking torque when the motor execution module actually executes a large motor braking torque or the motor execution module does not receive a motor braking torque request can be avoided through corresponding measures such as torque monitoring of the main control node.

[0074] In this embodiment, after calculating the total coasting energy recovery torque, the master control node will check whether the total coasting energy recovery torque is within the preset expected torque range, which can avoid unexpected deceleration of the vehicle caused by inaccurate calculation of the total coasting energy recovery torque by the master control node, and improve the accuracy of brake compensation control when energy recovery is limited. In addition, the hydraulic execution module performs rationality verification and range verification operations on the hydraulic brake torque, which can avoid unexpected deceleration of the vehicle caused by unreasonable or inaccurate values ​​assigned to the hydraulic brake torque by the master control node, and improve the accuracy of brake compensation control when energy recovery is limited.

[0075] In addition, the master control node adds expected total coasting energy recovery torque protection, and avoids the problem of unexpected deceleration caused by the total coasting energy recovery torque calculated by the master control node exceeding the safety threshold by constraining the calculated total coasting energy recovery torque within a safe range.

[0076] Another embodiment of the present invention introduces the process of rationality verification of the hydraulic execution module. Specifically, the hydraulic execution module verifies the hydraulic braking request including the hydraulic braking torque issued by the main control node, and determines whether the request is reasonable. If it is reasonable, the hydraulic braking request is responded to, and if it is unreasonable, the hydraulic braking request is not responded to. For details, refer to Figure 4 , the rationality verification process includes:

[0077] S11. Obtain vehicle operation information.

[0078] The vehicle operation information includes the vehicle gear value, vehicle speed, motor torque, and the enabling state of the brake compensation function when energy recovery is limited. The motor torque refers to the torque value of the drive motor in the motor execution module.

[0079] S12: If the vehicle operation information satisfies any one of the first condition, the second condition or the third condition, it is determined that the rationality check has failed.

[0080] The first condition is: the vehicle gear is D gear, the vehicle speed is greater than the preset speed threshold, and the motor torque is positive. If the vehicle gear is D gear, the vehicle speed is greater than the preset speed threshold, and the motor torque is positive, it means that the vehicle is currently accelerating forward, and the user wants to accelerate instead of brake, so the rationality check fails, and the hydraulic execution module does not perform the braking operation.

[0081] The second condition is that the vehicle gear value is R gear, the vehicle speed is greater than the preset vehicle speed threshold, and the motor torque is negative. If the vehicle gear value is R gear, the vehicle speed is greater than the preset vehicle speed threshold, and the motor torque is negative, the vehicle is accelerating backwards, and the user also wants to accelerate, not brake, so the rationality check fails, and the hydraulic execution module does not perform the braking operation.

[0082] The third condition is: the enabling state of the braking compensation function when energy recovery is limited is that the braking compensation function when energy recovery is limited is not enabled. The enabling state is controlled by the user through hard keys or touch screen operations. If it is not enabled, it means that the user does not want the braking compensation function to be turned on, that is, does not want the braking operation, then the rationality check fails at this time, and the hydraulic execution module does not perform the braking operation.

[0083] S13: If the vehicle operation information does not satisfy any one of the first condition, the second condition and the third condition, determine that the rationality check has passed.

[0084] If the vehicle operation information does not fall under any of the first, second and third conditions, it means that the current user allows braking compensation when energy recovery is limited, and the current vehicle operation also meets the braking conditions. Then the rationality check passes and the hydraulic execution module is allowed to perform braking operations.

[0085] In the embodiment of the present invention, when the hydraulic execution module performs a range check operation on the hydraulic braking torque, it determines whether the hydraulic braking torque is within a preset hydraulic braking range, wherein the preset hydraulic braking range refers to a range including a safety threshold, and the maximum value of the range is the safety threshold. If it is within, it is determined that the range check has passed, and the hydraulic braking request can be responded to; if it is not within, it is determined that the range check has not passed, and the response is based on the safety threshold, that is, the maximum torque during braking is the safety threshold.

[0086] In this embodiment, the hydraulic execution module adds a range check, by checking the hydraulic braking torque requested by the master control node, and responds according to the safety threshold when it is identified that the torque requested by the master control node exceeds the safety threshold. The hydraulic execution module adds a rationality check, by checking the rationality of the hydraulic braking request torque of the master control node, and does not respond to the request when it is identified that the master control node requests an unreasonable hydraulic braking torque, to ensure that the vehicle does not have unexpected braking.

[0087] In another implementation of the present invention, when the hydraulic braking torque is sent to the hydraulic execution module, and the motor braking torque is sent to the motor execution module, the coasting energy recovery torque distribution module in the main control node sends the hydraulic braking torque to the hydraulic braking torque request externalization module, and outputs the hydraulic braking torque request value to the hydraulic execution module (such as a hydraulic actuator) through the hydraulic braking torque request externalization module.

[0088] In addition, the coasting energy recovery torque distribution module in the main control node sends the motor braking torque to the motor braking torque request externalization module, and outputs the motor braking torque request value to the motor execution module (such as the motor actuator) through the motor braking torque request externalization module.

[0089] It should be noted that the hydraulic brake torque request value output by the hydraulic brake torque request external module should theoretically be the hydraulic brake torque, and the motor brake torque request value output by the motor brake torque request external module should theoretically be the motor brake torque. However, in actual scenarios, there may be an abnormality or failure in the hydraulic brake torque request external module or the motor brake torque request external module, which may cause the hydraulic brake torque request value output by the hydraulic brake torque request external module to be not the hydraulic brake torque, and / or the motor brake torque request value output by the motor brake torque request external module to be not the motor brake torque. Therefore, it is necessary to monitor the output values ​​of the two modules, and if the output value is unreasonable, stop the hydraulic braking and / or motor braking in time.

[0090] Specifically, the main control node obtains the hydraulic brake torque request value output by the hydraulic brake torque request external module, and obtains the motor brake torque request value output by the motor brake torque request external module. If the sum of the hydraulic brake torque request value and the motor brake torque request value exceeds the total brake safety threshold, it means that the hydraulic brake torque request external module and / or the motor brake torque request external module are abnormal. At this time, in order to ensure vehicle safety, a downgrade instruction is output to the hydraulic execution module. Among them, the downgrade instruction is to stop hydraulic braking.

[0091] Among them, a total coasting energy recovery torque monitoring module is added to the main control node. The module monitors the sum of the motor torque request including the motor braking torque request value and the hydraulic brake request including the hydraulic brake torque request value. When the sum of the two exceeds the safety threshold, the monitoring fault is triggered, the request hydraulic torque is set to 0 and the braking function is disabled when energy recovery is limited. Among them, the request hydraulic torque is set to 0 through the above-mentioned downgrade instruction. The downgrade instruction is output to the hydraulic execution module through the hydraulic brake torque request outbound module.

[0092] After receiving the downgrade instruction, the hydraulic execution module responds to the downgrade instruction and calculates the driver's required torque. Specifically, the driver's required torque can be calculated according to the accelerator pedal opening, the brake pedal opening and the vehicle speed.

[0093] Then, according to the driver's required torque and the actual motor braking torque of the motor execution module, a hydraulic braking reference torque is calculated. The hydraulic braking reference torque is the torque when the hydraulic execution module is braking in theory.

[0094] Subsequently, the accelerator pedal opening and the brake pedal opening are obtained. If the accelerator pedal opening is not zero, it means that the driver is currently stepping on the accelerator pedal. If the brake pedal opening is not zero, it means that the driver is currently stepping on the brake pedal. That is, the user's driving intention can be determined by the accelerator pedal opening and the brake pedal opening.

[0095] After acquiring the two openings, an execution strategy is determined according to the accelerator pedal opening, the brake pedal opening and the hydraulic brake reference torque.

[0096] Specifically, if the accelerator pedal opening is not zero, it means that the current driver is stepping on the accelerator and has an acceleration demand. If the hydraulic actuator module performs braking, it is contrary to the user's acceleration demand. Therefore, the hydraulic actuator module is not allowed to perform the braking operation, and the execution strategy is configured to release pressure at a first rate, wherein the first rate is a rate of rapid pressure release. By rapid pressure release, the purpose of not performing braking is achieved.

[0097] If the brake pedal opening is not zero, it means that the current user is stepping on the brake pedal and there is a braking demand. At this time, the pedal braking torque is determined, and the sum of the hydraulic braking reference torque and the pedal braking torque is used as the target braking torque. The execution strategy is determined to brake according to the target specified torque, that is, in this embodiment, the calculated hydraulic braking reference torque is superimposed on the pedal braking torque brought by the user stepping on the brake pedal, and the braking operation is performed according to the target specified torque obtained by the final superposition.

[0098] If the accelerator pedal opening and the brake pedal opening are both zero, it means that the user has neither stepped on the accelerator pedal nor the brake pedal, and the hydraulic execution module is allowed to perform the braking operation. In order to prevent sudden changes in the driving performance of the entire vehicle, the execution strategy is set as follows: first brake for a specified time (which can be configured according to actual conditions, such as several hundred milliseconds) according to the hydraulic brake reference torque, and then release the pressure at the second rate.

[0099] Among them, the first rate is greater than the second rate. The first rate is a rate for rapid pressure release, and the second rate is a rate for slow pressure release. This is to ensure the smoothness of braking and avoid affecting the user experience.

[0100] After determining the execution strategy, the hydraulic execution module executes the operations corresponding to the execution strategy. Specifically, when the brake compensation function when energy recovery is limited is enabled and the vehicle is in the process of coasting energy recovery, the main control node sets the hydraulic torque to 0 and disables this function due to a fault monitored, in order to prevent a sudden change in the driving performance of the entire vehicle, the hydraulic execution module should slowly release pressure at a fixed slope and exit the function. If the driver steps on the accelerator pedal, the pressure is released quickly. If the driver steps on the brake pedal, the braking torque is superimposed on the hydraulic brake reference torque. If the driver does not step on the accelerator pedal and the brake pedal, the hydraulic brake reference torque is maintained for a certain period of time and then the pressure is slowly released.

[0101] If the sum of the hydraulic braking torque request value and the motor braking torque request value exceeds the total braking safety threshold, after outputting a downgrade instruction to the hydraulic execution module, it is determined whether the motor braking torque request value exceeds the motor braking safety threshold. If the motor braking torque request value exceeds the motor braking safety threshold, it means that the motor braking torque request external module is also abnormal or faulty at this time, and then a downgrade instruction is output to the motor execution module, that is, the motor does not brake at this time. If the motor braking torque request value does not exceed the motor braking safety threshold, only motor braking is performed at this time, and hydraulic braking is not performed.

[0102] If the sum of the hydraulic braking torque request value and the motor braking torque request value does not exceed the total braking safety threshold, both motor braking and hydraulic braking are performed.

[0103] In this embodiment, the failure of sub-nodes related to motor braking and hydraulic braking during coasting energy recovery is taken into account. The total coasting energy recovery torque monitoring of the main control node can avoid unexpected deceleration of the whole vehicle caused by the failure of the main control node's total torque request for coasting energy recovery being too large, thereby avoiding functional safety risks caused by unexpected deceleration of the whole vehicle.

[0104] Based on the above embodiment of the braking compensation control system when energy recovery is limited, another embodiment of the present invention provides a braking compensation control method when energy recovery is limited, which is applied to the above braking compensation control system when energy recovery is limited. The braking compensation control method when energy recovery is limited includes:

[0105] S101, the main control node calculates the total coasting energy recovery torque, and if the total coasting energy recovery torque is within a preset expected torque range, distributes the total coasting energy recovery torque to obtain a hydraulic braking torque and a motor braking torque, sends the hydraulic braking torque to a hydraulic execution module, and sends the motor braking torque to a motor execution module;

[0106] S102, the hydraulic execution module performs a rationality check and a range check operation on the hydraulic braking torque, and if both the rationality check and the range check pass, performs a braking operation according to the hydraulic braking torque;

[0107] S103: The motor execution module executes a braking operation corresponding to the motor braking torque.

[0108] In this embodiment, after calculating the total coasting energy recovery torque, the master control node will check whether the total coasting energy recovery torque is within the preset expected torque range, which can avoid unexpected deceleration of the vehicle caused by inaccurate calculation of the total coasting energy recovery torque by the master control node, and improve the accuracy of brake compensation control when energy recovery is limited. In addition, the hydraulic execution module performs rationality verification and range verification operations on the hydraulic brake torque, which can avoid unexpected deceleration of the vehicle caused by unreasonable or inaccurate values ​​assigned to the hydraulic brake torque by the master control node, and improve the accuracy of brake compensation control when energy recovery is limited.

[0109] It should be noted that for the specific implementation of each step in the embodiment of the present invention, please refer to the corresponding description in the above embodiment, which will not be repeated here.

[0110] Also provided in an embodiment of the present application is a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any of the braking compensation control methods when energy recovery is limited provided in an embodiment of the present application.

[0111] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When one or more computer programs are executed by an electronic device, the electronic device can implement any braking compensation control method when energy recovery is limited provided in an embodiment of the present application.

[0112] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A braking compensation control system when energy recovery is limited, characterized in that: It includes a main control node, a hydraulic execution module and a motor execution module; The main control node is used to calculate the total coasting energy recovery torque, and if the total coasting energy recovery torque is within a preset expected torque range, distribute the total coasting energy recovery torque to obtain a hydraulic braking torque and a motor braking torque, and send the hydraulic braking torque to a hydraulic execution module, and send the motor braking torque to a motor execution module; The hydraulic execution module is used to perform a rationality check and a range check operation on the hydraulic braking torque, and if both the rationality check and the range check are passed, perform a braking operation according to the hydraulic braking torque; The motor execution module is used for executing a braking operation corresponding to the motor braking torque.

2. The braking compensation control system when energy recovery is limited according to claim 1, characterized in that: When the master control node is used to distribute the total coasting energy recovery torque to obtain the hydraulic braking torque and the motor braking torque, it is specifically used to: Obtaining the maximum braking torque of the motor execution module; If the total coasting energy recovery torque is greater than the maximum braking torque, using the maximum braking torque as the motor braking torque; The difference between the total coasting energy recovery torque and the maximum braking torque is used as the hydraulic braking torque.

3. The braking compensation control system when energy recovery is limited according to claim 1, characterized in that: The hydraulic braking torque is sent to the hydraulic execution module, and the motor braking torque is sent to the motor execution module, including: Sending the hydraulic braking torque to a hydraulic braking torque request external module, and outputting the hydraulic braking torque request value to a hydraulic execution module through the hydraulic braking torque request external module; The motor braking torque is sent to a motor braking torque request external transmission module, and the motor braking torque request external transmission module outputs a motor braking torque request value to a motor execution module.

4. The braking compensation control system when energy recovery is limited according to claim 1, characterized in that: When the hydraulic actuator module is used to perform rationality check on the hydraulic brake torque, it is specifically used to: Acquiring vehicle operation information; the vehicle operation information includes vehicle gear value, vehicle speed, motor torque, and the enabling state of the braking compensation function when energy recovery is limited; If the vehicle operation information satisfies any one of the first condition, the second condition or the third condition, it is determined that the rationality check fails; the first condition is that the vehicle gear value is D gear, the vehicle speed is greater than the preset vehicle speed threshold, and the motor torque is positive; the second condition is that the vehicle gear value is R gear, the vehicle speed is greater than the preset vehicle speed threshold, and the motor torque is negative; the third condition is that the enabling state of the braking compensation function when energy recovery is limited is that the braking compensation function when energy recovery is limited is not enabled; If the vehicle operation information does not satisfy any one of the first condition, the second condition and the third condition, it is determined that the rationality check has passed.

5. The braking compensation control system when energy recovery is limited according to claim 1, characterized in that: When the hydraulic actuator module is used to perform a range check operation on the hydraulic brake torque, it is specifically used to: determining whether the hydraulic braking torque is within a preset hydraulic braking range; If it is, it is determined that the range check has passed; If not, the range check fails.

6. The braking compensation control system when energy recovery is limited according to claim 3, characterized in that: The master control node is also used for: Acquire the hydraulic brake torque request value output by the hydraulic brake torque request external module, and acquire the motor brake torque request value output by the motor brake torque request external module; If the sum of the hydraulic brake torque request value and the motor brake torque request value exceeds the total brake safety threshold, output a downgrade instruction to the hydraulic execution module; Determining whether the motor braking torque request value exceeds the motor braking safety threshold; If the motor braking torque request value exceeds the motor braking safety threshold, a downgrade instruction is output to the motor execution module.

7. The braking compensation control system when energy recovery is limited according to claim 6, characterized in that: The hydraulic actuator module is also used for: In response to the downgrade command, calculating a driver demand torque; Calculating a hydraulic braking reference torque according to the driver's required torque and the motor braking actual torque of the motor execution module; Get the accelerator pedal opening and brake pedal opening; determining an execution strategy according to the accelerator pedal opening, the brake pedal opening and the hydraulic brake reference torque; An operation corresponding to the execution policy is executed.

8. The braking compensation control system when energy recovery is limited according to claim 7, characterized in that: The hydraulic execution module is used to determine the execution strategy according to the accelerator pedal opening, the brake pedal opening and the hydraulic brake reference torque, specifically for: If the accelerator pedal opening is not zero, configuring the execution strategy to release pressure at a first rate; If the brake pedal opening is not zero, determine the pedal braking torque, take the sum of the hydraulic brake reference torque and the pedal braking torque as the target braking torque, and determine the execution strategy to brake according to the target specified torque; If the accelerator pedal opening and the brake pedal opening are both zero, setting the execution strategy to release pressure at a second rate after braking for a specified time according to the hydraulic brake reference torque; The first rate is greater than the second rate.

9. The braking compensation control system when energy recovery is limited according to claim 1, characterized in that: The master control node is also used for: The torque of the motor execution module when executing the braking operation is monitored.

10. A braking compensation control method when energy recovery is limited, characterized in that: Applicable to the braking compensation control system when energy recovery is limited as claimed in any one of claims 1 to 9, the braking compensation control method when energy recovery is limited comprises: The main control node calculates the total coasting energy recovery torque, and if the total coasting energy recovery torque is within a preset expected torque range, distributes the total coasting energy recovery torque to obtain a hydraulic braking torque and a motor braking torque, sends the hydraulic braking torque to a hydraulic execution module, and sends the motor braking torque to a motor execution module; The hydraulic execution module performs a rationality check and a range check operation on the hydraulic braking torque, and if both the rationality check and the range check are passed, performs a braking operation according to the hydraulic braking torque; The motor execution module executes a braking operation corresponding to the motor braking torque.

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