Brake compensation control system and method during energy recovery limitation

Abstract

The application provides a brake compensation control system and method for energy recovery under limitation, and relates to the field of energy recovery.In the application, after calculating the total coasting energy recovery torque, the master control node checks 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 brake compensation control accuracy for energy recovery under limitation.In addition, the hydraulic execution module performs rationality checking and range checking operations on the hydraulic brake torque, which can avoid the unexpected deceleration of the whole vehicle caused by the unreasonable or inaccurate hydraulic brake torque distributed by the master control node, and improve the brake compensation control accuracy for energy recovery under limitation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of energy recovery, and more particularly, to a brake compensation control system and method when energy recovery is limited. BACKGROUND

[0002] The coasting energy recovery enabled brake function compensates for the part of the motor brake limited by the output hydraulic brake torque when the vehicle energy recovery brake is limited, so as to keep the vehicle driving consistency.

[0003] How to accurately realize brake compensation control when energy recovery is limited during braking is a technical problem that technicians in the field need to solve. SUMMARY

[0004] Therefore, the present application provides a brake compensation control system and method when energy recovery is limited to solve the problem of accurately realizing brake compensation control when energy recovery is limited.

[0005] To solve the above technical problems, the present application adopts the following technical solutions:

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

[0007] The master control node is configured to calculate a total coasting energy recovery torque, if the total coasting energy recovery torque is within a preset expected torque range, to perform a distribution operation on the total coasting energy recovery torque to obtain a hydraulic brake torque and a motor brake torque, to issue the hydraulic brake torque to the hydraulic execution module, and to issue the motor brake torque to the motor execution module;

[0008] The hydraulic execution module is configured to perform rationality verification and range verification on the hydraulic brake torque, and if both the rationality verification and the range verification pass, to perform a braking operation according to the hydraulic brake torque;

[0009] The motor execution module is configured to perform a braking operation corresponding to the motor brake torque.

[0010] Optionally, when the master control node performs a distribution operation on the total coasting energy recovery torque to obtain a hydraulic brake torque and a motor brake torque, the master control node is specifically configured to:

[0011] Obtain the maximum brake torque of the motor execution module;

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

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

[0014] Optionally, the hydraulic braking torque is sent to a hydraulic braking torque request sending module, and the hydraulic braking torque request value is output to a hydraulic execution module through the hydraulic braking torque request sending module.

[0015] The motor braking torque is sent to a motor braking torque request sending module, and the motor braking torque request value is output to a motor execution module through the motor braking torque request sending module.

[0016] The motor braking torque is sent to a motor braking torque request sending module, and the motor braking torque request value is output to a motor execution module through the motor braking torque request sending module.

[0017] Optionally, the hydraulic execution module is configured to perform the reasonableness check on the hydraulic braking torque, and specifically configured to:

[0018] Obtain vehicle running information; the vehicle running information includes a vehicle gear value, a vehicle speed, a motor torque, and a braking compensation function enable state when energy recovery is limited;

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

[0020] If the vehicle running information does not meet any one of the first condition, the second condition, and the third condition, it is determined that the reasonableness check passes.

[0021] Optionally, the hydraulic execution module is configured to perform a range check operation on the hydraulic braking torque, and specifically configured to:

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

[0023] If yes, it is determined that the range check passes.

[0024] If no, it is determined that the range check fails.

[0025] Optionally, the master control node is further configured to:

[0026] acquire a hydraulic braking torque request value output by the hydraulic braking torque request sending module, and acquire a motor braking torque request value output by the motor braking torque request sending module;

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

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

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

[0030] Optionally, the hydraulic execution module is further configured to:

[0031] in response to the degradation instruction, calculate a driver demand torque;

[0032] calculate a hydraulic braking reference torque according to the driver demand torque and a motor braking actual torque of the motor execution module;

[0033] acquire an accelerator pedal opening degree and a brake pedal opening degree;

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

[0035] execute an operation corresponding to the execution strategy.

[0036] Optionally, when the hydraulic execution module is configured to determine the execution strategy according to the accelerator pedal opening degree, the brake pedal opening degree, and the hydraulic braking reference torque, it is specifically configured to:

[0037] if the accelerator pedal opening degree is not zero, configure the execution strategy to be depressurized at a first rate;

[0038] if the brake pedal opening degree is not zero, determine a pedal braking torque, take the sum of the hydraulic braking reference torque and the pedal braking torque as a target braking torque, and determine the execution strategy to be braked at the target braking torque;

[0039] if both the accelerator pedal opening degree and the brake pedal opening degree are zero, set the execution strategy to be braked at the hydraulic braking reference torque for a specified time, and then depressurized at a second rate; the first rate is greater than the second rate.

[0040] Optionally, the master node is further configured to:

[0041] monitor the torque when the motor execution module executes the braking operation.

[0042] The brake compensation control method when energy recovery is limited is applied to the brake compensation control system when energy recovery is limited, and comprises the following steps:

[0043] The master node calculates the total coasting energy recovery torque, and if the total coasting energy recovery torque is within a preset expected torque range, the total coasting energy recovery torque is distributed to obtain a hydraulic brake torque and a motor brake torque, the hydraulic brake torque is sent to a hydraulic execution module, and the motor brake torque is sent to a motor execution module;

[0044] The hydraulic execution module performs rationality checking and range checking on the hydraulic brake torque, and if the rationality checking and the range checking are both passed, braking is performed according to the hydraulic brake torque;

[0045] The motor execution module performs braking operation corresponding to the motor brake torque.

[0046] The application provides a brake compensation control system and method when energy recovery is limited. In the application, after the master node calculates the total coasting energy recovery torque, it checks whether the total coasting energy recovery torque is within a preset expected torque range, which can avoid unintended deceleration of the whole vehicle caused by inaccurate calculation of the total coasting energy recovery torque by the master node, and improve the accuracy of brake compensation control when energy recovery is limited. In addition, the hydraulic execution module performs rationality checking and range checking on the hydraulic brake torque, which can avoid unintended deceleration of the whole vehicle caused by unreasonable or inaccurate hydraulic brake torque distributed by the master node, and improve the accuracy of brake compensation control when energy recovery is limited. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the application or the related art, the following will briefly introduce the drawings needed to be used in the embodiment or related art description. Obviously, the drawings in the following description are only embodiments of the application, and for those skilled in the art, other drawings can be obtained without creative labor based on the provided drawings.

[0048] Figure 1 The structure diagram of the brake compensation control system when energy recovery is limited in the embodiment of the application;

[0049] Figure 2 The scene schematic diagram of the brake compensation control system when energy recovery is limited in the embodiment of the application;

[0050] Figure 3A scene schematic diagram of another energy recovery limited time brake compensation control system in the embodiment of the present application is shown in the figure;

[0051] Figure 4 A flow chart of a rationality checking method in the embodiment of the present application is shown in the figure.

[0052] Figure 5 A flow chart of a brake compensation control method in the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0054] The coasting energy recovery enabled brake function compensates for the part of the motor brake limited by the output hydraulic brake torque when the vehicle energy recovery brake is limited, so as to keep the vehicle driving consistency.

[0055] Therefore, the present application provides a brake compensation control system and method when energy recovery is limited.

[0056] Therefore, the present application provides a brake compensation control system and method when energy recovery is limited.

[0057] On the basis of the above, the present application provides a brake compensation control system when energy recovery is limited. Figure 1 The system can include a master control node 11, a hydraulic execution module 12 and a motor execution module 13.

[0058] As shown in the figure, Figure 2 The master control node calculates the total coasting energy recovery torque, and combines the function enable judgment to distribute the motor brake and the hydraulic brake and request the hydraulic execution module and the motor execution module to respectively execute the corresponding torque request.

[0059] The failures such as the master node assigning too large motor braking torque, the motor execution module actually executing too large motor braking torque, the motor execution module not receiving the motor braking torque request and unexpectedly executing the motor braking torque can be avoided by torque monitoring of the master node. The hydraulic execution module can avoid the failures such as the hydraulic execution module actually executing too large hydraulic braking torque, response delay, clamping during hydraulic braking, not receiving the hydraulic braking torque request and unexpectedly executing the hydraulic braking torque. However, the current scheme still has the following failures that cannot be covered:

[0060] 1. The master node calculates too large total coasting energy recovery torque;

[0061] 2. The master node assigns too large hydraulic braking torque;

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

[0063] Therefore, it is necessary to design a safety scheme to monitor the above-mentioned remaining failures to avoid harm.

[0064] Therefore, in the embodiment of the application, the implementation process of the master node, the hydraulic execution module and the motor execution module is improved, and the improved function diagram is as follows Figure 3 .

[0065] The master node can calculate the total coasting energy recovery torque through the total coasting energy recovery torque calculation module of the master node. In order to avoid the failure of the total coasting energy recovery torque calculated by the master node due to being too large, thereby causing unexpected deceleration of the whole vehicle, in the embodiment of the application, a preset expected torque range of the total coasting energy recovery torque is set, and whether the total coasting energy recovery torque is within the preset expected torque range is judged by using the expected total coasting energy recovery torque protection module. 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 brake compensation function when energy recovery is limited is turned on by the function enabling judgment module, that is, the user allows the brake compensation operation when energy recovery is limited at this time, then the total coasting energy recovery torque is distributed by using the coasting energy recovery torque distribution module to obtain the hydraulic braking torque and the motor braking torque. If the brake compensation function when energy recovery is limited is not turned on, no torque distribution operation is performed.

[0067] In the specific distribution, the coasting energy recovery torque distribution module considers the actual negative torque capacity of the motor execution module, and preferentially uses the motor negative torque capacity. When the motor negative torque capacity cannot meet the calculated total coasting energy recovery torque, the missing part uses hydraulic braking compensation.

[0068] In detail, the actual negative torque capability of the motor execution module is determined as the maximum braking torque of the motor execution module, the maximum braking torque of the motor execution module is obtained, and if the total coasting energy recovery torque is not greater than the maximum braking torque, it indicates 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 indicates that the current motor braking cannot provide the required braking force, and hydraulic braking is required to assist braking, at this time the maximum braking torque is taken as the motor braking torque, and the difference between the total coasting energy recovery torque and the maximum braking torque is taken as the hydraulic braking torque. At this time, the sum of the motor braking and the hydraulic braking is theoretically the total coasting energy recovery torque required.

[0070] The subsequent master 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 immediately brake according to the torque, but performs a reasonableness check and a range check operation on the hydraulic braking torque. If the reasonableness check and the range check are passed, the braking operation is performed according to the hydraulic braking torque. The range check can avoid unintended deceleration of the whole vehicle caused by the failure of the master node assigning a large hydraulic braking torque to the hydraulic braking torque. The reasonableness check can avoid unintended deceleration of the whole vehicle caused by the failure of the master node function misenable.

[0072] The motor execution module receives the motor braking torque and performs a braking operation corresponding to the motor braking torque.

[0073] In order to ensure the reliability of the motor execution module, the master node can monitor the torque when the motor execution module performs the braking operation. The failure that the motor execution module actually performs a large motor braking torque, the motor execution module does not receive a motor braking torque request, and the motor execution module unexpectedly performs a motor braking torque can be avoided by corresponding measures such as torque monitoring of the master node.

[0074] In this embodiment, after calculating the total coasting energy regeneration torque, the master control node verifies whether it is within a preset expected torque range. This prevents unexpected vehicle deceleration caused by inaccurate calculation of the total coasting energy regeneration torque by the master control node, thereby improving the accuracy of brake compensation control when energy regeneration is limited. Furthermore, the hydraulic actuator module performs rationality and range checks on the hydraulic brake torque, thereby preventing unexpected vehicle deceleration caused by unreasonable or inaccurate hydraulic brake torque values ​​assigned by the master control node, thereby improving the accuracy of brake compensation control when energy regeneration is limited.

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

[0076] In another embodiment of the present invention, the rationality check process of the hydraulic execution module is introduced. Specifically, the hydraulic execution module checks 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. If it is not reasonable, 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 enablement 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, determine that the rationality check has failed.

[0080] The first condition is that the vehicle gear is in D, the vehicle speed is greater than a preset speed threshold, and the motor torque is positive. If the vehicle gear is in D, the vehicle speed is greater than the preset speed threshold, and the motor torque is positive, it indicates that the vehicle is currently accelerating forward and the user wishes to accelerate rather than brake. Therefore, the rationality check fails and the hydraulic actuator module does not perform the braking operation.

[0081] The second condition is that the vehicle gear is in R, the vehicle speed is greater than a preset speed threshold, and the motor torque is negative. If the vehicle gear is in R, the vehicle speed is greater than the preset speed threshold, and the motor torque is negative, the vehicle is accelerating backward and the user intends to accelerate, not brake. Therefore, the rationality check fails and the hydraulic actuator module does not perform the braking operation.

[0082] The third condition is that the brake compensation function enabled state when energy recovery is limited is that the brake compensation function is not enabled when energy recovery is limited. The enabled state is controlled by the user through hard key or touch screen operation and the like. If it is not enabled, it means that the user does not want to start the brake compensation function, i.e. does not want to brake, and at this time the rationality check fails, and the hydraulic execution module does not execute the brake operation.

[0083] S13, 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 passes.

[0084] If the vehicle operation information does not belong to any one of the first condition, the second condition and the third condition, it means that the current user allows the brake compensation when energy recovery is limited, and the current vehicle operation also meets the brake condition, so the rationality check passes, and the hydraulic execution module is allowed to execute the brake operation.

[0085] In the embodiment of the application, when the hydraulic execution module performs the range check operation on the hydraulic brake torque, it is judged whether the hydraulic brake torque is located in a preset hydraulic brake range, wherein the preset hydraulic brake range refers to a range including a safety threshold, and the maximum value of the range is the safety threshold. If it is located, it is determined that the range check passes, and the hydraulic brake request can be responded to, and if it is not located, it is determined that the range check fails, and at this time the safety threshold is responded to, i.e. the maximum torque during braking is the safety threshold.

[0086] In the embodiment, the hydraulic execution module adds the range check, and checks the hydraulic brake torque requested by the master node, and when it is identified that the torque requested by the master node exceeds the safety threshold, the safety threshold is responded to. The hydraulic execution module adds the rationality check, and checks the rationality of the hydraulic brake torque requested by the master node, and when it is identified that the master node requests an unreasonable hydraulic brake torque, the request is not responded to, so that the vehicle is prevented from being unexpectedly braked.

[0087] In another implementation manner of the application, when the hydraulic brake torque is sent to the hydraulic execution module and the motor brake torque is sent to the motor execution module, the coasting energy recovery torque distribution module in the master node sends the hydraulic brake torque to the hydraulic brake torque request sending module, and outputs the hydraulic brake torque request value to the hydraulic execution module (such as a hydraulic actuator) through the hydraulic brake torque request sending module.

[0088] In addition, the coasting energy recovery torque distribution module in the master node sends the motor brake torque to the motor brake torque request sending module, and outputs the motor brake torque request value to the motor execution module (such as a motor actuator) through the motor brake torque request sending module.

[0089] It should be noted that the hydraulic braking torque request value output by the hydraulic braking torque request sending module should be theoretically the hydraulic braking torque, and the motor braking torque request value output by the motor braking torque request sending module should be theoretically the motor braking torque. However, in actual scenarios, the hydraulic braking torque request sending module or the motor braking torque request sending module may be abnormal or faulty, which may cause the hydraulic braking torque request value output by the hydraulic braking torque request sending module to be not the hydraulic braking torque, and / or the motor braking torque request value output by the motor braking torque request sending module to be not the motor braking torque. Therefore, the output values of the two modules need to be monitored, and if the output values are unreasonable, the hydraulic braking and / or the motor braking is stopped in time.

[0090] Specifically, the master node obtains the hydraulic braking torque request value output by the hydraulic braking torque request sending module, and obtains the motor braking torque request value output by the motor braking torque request sending module. If the sum of the hydraulic braking torque request value and the motor braking torque request value exceeds the total braking safety threshold, it indicates that the hydraulic braking torque request sending module and / or the motor braking torque request sending module is abnormal, and at this time, in order to ensure the safety of the vehicle, a degradation instruction is output to the hydraulic execution module. The degradation instruction is to stop the hydraulic braking.

[0091] The master node is provided with a total slip energy recovery torque monitoring module, which monitors the sum of the motor torque request including the motor braking torque request value and the hydraulic braking request including the hydraulic braking torque request value. When the sum exceeds the safety threshold, a monitoring fault is triggered, the hydraulic torque is requested to be 0, and the braking function is enabled when the energy recovery is limited. The request for the hydraulic torque to be 0 is realized by the above-mentioned degradation instruction. The degradation instruction is output to the hydraulic execution module by the hydraulic braking torque request sending module.

[0092] After receiving the degradation instruction, the hydraulic execution module calculates the driver demand torque in response to the degradation instruction. Specifically, the driver demand torque can be calculated by the throttle pedal opening degree, the brake pedal opening degree, and the vehicle speed.

[0093] Then, according to the driver demand torque and the motor braking actual torque of the motor execution module, the hydraulic braking reference torque is calculated, which is the torque when the hydraulic execution module brakes theoretically.

[0094] Subsequently, the throttle pedal opening degree and the brake pedal opening degree are obtained. If the throttle pedal opening degree is not zero, it indicates that the driver is currently stepping on the throttle pedal, and if the brake pedal opening degree is not zero, it indicates that the driver is currently stepping on the brake pedal. Therefore, the user driving intention can be determined by the throttle pedal opening degree and the brake pedal opening degree.

[0095] After obtaining the two opening degrees, a execution strategy is determined according to the accelerator pedal opening degree, the brake pedal opening degree and the hydraulic brake reference torque.

[0096] Specifically, if the accelerator pedal opening degree is not zero, it means that the current driver is stepping on the accelerator pedal and has an acceleration demand. If the hydraulic execution module executes braking, it is contrary to the user's acceleration demand, and therefore, the hydraulic execution module is not allowed to execute the braking operation, and the execution strategy is configured to be depressurized at a first rate, which is one rate of fast depressurization. Through fast depressurization, the purpose of not executing braking is achieved.

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

[0098] If the accelerator pedal opening degree and the brake pedal opening degree are both zero, it means that the user has not stepped on the accelerator pedal and the brake pedal. At this time, the hydraulic execution module is allowed to execute the braking operation. In order to prevent the driving performance of the whole vehicle from suddenly changing, the execution strategy is set to first brake at the hydraulic brake reference torque for a specified time (which can be configured according to actual conditions, such as a few hundred milliseconds), and then depressurize at a second rate.

[0099] Wherein, the first rate is greater than the second rate, the first rate is one rate of fast depressurization, and the second rate is one rate of slow depressurization, in order to ensure the stability of braking and avoid affecting the user experience.

[0100] After the execution strategy is determined, the hydraulic execution module executes the operation corresponding to the execution strategy. Specifically, when the brake compensation function of energy recovery limitation is enabled and the vehicle is in the process of coasting energy recovery, the master node sets the hydraulic torque to 0 and disables the function due to monitoring of a fault, in order to prevent the driving performance of the whole vehicle from suddenly changing, the hydraulic execution module should slowly depressurize at a fixed slope and exit the function. If the driver steps on the accelerator pedal, fast depressurization is performed. If the driver steps on the brake pedal, the brake torque is superimposed on the basis of 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 slowly depressurized.

[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 the degradation instruction to the hydraulic execution module, it is judged 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 indicates that the motor braking torque request output module is also abnormal or faulty at this time, and a degradation 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, motor braking and hydraulic braking are performed at this time.

[0103] In this embodiment, the failure of the motor braking and hydraulic braking related sub-nodes during coasting energy recovery is considered, and the total coasting energy recovery torque monitoring of the master node can avoid the unintended deceleration of the whole vehicle caused by the failure of the large total coasting energy recovery torque request of the master node, and further avoid the functional safety risk caused by the unintended deceleration of the whole vehicle.

[0104] On the basis of the above-mentioned embodiment of the braking compensation control system during energy recovery limitation, another embodiment of the present application provides a braking compensation control method during energy recovery limitation, applied to the above-mentioned braking compensation control system during energy recovery limitation. The braking compensation control method during energy recovery limitation comprises:

[0105] S101, the master node calculates the total coasting energy recovery torque. If the total coasting energy recovery torque is within the preset expected torque range, the total coasting energy recovery torque is distributed to obtain a hydraulic braking torque and a motor braking torque. The hydraulic braking torque is sent to the hydraulic execution module, and the motor braking torque is sent to the motor execution module.

[0106] S102, the hydraulic execution module performs rationality verification and range verification operation on the hydraulic braking torque. If the rationality verification and the range verification are passed, the braking operation is performed according to the hydraulic braking torque.

[0107] S103, the motor execution module performs the braking operation corresponding to the motor braking torque.

[0108] In the embodiment, the master node checks whether the total coasting energy recovery torque is in a preset expected torque range after calculating the total coasting energy recovery torque, so that unexpected deceleration of the vehicle caused by inaccurate calculation of the total coasting energy recovery torque by the master node can be avoided, and the accuracy of brake compensation control when energy recovery is limited can be improved. In addition, the hydraulic execution module performs rationality checking and range checking on the hydraulic brake torque, so that unexpected deceleration of the vehicle caused by unreasonable or inaccurate hydraulic brake torque allocated by the master node can be avoided, and the accuracy of brake compensation control when energy recovery is limited can be improved.

[0109] It should be noted that the specific implementation of each step in the embodiments of the present application is described above with reference to the corresponding description in the embodiments, and will not be described here.

[0110] In the embodiments of the present application, a computer program product is also provided, which includes computer readable instructions, and when the computer readable instructions are run on an electronic device, the electronic device can implement any one of the brake compensation control methods when energy recovery is limited provided in the embodiments of the present application.

[0111] In the embodiments of the present application, a computer readable storage medium is also provided, which carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement any one of the brake compensation control methods when energy recovery is limited provided in the embodiments of the present application.

[0112] The above description of the disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those of ordinary skill in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Accordingly, the application is not to be limited to the embodiments shown herein but is to be accorded the broadest 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: Including main control node, hydraulic execution module and motor execution module; The master control node is configured to calculate a 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 transmit the hydraulic braking torque to a hydraulic execution module, and transmit the motor braking torque to a motor execution module; The hydraulic execution module is configured to perform a rationality check and a range check 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; wherein the rationality check is determined to have passed when it is determined that braking compensation when energy recovery is limited is allowed and the current vehicle operation meets the braking conditions; The motor execution module is used to execute 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, the maximum braking torque is used 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 method includes sending the hydraulic braking torque to the hydraulic execution module and sending the motor braking torque to the motor execution module, comprising: Sending the hydraulic braking torque to a hydraulic braking torque request outgoing module, and outputting the hydraulic braking torque request value to a hydraulic execution module through the hydraulic braking torque request outgoing 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 execution module is used to perform rationality verification on the hydraulic braking torque, it is specifically used to: Obtaining vehicle operation information; the vehicle operation information includes vehicle gear value, vehicle speed, motor torque, and the enable status of the brake 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 has failed; the first condition is that the vehicle gear value is D gear, the vehicle speed is greater than a preset 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 a preset speed threshold, and the motor torque is negative; the third condition is that the enable state of the brake compensation function when energy recovery is limited is that the brake compensation function when energy recovery is limited is not enabled; If the vehicle operation information does not meet 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 execution module is used to perform a range check operation on the hydraulic braking torque, it is specifically used to: determining whether the hydraulic braking torque is within a preset hydraulic braking range; If it is, the range check is confirmed to pass; 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 braking torque request value output by the hydraulic braking torque request external module, and acquire the motor braking torque request value output by the motor braking torque request external module; If the sum of the hydraulic braking torque request value and the motor braking torque request value exceeds a total braking safety threshold, outputting a downgrade instruction to the hydraulic execution module; Determining whether the motor braking torque request value exceeds a motor braking safety threshold; If the motor braking torque request value exceeds the motor braking safety threshold, a degradation 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 execution module is also used for: In response to the demotion command, calculating a driver demand torque; Calculating a hydraulic braking reference torque according to the driver's required torque and the actual motor braking 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; Execute an operation corresponding to the execution policy.

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 to: 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, determining the pedal braking torque, taking the sum of the hydraulic brake reference torque and the pedal braking torque as the target braking torque, and determining an execution strategy to brake according to the target braking torque; If the accelerator pedal opening and the brake pedal opening are both zero, setting an 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 performing the braking operation is monitored.

10. A braking compensation control method when energy recovery is limited, characterized in that: The braking compensation control system when energy recovery is limited according to any one of claims 1 to 9, wherein the braking compensation control method when energy recovery is limited comprises: The master control node calculates a 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 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; wherein the rationality check is determined to have passed when it is determined that braking compensation when energy recovery is limited is allowed and the current vehicle operation meets the braking conditions; The motor execution module executes a braking operation corresponding to the motor braking torque.

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