System and method for adjusting trailer brake gain to optimize vehicle efficiency while towing

Abstract

Systems and methods for adjusting trailer brake gain to optimize vehicle efficiency while towing. A vehicle system for a vehicle towing a trailer includes a trailer control module configured to control actuation of an actuator of the trailer and a vehicle control module in communication with the trailer control module. The vehicle control module is configured to control actuation of an actuator in the vehicle, determine an energy parameter associated with the vehicle when the trailer control module controls actuation of the actuator in the trailer based on an initial trailer condition, determine an actuation force when the trailer control module controls actuation of the actuator in the trailer based on the initial trailer condition, and determine an energy parameter associated with the vehicle when the trailer control module controls actuation of the actuator in the trailer based on the initial trailer condition. And generate a control signal for the trailer control module to control actuation of an actuator of a trailer hitched to the vehicle based on the actuation force. Other example vehicle systems and methods for a vehicle towing a trailer are also disclosed.

Description

[0001] introduce

[0002] The information provided in this section is for the purpose of generally presenting the context of the present disclosure. The work of the presently named inventors is neither explicitly nor implicitly admitted to be prior art against the present disclosure to the extent it is described in this section and in aspects of the description that might not otherwise be prior art at the time of filing.

[0003] The present disclosure relates to systems and methods for adjusting trailer brake gain to optimize vehicle efficiency when towing.

[0004] An electric vehicle, such as a battery electric vehicle, a hybrid vehicle, or a fuel cell vehicle, includes one or more electric machines and a battery system. The battery system includes one or more battery cells. During use, the electric machine operates as a motor for propulsion and as a generator for regeneration during braking. The electric vehicle may be attached to a trailer having brakes. In such a scenario, when the driver actuates the vehicle brakes, the trailer brake gain may be used to control the sensitivity of the trailer brakes. The trailer brake gain may be set by the user according to the weight and load of the vehicle and trailer. Summary of the invention

[0005] A vehicle system for an electric vehicle towing a trailer includes a trailer control module and a vehicle control module, the trailer control module being configured to control actuation of a trailer brake actuator of a trailer connected to the electric vehicle, the vehicle control module communicating with the trailer control module. The vehicle control module is configured to receive an initial trailer brake gain of the trailer connected to the electric vehicle, determine a change in regenerative energy associated with regenerative braking of the electric vehicle when the trailer control module controls actuation of the trailer brake actuator based on the initial trailer brake gain, determine a braking force when the trailer control module controls actuation of the trailer brake actuator based on the initial trailer brake gain, adjust the trailer brake gain of the trailer connected to the electric vehicle based on the initial trailer brake gain, the braking force, and the change in regenerative energy, and generate a control signal for the trailer control module based on the adjusted trailer brake gain to control actuation of the trailer brake actuator of the trailer connected to the electric vehicle.

[0006] In other features, the vehicle control module is configured to determine a regeneration force based on the initial trailer brake gain and the change in regeneration energy and to adjust the trailer brake gain based on the determined regeneration force.

[0007] In other features, the vehicle control module is configured to repeatedly adjust a trailer brake gain of a trailer coupled to the electric vehicle until the regenerative force is maximized.

[0008] In other features, the vehicle control module is configured to determine the regenerative force based on a learned model and a previously determined regenerative force.

[0009] In other features, the vehicle control module is configured to receive a lower trailer brake gain limit and an upper trailer brake gain limit and adjust the trailer brake gain between the lower trailer brake gain limit and the upper trailer brake gain limit based on the determined regenerative force.

[0010] In other features, the vehicle system further includes a display module in communication with the vehicle control module. The display module is configured to display an energy impact on the electric vehicle based on the adjusted trailer brake gain.

[0011] In other features, the vehicle system further includes an adaptive cruise control module in communication with the vehicle control module. The adaptive cruise control module is configured to receive the adjusted trailer brake gain and adjust a speed of the electric vehicle based on the adjusted trailer brake gain.

[0012] In other features, the vehicle control module is configured to determine the change in regenerative energy by determining a difference in regenerative energy when brakes of the electric vehicle are not applied and when brakes of the electric vehicle are applied.

[0013] In other features, the vehicle control module is configured to determine the change in regenerative energy based on a state of charge of a battery in the electric vehicle.

[0014] In other features, the vehicle control module is configured to determine the braking force by estimating the trailer braking force and the vehicle braking force based on an acceleration of the electric vehicle when the trailer control module controls actuation of the trailer brake actuator based on the initial trailer brake gain.

[0015] A method for adjusting a trailer brake gain of a trailer hooked to an electric vehicle is disclosed. The method includes receiving an initial trailer brake gain of the trailer hooked to the electric vehicle, determining a change in regenerative energy associated with regenerative braking of the electric vehicle when the trailer brake actuator is controlled based on the initial trailer brake gain, determining a braking force when the trailer brake actuator is controlled based on the initial trailer brake gain, adjusting the trailer brake gain of the trailer hooked to the electric vehicle based on the initial trailer brake gain, the braking force, and the change in regenerative energy, and generating a control signal for a trailer control module based on the adjusted trailer brake gain to control actuation of a trailer brake actuator of the trailer hooked to the electric vehicle.

[0016] In other features, the method further comprises determining the regenerative force based on the initial trailer brake gain and the change in the regenerative energy.

[0017] In other features, adjusting a trailer brake gain of a trailer coupled to the electric vehicle includes adjusting the trailer brake gain based on the determined regenerative force.

[0018] In other features, the method further comprises receiving a lower trailer brake gain limit and an upper trailer brake gain limit.

[0019] In other features, adjusting a trailer brake gain of a trailer coupled to the electric vehicle includes adjusting the trailer brake gain between a lower trailer brake gain limit and an upper trailer brake gain limit based on the determined regenerative force.

[0020] In other features, the method further includes determining an energy impact on the electric vehicle based on the adjusted trailer brake gain and / or adjusting a speed of the electric vehicle controlled by the adaptive cruise control module based on the adjusted trailer brake gain.

[0021] In other features, determining the change in regenerative energy includes determining a difference in regenerative energy when brakes of the electric vehicle are not applied and when brakes of the electric vehicle are applied.

[0022] In other features, determining the braking force includes estimating the trailer braking force and the vehicle braking force based on an acceleration of the electric vehicle when the trailer control module controls actuation of the trailer brake actuator based on the initial trailer brake gain.

[0023] A vehicle system for a vehicle towing a trailer includes a trailer control module configured to control actuation of actuators of the trailer and a vehicle control module in communication with the trailer control module. The vehicle control module is configured to control actuation of the actuators in the vehicle, determine an energy parameter associated with the vehicle when the trailer control module controls actuation of the actuators in the trailer based on an initial trailer condition, determine an actuation force when the trailer control module controls actuation of the actuators in the trailer based on the initial trailer condition, and generate a control signal for the trailer control module based on the actuation force to control actuation of the actuators of the trailer attached to the vehicle.

[0024] In other features, an energy parameter associated with the vehicle includes a state of charge of a battery in the vehicle.

[0025] In other features, the actuation force includes a braking force.

[0026] In other features, the initial trailer condition includes a condition associated with trailer braking.

[0027] In other features, the condition associated with trailer braking includes an initial trailer brake gain.

[0028] In other features, the vehicle control module is configured to adjust the initial trailer condition based on the actuation force and generate a control signal for the trailer control module based on the adjusted initial trailer condition.

[0029] A vehicle system for an electric vehicle towing a trailer, the vehicle system comprising: a trailer control module configured to control actuation of a trailer brake actuator of a trailer connected to the electric vehicle; and a vehicle control module communicating with the trailer control module, the vehicle control module configured to: receive an initial trailer brake gain of the trailer connected to the electric vehicle; determine a change in regenerative energy associated with regenerative braking of the electric vehicle when the trailer control module controls actuation of the trailer brake actuator based on the initial trailer brake gain; determine a braking force when the trailer control module controls actuation of the trailer brake actuator based on the initial trailer brake gain; adjust the trailer brake gain of the trailer connected to the electric vehicle based on the initial trailer brake gain, the braking force, and the change in regenerative energy; and generate a control signal for the trailer control module based on the adjusted trailer brake gain to control actuation of the trailer brake actuator of the trailer connected to the electric vehicle.

[0030] In other features, the vehicle control module is configured to: determine a regenerative force based on the initial trailer brake gain and the change in the regenerative energy; and adjust the trailer brake gain based on the determined regenerative force.

[0031] In other features, the vehicle control module is configured to repeatedly adjust a trailer brake gain of a trailer coupled to the electric vehicle until the regenerative force is maximized.

[0032] In other features, the vehicle control module is configured to determine the regenerative force based on a learned model and a previously determined regenerative force.

[0033] In other features, the vehicle control module is configured to: receive a lower trailer brake gain limit and an upper trailer brake gain limit; and adjust the trailer brake gain between the lower trailer brake gain limit and the upper trailer brake gain limit based on the determined regenerative force.

[0034] In other features, the vehicle system further includes a display module in communication with the vehicle control module, the display module configured to display an energy impact of the electric vehicle based on the adjusted trailer braking gain.

[0035] In other features, the vehicle system further includes an adaptive cruise control module in communication with the vehicle control module, the adaptive cruise control module configured to receive the adjusted trailer brake gain and adjust a speed of the electric vehicle based on the adjusted trailer brake gain.

[0036] In other features, the vehicle control module is configured to determine the change in regenerative energy by determining a difference in regenerative energy when brakes of the electric vehicle are not applied and when brakes of the electric vehicle are applied.

[0037] In other features, the vehicle control module is configured to determine the change in regenerative energy based on a state of charge of a battery in the electric vehicle.

[0038] In other features, the vehicle control module is configured to determine the braking force by estimating the trailer braking force and the vehicle braking force based on an acceleration of the electric vehicle when the trailer control module controls actuation of the trailer brake actuator based on the initial trailer brake gain.

[0039] A method for adjusting a trailer brake gain of a trailer connected to an electric vehicle, the method comprising: receiving an initial trailer brake gain of the trailer connected to the electric vehicle; determining a change in regenerative energy associated with regenerative braking of the electric vehicle when controlling the trailer brake actuator based on the initial trailer brake gain; determining a braking force when controlling the trailer brake actuator based on the initial trailer brake gain; adjusting the trailer brake gain of the trailer connected to the electric vehicle based on the initial trailer brake gain, the braking force, and the change in regenerative energy; and generating a control signal for a trailer control module based on the adjusted trailer brake gain to control actuation of the trailer brake actuator of the trailer connected to the electric vehicle.

[0040] In other features, the method further includes determining a regenerative force based on the initial trailer brake gain and the change in the regenerative energy, wherein adjusting the trailer brake gain of the trailer coupled to the electric vehicle includes adjusting the trailer brake gain based on the determined regenerative force.

[0041] In other features, the method further includes receiving a lower trailer brake gain limit and an upper trailer brake gain limit, wherein adjusting a trailer brake gain of a trailer coupled to the electric vehicle includes adjusting the trailer brake gain between the lower trailer brake gain limit and the upper trailer brake gain limit based on the determined regenerative force.

[0042] In other features, the method further includes: displaying an energy impact of the electric vehicle based on the adjusted trailer brake gain; and / or adjusting a speed of the electric vehicle controlled by the adaptive cruise control module based on the adjusted trailer brake gain.

[0043] In other features, determining a change in regenerative energy includes determining a difference in regenerative energy when the electric vehicle's brakes are not applied and when the electric vehicle's brakes are applied; and determining braking force includes estimating trailer braking force and vehicle braking force based on acceleration of the electric vehicle when a trailer control module controls actuation of a trailer brake actuator based on an initial trailer brake gain.

[0044] A vehicle system for a vehicle towing a trailer, the vehicle system comprising: a trailer control module configured to control actuation of actuators of the trailer; and a vehicle control module in communication with the trailer control module, the vehicle control module being configured to: control actuation of actuators in the vehicle; determine energy parameters associated with the vehicle when the trailer control module controls actuation of actuators in the trailer based on initial trailer conditions; determine an actuation force when the trailer control module controls actuation of actuators in the trailer based on initial trailer conditions; and generate a control signal for the trailer control module based on the actuation force to control actuation of actuators of a trailer attached to the vehicle.

[0045] In other features, the energy parameter associated with the vehicle includes a state of charge of a battery in the vehicle; and / or the actuation force includes a braking force.

[0046] In other features, the initial trailer condition includes a condition associated with trailer braking.

[0047] In other features, the condition associated with trailer braking includes an initial trailer brake gain.

[0048] In other features, the vehicle control module is configured to adjust the initial trailer condition based on the actuation force and generate a control signal for the trailer control module based on the adjusted initial trailer condition.

[0049] Further areas of applicability of the present disclosure will become apparent from the detailed description, claims and drawings.The detailed description and specific examples are intended for illustrative purposes only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The present disclosure will be more fully understood based on the detailed description and accompanying drawings, in which:

[0051] Figure 1 is a functional block diagram of an example vehicle system for adjusting a trailer brake gain of a trailer according to the present disclosure;

[0052] Figure 2 is a top view of a trailer according to the present disclosure hooked to an electric vehicle;

[0053] Figure 3 is a diagram showing parameters of a battery and a brake of an electric vehicle according to the present disclosure;

[0054] Figure 4 is a graph showing regenerative force as a function of changes in trailer brake gain and regenerative energy according to the present disclosure; and

[0055] Figure 5-6 is a flow chart of an example control process for adjusting a trailer brake gain of a trailer according to the present disclosure.

[0056] In the drawings, reference numbers may be reused to identify similar and / or identical elements. DETAILED DESCRIPTION

[0057] An electric vehicle (EV), such as a battery electric vehicle, a hybrid vehicle, or a fuel cell vehicle, includes one or more electric machines that operate as motors for propulsion and as generators for regenerating power during braking. When the electric machine operates as a motor, the battery system in the EV is discharged, and when the electric machine operates as a generator, the battery system in the EV is charged. The range of an EV can vary based on many parameters, such as the characteristics of the EV, the battery system, etc. Additionally, the EV range may be significantly reduced when towing a trailer. For example, towing a heavy trailer may result in a range that is up to 45% less than the EV range without a trailer. As such, the reduction in range when towing a trailer can be a significant limitation for an EV.

[0058] The vehicle system and method according to the present disclosure provide a technical solution for improving the traction efficiency of a vehicle (e.g., EV, etc.) by adaptively adjusting the trailer condition of the trailer (e.g., trailer brake gain, etc.) to maximize energy parameters associated with the vehicle (e.g., power regeneration of the battery system) while maintaining vehicle and trailer safety. In such an example, an optimal trailer brake gain or another trailer condition can be identified based on, for example, a learning model that maximizes the recovered energy while maintaining trailer stability. By adopting the vehicle system and method of the present invention, an EV towing a trailer can exhibit increased energy recovery from braking (e.g., 20% energy recovery) compared to conventional systems.

[0059] Reference now Figure 1 , a block diagram of an example vehicle system 100 for an EV towing a trailer is presented. Figure 1 The vehicle system 100 may be used in any suitable EV, such as a battery electric vehicle, a hybrid vehicle, a fuel cell vehicle, etc. Additionally, the vehicle system 100 may be applicable to autonomous vehicles, semi-autonomous vehicles, or non-autonomous vehicles. Although the vehicle system 100 is described herein with respect to an EV, it should be appreciated that the vehicle system 100 may be used in other suitable vehicles, such as an internal combustion engine vehicle, if desired.

[0060] The trailer attached (e.g., hooked, etc.) to the EV can be any suitable type of trailer having brakes controllable based on the trailer brake gain. In various embodiments, the trailer can be attached to the EV via a trailer hitch. For example, the trailer hitch can be attached to the frame of the EV (e.g., via bolts, etc.). The trailer hitch can be shaped, sized, etc. to accommodate the installation of a trailer tongue having a ball, opening, etc. The trailer includes corresponding structure for attaching to the ball, opening, etc.

[0061] The vehicle system 100 typically includes a vehicle control module 102 and a trailer brake control module 104 that communicates with the vehicle control module 102. As further explained below, the vehicle control module 102 adjusts the trailer brake gain (or another suitable trailer condition) of the trailer attached to the EV until an optimal value is identified to maximize the power regeneration of the vehicle battery. For example, in a conventional towing scenario, the trailer brake gain is set to cause the trailer to start stopping before the vehicle brakes stop the vehicle towing the trailer. This helps the vehicle stop, but causes the trailer to absorb energy. However, when the vehicle control module 102 optimizes the trailer brake gain of the trailer attached to the EV in this article, the trailer safely pushes the EV when the vehicle brakes are applied. In doing so, energy is transferred from the trailer to the EV (and more specifically, to the vehicle brakes) to increase power regeneration in the EV. As such, the trailer can be actuated to increase the energy consumption efficiency in the EV (or more generally, the vehicle). The optimal trailer braking gain to maximize power regeneration in the EV may change when the load (e.g., cargo) carried by the trailer changes, when another (different) trailer is towed by the EV, when the EV travels through different terrains, etc.

[0062] like Figure 1 As shown in FIG. 1 , the vehicle system 100 further includes one or more optional modules and sensors that communicate with the vehicle control module 102. For example, the optional modules may include a brake control module 106, a display module 108, a detection module 110, an adaptive cruise control module 112, and a battery control module 114. Figure 1 Although Figure 1 The vehicle system 100 is illustrated as including specific modules and sensors, but it should be appreciated that one or more other modules and / or sensors may be employed if desired. Additionally, while the vehicle system 100 is illustrated as including a plurality of separate modules (e.g., a vehicle control module 102, a trailer brake control module 104, etc.), any combination of modules and / or their functionality may be integrated into one or more modules.

[0063] The modules and sensors of the vehicle system 100 may share parameters via a network 116, such as a controller (or car) area network (CAN). In such an example, the parameters may be shared via one or more data buses of the network 116. As such, a given module and / or sensor may make various parameters available to other modules and / or sensors via the network 116.

[0064] In various embodiments, the trailer brake control module 104 controls actuation of a trailer brake actuator 118 on a trailer attached to the EV. Actuation of the trailer brake actuator 118 may apply mechanical (friction) brakes of the trailer. In such an example, control of the trailer brake actuator 118 is based on a trailer brake gain as determined by the vehicle control module 102. The trailer brake gain may be used to control the sensitivity of the trailer brakes when the driver actuates the vehicle brakes by adjusting the amount of power (e.g., current) applied from the vehicle battery to the trailer brake actuator 118.

[0065] For example, Figure 2 An EV 200 and a trailer 202 hooked to the EV 200 are depicted. As shown, the EV 200 (e.g., a truck) includes Figure 1 The vehicle control module 102 and the trailer brake control module 104 are shown. The trailer 202 includes tires 222, 224 and brakes 226, 228 associated with the tires 222, 224. The trailer brake control module 104 controls the brakes 226, 228 based on the trailer brake gain determined by the vehicle control module 102. Figure 2 The EV 200 is shown as a truck, but it should be appreciated that another suitable type of EV may be employed, such as a sport utility vehicle, a van, a car, etc. Additionally, while the EV 200 is shown as including the trailer brake control module 104, it should be appreciated that the trailer 202 may include the trailer brake control module 104 if desired.

[0066] Continue to refer Figure 1 , the brake control module 106 can selectively control (e.g., rub) brakes 122 of the EV based on one or more inputs such as a brake request 120. For example, the brake request 120 can be generated based on a driver applying force to a brake pedal in the EV. In such an example, the brake request 120 can be a brake pedal position signal. In other examples, the brake request 120 can be provided by a driver assistance system in the EV. For example, the adaptive cruise control module 112 can provide the brake request 120 based on processed data from the detection module 110.

[0067] exist Figure 1In the embodiment of the present invention, the EV includes regenerative braking. For example, the brakes 122 can be any suitable type of regenerative brakes that convert kinetic energy used to decelerate the EV into electrical energy used to charge one or more batteries 128 in the EV.

[0068] Figure 1 The battery control module 114 generally controls the charging and discharging of the one or more batteries 128. For example, the battery control module 114 may enable charging of the batteries 128 when the brakes 122 are actuated, the EV is attached to a charging system (e.g., for receiving external power), etc. Additionally, the battery control module 114 may enable discharging of the batteries 128 to power components in the EV, a trailer brake actuator 118 of a trailer, etc. In various embodiments, the battery control module 114 may include one or more controllable power converters (e.g., bidirectional power converters) for regulating electrical characteristics (e.g., voltage, current, etc.) provided to and / or by the batteries 128.

[0069] The detection module 110 may generally receive data related to components in the EV and / or in the environment outside the EV. For example, the detection module 110 may collect data indicating detected objects, road conditions, weather conditions, etc. for use in controlling various driver assistance systems (e.g., adaptive cruise control systems, etc.). Additionally, the detection module 110 may collect data indicating battery characteristics, whether the EV is connected to a trailer, the speed (or rate) of the EV, the acceleration of the EV, etc. In such an example, the detection module 110 may include one or more detection devices for collecting such data. The detection device may include, for example, one or more sensors 124 and / or cameras 126 mounted outside and / or inside the EV.

[0070] In various embodiments, one or more sensors 124 may be employed to sense battery characteristics. For example, the sensor(s) 124 may sense battery voltage, battery current, etc. In such examples, the vehicle control module 102 may employ the battery voltage, battery current, etc. to determine the state of charge of the battery 128. Additionally, in some examples, the sensor(s) 124 may be used to determine the regeneration state and / or capacity of the battery 128. In other examples, the battery control module 114 may include one or more sensors for sensing battery characteristics and / or providing the state of charge, regeneration state, battery capacity, etc. of the battery 128 to the vehicle control module 102.

[0071] exist Figure 1In the embodiment of the present invention, the display module 108 may include any suitable device that communicates with the vehicle control module 102 to display information. For example, the display module 108 may include a user-interactive display of an entertainment center adjacent to the driver, a user device (e.g., a cell phone, a tablet computer, etc.) that communicates with the vehicle control module 102 (via the network 116), etc.

[0072] In such an example, the display module 108 may display, among other things, information about the EV's relative trailer brake gain for controlling the trailer's brakes. For example, the display module 108 may display the energy impact on the EV based on the adjusted trailer brake gain as determined by the vehicle control module 102, as further explained below. Additionally, the display module 108 may also display representations of data collected by the detection module 110. For example, the display module 108 may show different camera views, a virtual bird's eye view of the EV, hazards, notifications, maps, etc.

[0073] Continue to refer Figure 1 , the vehicle control module 102 receives an initial trailer brake gain for a trailer attached to the EV. For example, the initial trailer brake gain may be set via a user input on the display module 108. In such an example, a user (e.g., a driver) may select or otherwise provide a value (e.g., 0-10, etc.) for the trailer brake gain. In other examples, the initial trailer brake gain may be a default value that is set during the manufacturing process of the EV and is set when a trailer (e.g., Figure 2 The trailer 202 is connected to the EV (e.g., Figure 2 In yet other examples, the trailer brake control module 104 may provide the vehicle control module 102 with a default value for the trailer brake gain.

[0074] The vehicle control module 102 may also receive a signal indicating that application of the EV's brakes 122 has been detected. For example, upon receiving the brake request 120, the brake control module 106 may provide a signal to the vehicle control module 102. In other examples, the vehicle control module 102 may receive the brake request 120. Once the vehicle control module 102 detects application of the brakes 122, adjustment of the received trailer brake gain may be initiated. In doing so, the vehicle control module 102 may determine various parameters associated with the vehicle battery, vehicle brakes, trailer brakes, etc.

[0075] For example, when the trailer brake control module 104 controls actuation of the trailer brake actuator 118, the vehicle control module 102 determines a change in regenerative energy associated with regenerative braking of the EV. In such an example, the determination of the change in regenerative energy is based on the initial trailer brake gain. In such an example, the change in regenerative energy can be determined based on a difference in regenerative energy when the vehicle brakes 122 are not applied and when the vehicle brakes 122 are applied.

[0076] In various embodiments, the regenerated energy may be determined or represented based on various battery parameters. For example, the regenerated energy may be represented based on the state of charge of the vehicle battery 128. As such, in this example, a change in the regenerated energy may be determined by comparing the state of charge at a time when the vehicle brakes 122 are not applied to the state of charge at a later time when the vehicle brakes 122 are applied.

[0077] For example, Figure 3 A graph 300 showing various parameters associated with an EV over time is depicted. Specifically, the graph 300 shows a state of charge 302 of the battery 128, a pressure 304 detected applied to the brake pedal for actuating the brake 122, a voltage 306 of the battery 128, and a current 308 of the battery 128. As shown, when the brake pedal is applied (shown by an increase in pressure 304), the state of charge 302 of the battery 128 increases due to regenerative braking. In such an example, an example of a change in the state of charge (representing a change in regenerative energy) is highlighted by vertical lines 310, 312. For example, line 310 represents a moment when the vehicle brakes 122 are not applied and the state of charge 302 is at a local minimum. Similarly, line 312 represents a moment when the vehicle brakes 122 are applied and the state of charge 302 is at a local maximum. In this example, the change in regenerative energy is determined by calculating the difference between the values ​​of the state of charge 302 at lines 310, 312.

[0078] Continue to refer Figure 1 , when the trailer brake control module 104 controls the actuation of the trailer brake actuator 118 according to the initial trailer brake gain, the vehicle control module 102 also determines the braking force. In such an example, the braking force can represent the trailer braking force and the vehicle braking force. In various embodiments, the braking force can be determined based on the EV (e.g., Figure 2 The vehicle control module 102 may estimate the braking force based on the acceleration of the EV 200 and the vehicle braking force. For example, the acceleration of the EV (e.g., deceleration) may be calculated based on the speed of the EV, etc. The vehicle control module 102 may then estimate the braking force based on the acceleration of the EV and the known mass of the EV.

[0079] The vehicle control module 102 then adjusts the trailer brake gain of the trailer connected to the EV based on the change in the initial trailer brake gain, the braking force, and the regenerated energy. In various embodiments, the vehicle control module 102 may use a learning model (e.g., a machine learning model) to adjust the trailer brake gain of the trailer. For example, the vehicle control module 102 may use a filter, such as a stochastic filter, to learn and determine the regenerated force.

[0080] As an example, the vehicle control module 102 may determine the regenerative force according to the following equation (1). In such an example, f r，k represents the current regeneration force. As shown, the regeneration force (f r，k ) based on the previous regeneration force (f r，k-1 ), learning gain (α k ), regenerative energy (E r ) and the current trailer brake gain (gb). In such an example, the estimated braking force can be used to determine the previous regenerative force (f r，k-1 ). Additionally, the learning gain (α k ) is the update rate in the filter, which can be adjusted based on the variance of the data to make the filter robust.

[0081] (1)f r,k =f r,k-1 +α k (E r -g b ×f r,k-1 )

[0082] The vehicle control module 102 can then adjust the trailer brake gain based on the determined regenerative force. The vehicle control module 102 adjusts the trailer brake gain in an attempt to find an optimal value for the trailer brake gain to maximize power regeneration in the EV. For example, the vehicle control module 102 can obtain the optimal trailer brake gain according to the following equation (2). In such an example, g b ＊ Indicates the adjusted trailer brake gain.

[0083]

[0084] The vehicle control module 102 can repeatedly adjust the trailer brake gain until the regenerative force is maximized. For example, the vehicle control module 102 can provide a first adjusted trailer brake gain (e.g., determined based on an initial trailer brake gain) to the trailer brake control module 104, or generate a control signal for the trailer brake control module 104 based on the first adjusted trailer brake gain. Then, once a braking event occurs again, the vehicle control module 102 determines a subsequent change in regenerative energy and a subsequent braking force based on the first adjusted trailer brake gain. The vehicle control module 102 can then determine a new regenerative force and a new adjusted trailer brake gain based on equation (1) above. This repeated adjustment cycle can continue until an optimal value for the trailer brake gain is identified based on equation (2) above to maximize power regeneration in the EV.

[0085] exist Figure 1 In an example of , adjustment and optimization of the trailer brake gain can be maintained between limits. For example, the vehicle control module 102 can receive or otherwise determine a lower trailer brake gain limit and an upper trailer brake gain limit. In such an example, the trailer brake gain limit can be determined based on one or more parameters associated with the trailer, such as safety constraints, trailer ratings, etc. For example, if the trailer brake gain is too low, the EV will have to brake harder to stop the EV and trailer combination. Conversely, if the trailer brake gain is too high, the trailer brakes may lock the trailer wheels. Such a scenario causes an undesirable increase in safety risk and / or damage to the EV brakes 122, trailer brakes, trailer wheels, etc. As such, in order to prevent such undesirable actions, minimum and maximum values ​​for the trailer brake gain can be set.

[0086] For example, Figure 4 A graph 400 is depicted showing a line 402 representing the energy gained as a function of the trailer braking gain and the regenerated energy (E r ) is a function of the change in the regeneration force (f r In this example, the y-axis of graph 400 represents regeneration energy (E r ) and the x-axis of the graph 400 represents the trailer brake gain. Additionally, the graph 400 includes a lower trailer brake gain limit (g b ) and upper trailer brake gain limit (g bs ). Lower trailer brake gain limit (g b ) is represented by the vertical dashed line 406, and the upper trailer brake gain limit (g bs ) is represented by the vertical dashed line 408. The trailer brake gain is adjusted until an optimal value (g b ＊ ) to maximize power regeneration. In this example, the optimal value of the trailer brake gain (g b＊ ) is identified by point 404, which represents a local maximum in regenerative force between the lower trailer brake gain limit (line 406) and the upper trailer brake gain limit (line 408).

[0087] Continue to refer Figure 1 , the vehicle control module 102 can provide the trailer brake gain, or a representation thereof, to various components in the vehicle system 100. For example, and as referenced above, the vehicle control module 102 can generate a signal for the trailer brake control module 104 based on the adjusted (and ultimately optimized) trailer brake gain. The trailer brake control module 104 can then control actuation of the trailer brake actuator 118 according to the adjusted (e.g., optimized) trailer brake gain.

[0088] Additionally, in some examples, the vehicle control module 102 can use the adjusted trailer brake gain for other applications. For example, the adaptive cruise control module 112 generally controls the speed of the EV to maintain a desired distance between the EV and objects (e.g., other vehicles) in the path of the EV. The adaptive cruise control module 112 can rely on a speed profile to control the EV. In various embodiments, the speed profile of the EV can be shaped according to the adjusted trailer brake gain received from the vehicle control module 102 to control the speed of the EV.

[0089] In other examples, the adjusted trailer brake gain can be used by other driver assistance applications such as autonomous applications and semi-autonomous applications. For example, an autonomous or semi-autonomous application can adjust a planned path based on the adjusted trailer brake gain to systematically maximize traction energy consumption efficiency. In such an example, the application can configure the path planning algorithm to include energy consumption reduction mechanisms (e.g., regenerative braking) and configure automated driving commands to incorporate traction energy consumption.

[0090] In addition, the vehicle control module 102 can determine an energy impact on the EV when the adjusted trailer brake gain is used. For example, the vehicle control module 102 can calculate an increase in regenerated energy, an increase in the cruising range of the EV, and / or another energy impact caused by the adjusted trailer brake gain. The vehicle control module 102 can then provide the determined energy impact and the adjusted trailer brake gain to the display module 108. In response, the display module 108 can display the energy impact and the adjusted trailer brake gain as user feedback.

[0091] Continue to refer Figure 1, the vehicle system 100 is generally described above with respect to control of trailer brakes (e.g., trailer brake actuators) based on trailer brake gains. However, it should be appreciated that in other embodiments, the vehicle system 100 may be applicable to control actuators other than brake actuators. In such examples, the vehicle control module 102 can control actuation of actuators in the vehicle and / or trailer.

[0092] For example, when the trailer control module controls the actuation of the actuator in the trailer based on the initial trailer condition (or vehicle control command), the vehicle control module 102 can determine the energy parameter associated with the vehicle, and then determine the actuation force when the trailer control module controls the actuation of the actuator in the trailer based on the initial trailer condition. In such an example, the energy parameter associated with the vehicle may include any suitable parameter, such as the charge state of the battery, etc. Additionally, the actuation force may be any suitable force associated with the actuator (e.g., trailer actuator). In addition, the initial trailer condition may be a vehicle control command, such as a condition associated with trailer braking (e.g., trailer brake gain, etc. as explained herein). In other examples, the initial trailer condition may include another suitable condition associated with the trailer generally pushing and / or pulling the vehicle.

[0093] The vehicle control module 102 can then generate a control signal for the trailer control module based on the actuation force to control the actuation of an actuator of a trailer attached to the vehicle. For example, the vehicle control module 102 can adjust the initial trailer condition (e.g., a condition associated with trailer braking) based on the actuation force (e.g., braking force, etc.) and then generate a control signal for the trailer control module based on the adjusted initial trailer condition. In such an example, the adjusted trailer condition can be optimized as explained herein to increase energy recovery and / or reduce fuel consumption.

[0094] Figure 5-6 The diagram shows Figure 1 The example control processes 500, 600 that may be employed by the vehicle system 100 of the embodiment of the present invention are used to adjust the trailer brake gain of a trailer connected to an EV, the trailer and the EV being a Figure 2 Although the example control processes 500, 600 are relative to a vehicle control module 102 including a trailer 202 and an EV 200. Figure 1 Although described with reference to the vehicle system 100 of FIG. 1 , any of the control processes 500 , 600 may be employed by any suitable system.

[0095] like Figure 5As shown in , control process 500 begins at 502, where the vehicle control module 102 receives a trailer brake gain. In some examples, as explained above, the trailer brake gain may be provided by a user (e.g., input on the display module 108), set by a manufacturer (e.g., a default trailer brake gain), etc. Control then proceeds to 504.

[0096] At 504, the vehicle control module 102 generates a control signal based on the trailer brake gain received at 502. As explained above, the control signal may be provided to the trailer brake control module 104 for use in controlling the trailer brake actuator 118. In other examples, the trailer brake control module 104 may receive the trailer brake gain and generate the control signal. Control then proceeds to 506, 508.

[0097] At 506, the vehicle control module 102 determines a change in regenerated energy. For example, the regenerated energy may be represented by the state of charge of the battery 128, and as explained above, the vehicle control module 102 may calculate the difference between the state of charge of the battery 128 when the vehicle brakes 122 are applied and the state of charge of the battery 128 when the vehicle brakes 122 are not applied. At 508, the vehicle control module 102 determines the braking force by, for example, estimating the combined vehicle braking force and the trailer braking force as explained above. When the trailer brake control module 104 employs the received trailer brake gain, the change in braking force and regenerated energy is determined. Control then proceeds to 510.

[0098] At 510 , the vehicle control module 102 adjusts the trailer brake gain based on the change in braking force and regenerated energy. For example, as explained above, the vehicle control module 102 may employ a learning model to adjust the trailer brake gain of the trailer. Control then proceeds to 512 .

[0099] At 512 , the vehicle control module 102 generates another control signal based on the adjusted trailer brake gain. As explained above, the new control signal may be provided to the trailer brake control module 104 for use in controlling the trailer brake actuator 118. Control then proceeds to 514 .

[0100] At 514, the vehicle control module 102 determines whether the adjusted trailer brake gain maximizes power regeneration of the battery 128. For example, by employing a learning model (e.g., using random filtering, etc.), the vehicle control module 102 can identify power regeneration that changes as a function of the trailer brake gain. If power regeneration is maximized, the trailer brake gain can be an optimal value, and control can end, such as Figure 5 However, if power regeneration is not maximized, control may return to 506, as shown in FIG. Figure 5The vehicle control module 102 may then further adjust the trailer brake gain based on the newly determined changes in braking force and regenerated energy.

[0101] Figure 6 The control process 600 is similar to Figure 5 500, but with additional and / or alternative control features. For example, Figure 6 The control process 600 includes the above relative Figure 5 The control process 500 is explained in steps 502, 504, 506, 508. Then, control proceeds to 610.

[0102] At 610, the vehicle control module 102 determines the regenerative force based on the braking force received and / or determined in 502, 506, 508, the change in regenerative energy, and the existing trailer brake gain. For example, the regenerative force can be determined according to equation (1) above. Control then proceeds to 612, 614.

[0103] At 612, the vehicle control module 102 adjusts the trailer brake gain based on the regenerative force. In some examples, the trailer brake gain can be adjusted according to equation (2) above. At 614, the vehicle control module 102 generates another control signal based on the adjusted trailer brake gain, as explained above. The new control signal can be provided to the trailer brake control module 104 for use in controlling the trailer brake actuator 118. Control then proceeds to 616.

[0104] At 616, the vehicle control module 102 may optionally determine an energy impact on the EV when using the adjusted trailer brake gain. For example, the vehicle control module 102 may calculate an increase in regenerative energy, an increase in the EV's range, and / or another energy impact caused by the adjusted trailer brake gain, and then cause the energy impact to be displayed on the display module 108. Control then proceeds to 618.

[0105] At 618, the vehicle control module 102 may optionally provide the adjusted trailer brake gain to a driver assistance system, such as an adaptive cruise control system in the EV. For example, and as explained above, the vehicle control module 102 may provide the adjusted trailer brake gain to the adaptive cruise control module 112. Then, when an adaptive cruise control application is employed, the adaptive cruise control module 112 may utilize the adjusted trailer brake gain to shape the speed profile of the EV (e.g., adjust the speed of the EV). Control then proceeds to 620.

[0106] At 620, the vehicle control module 102 determines whether the adjusted trailer brake gain maximizes power regeneration of the battery 128. For example, by employing a learning model (e.g., using random filtering, etc.), the vehicle control module 102 can identify that power regeneration changes as a function of the trailer brake gain and then use this to obtain an optimal trailer brake gain for maximizing power regeneration of the battery 128. If power regeneration is maximized, the trailer brake gain may be an optimal value and control may end, as shown. Figure 6 However, if power regeneration is not maximized, control may return to 506, as shown in FIG. Figure 6 The vehicle control module 102 may then further adjust the trailer brake gain as explained herein.

[0107] The foregoing description is essentially merely illustrative and is by no means intended to limit the present disclosure, its application or use. The broad teachings of the present disclosure can be implemented in a variety of forms. Therefore, although the present disclosure includes specific examples, the true scope of the present disclosure should not be so limited, because after studying the drawings, the specification and the appended claims, other modifications will become clear. It should be understood that one or more steps in the method can be performed in different orders (or simultaneously) without changing the principles of the present disclosure. In addition, although each embodiment is described above as having certain features, any one or more of those features described with respect to any embodiment of the present disclosure can be implemented in the features of any other embodiment and / or implemented in combination with the features of any other embodiment, even if the combination is not explicitly described. In other words, the described embodiments are not mutually exclusive, and the replacement of one or more embodiments with each other is still within the scope of the present disclosure.

[0108] Spatial and functional relationships between elements (e.g., between modules, circuit elements, semiconductor layers, etc.) are described using various terms including: "connected," "engaged," "coupled," "adjacent," "near," "on top," "above," "below," and "disposed." Unless explicitly described as "direct," when describing a relationship between a first and a second element in the above disclosure, the relationship may be a direct relationship in the absence of other intervening elements between the first and second elements, but may also be an indirect relationship in the presence of one or more intervening elements (spatially or functionally) between the first and second elements. As used herein, the phrase at least one of A, B, and C should be interpreted to mean a logical (A or B or C), using a non-exclusive logical or, and should not be interpreted to mean "at least one of A, at least one of B, and at least one of C."

[0109] In a diagram, the direction of the arrow, as indicated by the arrow, generally indicates the flow of information (such as data or instructions) of interest for the diagram. For example, when element A and element B exchange various information but the information transmitted from element A to element B is relevant to the diagram, the arrow may point from element A to element B. This unidirectional arrow does not mean that no other information is transmitted from element B to element A. In addition, for information sent from element A to element B, element B may send a request or receipt confirmation to element A for the information.

[0110] In this application, including the definitions below, the term "module" or the term "controller" may be replaced with the term "circuit". The term "module" may refer to, be part of, or include: an application specific integrated circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the functionality; or a combination of some or all of the above, such as in a system on a chip.

[0111] The module may include one or more interface circuits. In some examples, the interface circuit may include a wired or wireless interface connected to a local area network (LAN), the Internet, a wide area network (WAN), or a combination thereof. The functionality of any given module of the present disclosure may be distributed in multiple modules connected via the interface circuit. For example, multiple modules may allow load balancing. In another example, a server (also referred to as a remote or cloud) module may complete some functionality on behalf of a client module.

[0112] The term code as used above may include software, firmware, and / or microcode, and may refer to programs, routines, functions, classes, data structures, and / or objects. The term shared processor circuit includes a single processor circuit that executes some or all code from multiple modules. The term group processor circuit includes a processor circuit that, in combination with additional processor circuits, executes some or all code from one or more modules. References to multiple processor circuits include multiple processor circuits on discrete dies, multiple processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or a combination of the above. The term shared memory circuit includes a single memory circuit that stores some or all code from multiple modules. The term group memory circuit includes a memory circuit that is combined with additional memory to store some or all code from one or more modules.

[0113] The term memory circuit is a subset of the term computer-readable medium. The term computer-readable medium as used herein does not include transient electrical or electromagnetic signals propagated through a medium (such as on a carrier wave); therefore, the term computer-readable medium may be considered to be tangible and non-transitory. Non-limiting examples of non-transitory tangible computer-readable media are non-volatile memory circuits (such as flash memory circuits, erasable programmable read-only memory circuits, or mask read-only memory circuits), volatile memory circuits (such as static random access memory circuits or dynamic random access memory circuits), magnetic storage media (such as analog or digital magnetic tape or hard disk drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs).

[0114] The apparatus and methods described in this application may be implemented in part or in whole by a special-purpose computer, which is created by configuring a general-purpose computer to perform one or more specific functions embodied in a computer program. The functional blocks, flow chart components and other elements described above serve as software specifications, which can be translated into computer programs by routine work of a skilled technician or programmer.

[0115] The computer program includes processor executable instructions stored on at least one non-transitory tangible computer readable medium. The computer program may also include or rely on stored data. The computer program may include a basic input / output system (BIOS) that interacts with the hardware of the special-purpose computer, device drivers that interact with specific devices of the special-purpose computer, one or more operating systems, user applications, background services, background applications, etc.

[0116] A computer program may include: (i) descriptive text to be parsed, such as HTML (Hypertext Markup Language), XML (Extensible Markup Language), or JSON (JavaScript Object Notation); (ii) assembly code; (iii) object code generated by a compiler from source code; (iv) source code executed by an interpreter; (v) source code compiled and executed by a just-in-time compiler, etc. By way of example only, source code may be written using syntax from a language including: C, C++, C#, Objective-C, Swift, Haskell, Go, SQL, R, Lisp, Fortran, Perl, Pascal, Curl, OCaml, HTML5 (Hypertext Markup Language Fifth Revision), Ada, ASP (Active Server Pages), PHP (PHP: Hypertext Preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Visual Lua, MATLAB, SIMULINK, and

Claims

1. A vehicle system for an electric vehicle towing a trailer, the vehicle system comprising: a trailer control module configured to control actuation of a trailer brake actuator of a trailer coupled to the electric vehicle; and a vehicle control module in communication with the trailer control module, the vehicle control module being configured to: receiving an initial trailer brake gain of a trailer coupled to the electric vehicle; determining a change in regenerative energy associated with regenerative braking of the electric vehicle when the trailer control module controls actuation of the trailer brake actuator based on the initial trailer brake gain; determining a braking force when the trailer control module controls actuation of the trailer brake actuator based on an initial trailer brake gain; adjusting a trailer brake gain of a trailer coupled to the electric vehicle based on the initial trailer brake gain, the braking force, and the change in regenerative energy; and A control signal for a trailer control module is generated based on the adjusted trailer brake gain to control actuation of a trailer brake actuator of a trailer coupled to the electric vehicle.

2. The vehicle system according to claim 1, wherein: The vehicle control module is configured to: determining a regenerative force based on an initial trailer brake gain and a change in the regenerative energy; and The trailer brake gain is adjusted based on the determined regenerative force.

3. The vehicle system according to claim 2, wherein: The vehicle control module is configured to repeatedly adjust a trailer brake gain of a trailer coupled to the electric vehicle until the regenerative force is maximized.

4. The vehicle system according to claim 3, wherein: The vehicle control module is configured to determine the regenerative force based on the learned model and a previously determined regenerative force.

5. The vehicle system according to claim 2, wherein: The vehicle control module is configured to: receiving a lower trailer brake gain limit and an upper trailer brake gain limit; and The trailer brake gain is adjusted between a lower trailer brake gain limit and an upper trailer brake gain limit based on the determined regenerative force. 6 . The vehicle system of claim 1 , further comprising a display module in communication with the vehicle control module, the display module configured to display an energy impact of the electric vehicle based on the adjusted trailer braking gain.

7. The vehicle system of claim 1 , further comprising an adaptive cruise control module in communication with the vehicle control module, the adaptive cruise control module configured to receive the adjusted trailer brake gain and adjust a speed of the electric vehicle based on the adjusted trailer brake gain.

8. The vehicle system according to claim 1, wherein: The vehicle control module is configured to determine the change in regenerative energy by determining a difference in regenerative energy when brakes of the electric vehicle are not applied and when brakes of the electric vehicle are applied.

9. The vehicle system according to claim 8, wherein: The vehicle control module is configured to determine a change in regenerative energy based on a state of charge of a battery in the electric vehicle.

10. The vehicle system according to claim 1, wherein: The vehicle control module is configured to determine the braking force by estimating the trailer braking force and the vehicle braking force based on an acceleration of the electric vehicle when the trailer control module controls actuation of the trailer brake actuator based on the initial trailer brake gain.

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