Method for improving smoothness of electric vehicle in series braking mode and related device

Abstract

According to the method for improving the smoothness of the electric automobile in the series braking mode and the related device, when the energy recovery quitting condition is met in the braking process, the energy recovery quitting condition can be determined according to the current actual pressure of the braking chamber, the target pressure given by the feedback control system, the preset pressure ratio, the current actual automobile speed and the preset automobile speed threshold value; judging whether a motor compensation condition is met or not; if the motor compensation condition is met, first deceleration to be compensated in the pressure building process of the fluid transmission system is calculated according to the actual pressure; and according to the first deceleration, the compensation torque to be compensated in the pressure building process of the fluid transmission system is calculated, and the compensation braking force of the motor is controlled according to the compensation torque, so that the smoothness of the electric automobile is improved. When energy recovery is quitted, the accurate compensation torque can be calculated according to needs so as to control the motor to accurately compensate the braking force, the problem that the smoothness is poor due to the fact that the motor suddenly loses the braking force is solved, and the comfort and safety of the whole vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the field of electric vehicles, and in particular to a method for improving the ride comfort of an electric vehicle in a series braking mode and a related device. Background Art

[0002] Regenerative braking in vehicles will become increasingly mainstream. Vehicles equipped with regenerative braking systems currently utilize a serial connection between an electric motor and a fluid transmission system (e.g., hydraulic or pneumatic). This serial braking approach prioritizes electric braking, with the fluid transmission system providing additional braking force. This often results in a noticeable transition zone when exiting electric braking, resulting in a sudden drop in braking force, resulting in poor ride comfort, a frustrating driving experience, and an unsafe driving experience. Summary of the Invention

[0003] In view of the above problems, the present invention provides a method for improving the ride comfort of an electric vehicle in a series braking mode and a related device that overcomes the above problems or at least partially solves the above problems.

[0004] In a first aspect, a method for improving the ride comfort of an electric vehicle in a series braking mode comprises:

[0005] When the energy recovery exit condition is met during braking, whether the motor compensation condition is met is determined based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and the preset vehicle speed threshold;

[0006] If the motor compensation condition is met, calculating a first deceleration to be compensated during the pressure building process of the fluid transmission system according to the actual pressure;

[0007] The compensation torque to be compensated in the process of building pressure of the fluid transmission system is calculated according to the first deceleration, and the compensation braking force of the motor is controlled according to the compensation torque to improve the ride comfort of the electric vehicle.

[0008] Optionally, in certain optional embodiments, when the energy recovery exit condition is met during braking, determining whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, a preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and a preset vehicle speed threshold includes:

[0009] When the exit energy recovery condition is met during braking, if the current actual pressure in the brake chamber is less than the first product and the current actual vehicle speed is greater than the preset vehicle speed threshold, it is determined that the motor compensation condition is met; otherwise, it is determined that the motor compensation condition is not met, wherein the first product is equal to the product of the target pressure given by the feedback control system and the preset pressure ratio corresponding to the target pressure.

[0010] Optionally, in certain optional embodiments, if the motor compensation condition is met, calculating, according to the actual pressure, a first deceleration to be compensated during the pressure building process of the fluid transmission system includes:

[0011] If the motor compensation condition is met, the brake pressure of each wheel is calculated according to the actual pressure;

[0012] For any of the wheels, calculating a corresponding braking torque according to the corresponding braking pressure and a preset braking efficiency;

[0013] For any of the wheels, calculating a corresponding braking force according to a corresponding braking torque and a preset wheel radius;

[0014] Calculating a first sum of the braking forces of the wheels;

[0015] Calculating a first ratio between the first sum and a preset vehicle mass to obtain an actual deceleration generated by the actual pressure, wherein the actual deceleration is equal to the first ratio;

[0016] A first deceleration to be compensated during the pressure building process of the fluid transmission system is calculated according to the actual deceleration.

[0017] Optionally, in certain optional embodiments, calculating, based on the actual deceleration, a first deceleration to be compensated during the pressure building process of the fluid transmission system includes:

[0018] A first difference between the target deceleration given by the feedback control system and the actual deceleration is calculated to obtain a first deceleration to be compensated during the pressure building process of the fluid transmission system, wherein the first deceleration is equal to the first difference.

[0019] Optionally, in certain optional embodiments, calculating, based on the first deceleration, a compensation torque to be compensated during the pressure building process of the fluid transmission system, and controlling the compensatory braking force of the motor based on the compensation torque to improve the ride comfort of the electric vehicle includes:

[0020] A second product of the first deceleration, a preset vehicle mass, and a preset wheel radius is calculated to obtain a compensation torque to be compensated during the process of building pressure of the fluid transmission system, and a compensatory braking force of the motor is controlled according to the compensation torque to improve the smoothness of the electric vehicle, wherein the compensation torque to be compensated during the process of building pressure of the fluid transmission system is equal to the second product.

[0021] Optionally, in certain optional embodiments, when the energy recovery exit condition is met during the braking process, after determining whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and the preset vehicle speed threshold, the method further includes:

[0022] If the motor compensation condition is not met, the compensation braking force of the motor is controlled to be equal to 0.

[0023] In a second aspect, a device for improving the ride comfort of an electric vehicle in a series braking mode includes: a motor compensation condition judgment unit, a first deceleration calculation unit, and a compensation torque calculation unit;

[0024] The motor compensation condition judgment unit is used to judge whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed and the preset vehicle speed threshold when the exit energy recovery condition is met during braking;

[0025] The first deceleration calculation unit is configured to calculate a first deceleration to be compensated during the pressure building process of the fluid transmission system according to the actual pressure if the motor compensation condition is met;

[0026] The compensation torque calculation unit is used to calculate the compensation torque to be compensated during the pressure building process of the fluid transmission system according to the first deceleration, and control the compensation braking force of the motor according to the compensation torque to improve the smoothness of the electric vehicle.

[0027] Optionally, in certain optional embodiments, the motor compensation condition judgment unit includes: a motor compensation condition judgment subunit;

[0028] The motor compensation condition judgment subunit is used to determine that the motor compensation condition is met when the exit energy recovery condition is met during braking. If the current actual pressure in the brake chamber is less than a first product and the current actual vehicle speed is greater than a preset vehicle speed threshold, it is determined that the motor compensation condition is met; otherwise, it is determined that the motor compensation condition is not met, wherein the first product is equal to the product of the target pressure given by the feedback control system and the preset pressure ratio corresponding to the target pressure.

[0029] In a third aspect, a computer-readable storage medium stores a program thereon, wherein when the program is executed by a processor, the method for improving the ride comfort of an electric vehicle in a series braking mode as described above is implemented.

[0030] In a fourth aspect, an electronic device comprises at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other via the bus; and the processor is used to call program instructions in the memory to execute any one of the above-mentioned methods for improving the smoothness of an electric vehicle in a series braking mode.

[0031] By means of the above technical solution, the present invention provides a method and related device for improving the ride comfort of an electric vehicle in a series braking mode. When the energy recovery exit condition is met during braking, the method can determine whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and the preset vehicle speed threshold. If the motor compensation condition is met, the method calculates the first deceleration to be compensated during the pressure buildup of the fluid transmission system based on the actual pressure. Based on the first deceleration, the method calculates the compensation torque to be compensated during the pressure buildup of the fluid transmission system, and controls the compensation braking force of the motor based on the compensation torque to improve the ride comfort of the electric vehicle. It can be seen from this that the present invention can calculate the accurate compensation torque as needed when energy recovery is exited, so as to control the motor to accurately compensate for the braking force, thereby avoiding the problem of poor ride comfort caused by the sudden loss of braking force of the motor, and improving the comfort and safety of the entire vehicle.

[0032] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0034] Figure 1 A flow chart showing a first method for improving the ride comfort of an electric vehicle in a series braking mode provided by the present invention is shown;

[0035] Figure 2 A strategy diagram showing a method for improving the ride comfort of an electric vehicle in a series braking mode provided by the present invention is shown;

[0036] Figure 3 A flow chart showing a second method for improving the ride comfort of an electric vehicle in a series braking mode provided by the present invention is shown;

[0037] Figure 4 A schematic structural diagram of a device for improving the ride comfort of an electric vehicle in a series braking mode provided by the present invention is shown;

[0038] Figure 5 A schematic structural diagram of an electronic device provided by the present invention is shown. DETAILED DESCRIPTION

[0039] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0040] like Figure 1 As shown, the present invention provides a method for improving the ride comfort of an electric vehicle in a series braking mode, comprising: S100, S200 and S300;

[0041] S100, when a condition for exiting energy recovery is met during braking, determining whether a motor compensation condition is met based on a current actual pressure in the brake chamber, a target pressure given by a feedback control system, a preset pressure ratio corresponding to the target pressure, a current actual vehicle speed, and a preset vehicle speed threshold;

[0042] For example, in some optional embodiments, the S100 includes: step 1.1;

[0043] Step 1.1. When the exit energy recovery condition is met during braking, if the current actual pressure in the brake chamber is less than a first product and the current actual vehicle speed is greater than a preset vehicle speed threshold, it is determined that the motor compensation condition is met; otherwise, it is determined that the motor compensation condition is not met, wherein the first product is equal to the product of the target pressure given by the feedback control system and the preset pressure ratio corresponding to the target pressure.

[0044] Optionally, the brake chamber mentioned in the present invention may be a brake air chamber (corresponding to a vehicle using pneumatic brakes) or a brake hydraulic chamber (for a vehicle using hydraulic brakes), and the present invention does not impose any limitation on this.

[0045] Optionally, the feedback control system mentioned in the present invention is an existing system of new energy vehicles. The feedback control system can monitor parameters such as the vehicle's braking force and speed, and then calculate the corresponding target pressure and preset pressure ratio, and use this feedback to control the vehicle's braking force. The present invention does not impose any restrictions on this.

[0046] Optionally, the actual pressure and actual vehicle speed can be acquired by corresponding sensors or directly read from other systems, and the present invention does not impose any limitation on this.

[0047] Optionally, the braking process in the present invention refers to the process in which the motor participates in braking. If it is detected that the vehicle meets the energy recovery conditions during this process, the above-mentioned process of S100 is executed to facilitate the execution of subsequent processes, which is not limited in the present invention.

[0048] It's important to note that, to conserve energy, vehicles can recover kinetic energy while driving, converting it into electrical energy and storing it in the vehicle's power battery. For example, when a vehicle is traveling downhill at a high speed and doesn't require accelerator pedal power, energy recovery can occur. Therefore, new energy vehicles are often equipped with an energy recovery function, requiring corresponding entry and exit conditions.

[0049] For example, (1) determine whether the conditions for entering energy recovery are met:

[0050] 1. Determine whether the energy regeneration Rgn flag is set based on a combination of vehicle speed, gear position, battery SOC, and motor fault conditions. If any of these conditions are not met, energy regeneration cannot occur (i.e., the energy regeneration Rgn flag cannot be set to indicate the start of energy regeneration). The relationship between the energy regeneration Rgn flag and each condition is shown in Formula 1: Rgn = {(a)&&(b)&&(c)&&(d)&&(e)}.

[0051] (a) Vehicle speed > V Rgn , where V Rgn The vehicle speed threshold for allowing energy recovery;

[0052] (b) The gear position is D (i.e., forward gear) or R (i.e., reverse gear);

[0053] (c) SOC>SOC Rgn , where SOC Rgn The battery SOC (State of Charge) threshold that allows energy recovery;

[0054] (d) The motor itself has no faults;

[0055] (e) ABS (Anti-lock Braking System) is not triggered.

[0056] 2. When energy recovery is not possible, the motor brake will not participate in braking, that is: the motor braking torque Trq Mtr=0; at this time, all braking force will be provided by EBS (Electronic Brake Systems, electronic brake system), that is, deceleration request a req =a EBSreq , where areq is the deceleration request (i.e., the target total braking force), and aEBSreq is the target deceleration of the EBS (which can also be understood as the deceleration request of the EBS).

[0057] (2) Determine whether the conditions for exiting energy recovery are met:

[0058] 1. The exit conditions for energy recovery are the same as those for entering energy recovery. If any one of the conditions is not met, the exit conditions for energy recovery will be met.

[0059] 2. When the conditions for exiting energy recovery are not met during braking, the motor braking ratio is first The calculation is as follows: As shown; calculate the motor braking torque based on the motor braking ratio , as shown in formula 3: As shown; the braking deceleration other than the motor is provided by the EBS pressure brake, and the target deceleration of the EBS is as shown in Formula 4: shown.

[0060] in, The motor braking torque allowed during energy recovery; The load of the whole vehicle; is the wheel radius; This is a deceleration request.

[0061] 3. When the conditions for exiting energy recovery are met during braking, EBS provides all the braking force and the braking deceleration is fully allocated to EBS. As shown in formula 5: shown.

[0062] However, since the fluid transmission system takes time to build up, there will be a period of reduced braking deceleration during the pressure buildup period. Therefore, after determining that the conditions for exiting energy recovery have been met, the present invention can use the motor system to compensate during the time the fluid transmission system pressure is building, thereby improving the vehicle's ride comfort.

[0063] That is, the present invention needs to further determine whether the motor compensation conditions need to be met based on actual conditions when the exit energy recovery conditions are met. The motor compensation conditions specifically include the following:

[0064] (I) satisfying the pre-conditions for exiting energy recovery;

[0065] (II) Determine the actual pressure of the brake chamber With target pressure the gap;

[0066] (III) To prevent the vehicle from moving in the opposite direction due to the braking torque of the motor after the vehicle stops, the vehicle speed condition is supplemented. Motor compensation will only be performed when the vehicle speed exceeds a certain value. Motor compensation conditions The relationship with each condition is as shown in formula 6: As shown, it is necessary to meet the three conditions (I), (II) and (III) at the same time to be considered as meeting the motor supplementary conditions; the actual pressure With target pressure The relationship is as shown in formula 7: As shown; the vehicle speed is determined as formula 8: shown.

[0067] in, It is the percentage of actual pressure to target pressure, in units of ; The vehicle speed threshold for exiting motor compensation.

[0068] If the motor compensation condition is met, the subsequent S200 is executed; if the motor compensation condition is not met, it means that the motor does not need to provide braking force, that is, the braking force is controlled to 0 and directly output .

[0069] For example, in some optional embodiments, after S100, the method further includes:

[0070] If the motor compensation condition is not met, the compensation braking force of the motor is controlled to be equal to 0.

[0071] S200: If the motor compensation condition is met, calculating a first deceleration to be compensated during the pressure building process of the fluid transmission system according to the actual pressure;

[0072] Optionally, the pressure of the fluid transmission system has a certain mathematical relationship with the braking force of the wheel. Therefore, the present invention can calculate the braking force of each wheel based on the actual pressure of the fluid transmission system, and then calculate the first deceleration that needs to be compensated during the pressure building process of the fluid transmission system based on the braking force of each wheel. The present invention does not impose any restrictions on this.

[0073] For example, in some optional embodiments, the S200 includes: step 2.1, step 2.2, step 2.3, step 2.4, step 2.5 and step 2.6;

[0074] Step 2.1: If the motor compensation condition is met, calculate the brake pressure of each wheel based on the actual pressure;

[0075] Optionally, generally speaking, the actual pressure of the fluid transmission system is consistent with the braking pressure of the wheel, that is, the actual pressure of the fluid transmission system is equal to the braking pressure of the wheel, and the present invention does not impose any limitation on this.

[0076] Step 2.2: For any of the wheels, calculate the corresponding braking torque based on the corresponding braking pressure and the preset braking efficiency;

[0077] Optionally, the process of calculating the braking torque of each wheel in the present invention is as shown in Formula 9: , shown in which, is the braking torque of the wheel, is the braking efficiency factor, in units of ; is the braking pressure of the i-th wheel, i is the wheel number, and the present invention does not impose any limitation on this.

[0078] Step 2.3: For any of the wheels, calculate the corresponding braking force based on the corresponding braking torque and the preset wheel radius;

[0079] Optionally, the process of calculating the braking force of each wheel in the present invention is as shown in Formula 10: , shown in which, is the braking force of the i-th wheel, in units of ; is the wheel radius, This is explained in Equation 9.

[0080] Step 2.4, calculating a first sum of the braking forces of the wheels;

[0081] Step 2.5: Calculate a first ratio between the first sum and a preset vehicle mass to obtain an actual deceleration generated by the actual pressure, wherein the actual deceleration is equal to the first ratio;

[0082] Optionally, the present invention calculates the actual deceleration generated by the current actual air pressure The process is as shown in formula 11: As shown, is the vehicle mass, This is explained in Equation 10.

[0083] Step 2.6: Calculate a first deceleration to be compensated during the pressure building process of the fluid transmission system based on the actual deceleration.

[0084] For example, in some optional embodiments, the step 2.6 includes: step 3.1;

[0085] Step 3.1: Calculate a first difference between the target deceleration given by the feedback control system and the actual deceleration to obtain a first deceleration to be compensated during the pressure building process of the fluid transmission system, wherein the first deceleration is equal to the first difference.

[0086] Optionally, the present invention calculates the first deceleration that needs to be compensated during the pressure building process of the fluid transmission system The process is as shown in formula 12: As shown, is the target deceleration; is the actual deceleration.

[0087] S300: Calculate the compensation torque to be compensated during the pressure building process of the fluid transmission system according to the first deceleration, and control the compensation braking force of the motor according to the compensation torque to improve the ride comfort of the electric vehicle.

[0088] For example, in some optional embodiments, the S300 includes: step 4.1;

[0089] Step 4.1. Calculate the second product of the first deceleration, the preset vehicle mass, and the preset wheel radius to obtain the compensation torque to be compensated during the pressure building of the fluid transmission system, and control the compensatory braking force of the motor according to the compensation torque to improve the smoothness of the electric vehicle, wherein the compensation torque to be compensated during the pressure building of the fluid transmission system is equal to the second product.

[0090] Optionally, the present invention calculates the compensation torque required in the process of building pressure in the fluid transmission system The process is as shown in formula 13: As shown, is the vehicle mass; The difference between the EBS target deceleration and the actual deceleration; is the wheel radius, the motor torque output at this time Equal to the compensation torque of the motor .

[0091] Optionally, the present invention can detect in real time whether the above motor compensation conditions are met, and calculate the motor compensation torque in real time according to the above steps if the current condition is met. In this way, the braking force of the entire vehicle can be supplemented in time by the motor, avoiding the situation where the vehicle suddenly pulls forward when returning to recover energy due to the motor not providing braking force, thereby improving the smoothness and safety of the entire vehicle. The present invention does not impose any restrictions on this.

[0092] Optionally, in order to further clarify the solution of the present invention, the present invention provides the following Figure 2 The strategy diagram shown in FIG is used to illustrate the input and output of the overall strategy of the present invention. In addition, the present invention also provides Figure 3 The overall flow chart shown is used to more clearly illustrate the overall scheme of the present invention. Figure 2 and Figure 3 The content in is detailed in the above explanation, and the present invention will not elaborate on it again.

[0093] Although the operations are depicted in a particular order, this should not be understood as requiring that the operations be performed in the particular order shown or in a sequential order.Multitasking and parallel processing may be advantageous under certain circumstances.

[0094] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0095] like Figure 4 As shown, the present invention provides a device for improving the ride comfort of an electric vehicle in a series braking mode, comprising: a motor compensation condition judgment unit 100, a first deceleration calculation unit 200, and a compensation torque calculation unit 300;

[0096] The motor compensation condition judgment unit 100 is used to judge whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and the preset vehicle speed threshold when the energy recovery exit condition is met during braking;

[0097] The first deceleration calculation unit 200 is configured to calculate a first deceleration to be compensated during the pressure building process of the fluid transmission system according to the actual pressure if the motor compensation condition is met;

[0098] The compensation torque calculation unit 300 is used to calculate the compensation torque to be compensated during the pressure building process of the fluid transmission system according to the first deceleration, and control the compensation braking force of the motor according to the compensation torque to improve the smoothness of the electric vehicle.

[0099] Optionally, in some optional embodiments, the motor compensation condition judgment unit 100 includes: a motor compensation condition judgment subunit;

[0100] The motor compensation condition judgment subunit is used to determine that the motor compensation condition is met when the exit energy recovery condition is met during braking. If the current actual pressure in the brake chamber is less than a first product and the current actual vehicle speed is greater than a preset vehicle speed threshold, it is determined that the motor compensation condition is met; otherwise, it is determined that the motor compensation condition is not met, wherein the first product is equal to the product of the target pressure given by the feedback control system and the preset pressure ratio corresponding to the target pressure.

[0101] Optionally, in certain optional embodiments, the first deceleration calculation unit 200 includes: a braking pressure calculation subunit, a braking torque calculation subunit, a braking force calculation subunit, a braking force addition subunit, a first ratio calculation subunit, and a first deceleration calculation subunit;

[0102] The brake pressure calculation subunit is configured to calculate the brake pressure of each wheel according to the actual pressure if the motor compensation condition is met;

[0103] The braking torque calculation subunit is used to calculate the corresponding braking torque for any of the wheels according to the corresponding braking pressure and the preset braking efficiency;

[0104] The braking force calculation subunit is configured to calculate the corresponding braking force for any of the wheels according to the corresponding braking torque and a preset wheel radius;

[0105] The braking force adding subunit is used to calculate a first sum of the braking forces of the wheels;

[0106] The first ratio calculation subunit is configured to calculate a first ratio between the first sum and a preset vehicle mass to obtain an actual deceleration generated by the actual pressure, wherein the actual deceleration is equal to the first ratio;

[0107] The first deceleration calculation subunit is configured to calculate a first deceleration to be compensated during pressure building of the fluid transmission system according to the actual deceleration.

[0108] Optionally, in certain optional embodiments, the first deceleration calculation subunit includes: a first difference calculation subunit;

[0109] The first difference calculation subunit is used to calculate the first difference between the target deceleration given by the feedback control system and the actual deceleration, and obtain the first deceleration to be compensated during the pressure building process of the fluid transmission system, wherein the first deceleration is equal to the first difference.

[0110] Optionally, in some optional embodiments, the compensation torque calculation unit 300 includes: a compensation torque calculation subunit;

[0111] The compensation torque calculation subunit is used to calculate the second product of the first deceleration, the preset vehicle mass and the preset wheel radius to obtain the compensation torque to be compensated during the pressure building of the fluid transmission system, and control the compensation braking force of the motor according to the compensation torque to improve the smoothness of the electric vehicle, wherein the compensation torque to be compensated during the pressure building of the fluid transmission system is equal to the second product.

[0112] Optionally, in certain optional embodiments, the device further comprises: a motor force zeroing unit;

[0113] The motor force zeroing unit is used to determine whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed and the preset vehicle speed threshold when the exit energy recovery condition is met during the braking process. If the motor compensation condition is not met, the compensation braking force of the motor is controlled to be equal to 0.

[0114] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0115] The device for improving the ride comfort of an electric vehicle in a series braking mode includes a processor and a memory. The motor compensation condition judgment unit 100, the first deceleration calculation unit 200, and the compensation torque calculation unit 300 are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.

[0116] The processor contains a core, which retrieves the corresponding program unit from memory. One or more cores can be configured. By adjusting the core parameters, the correct compensation torque can be calculated when regenerative braking is discontinued. This allows the motor to precisely compensate for braking force, avoiding the problem of poor ride comfort caused by a sudden loss of braking force, thereby improving the comfort and safety of the vehicle.

[0117] An embodiment of the present invention provides a computer-readable storage medium having a program stored thereon. When the program is executed by a processor, the method for improving the ride comfort of an electric vehicle in a series braking mode is implemented.

[0118] An embodiment of the present invention provides a processor, which is used to run a program, wherein the program, when running, executes the method for improving the ride comfort of an electric vehicle in a series braking mode.

[0119] like Figure 5 As shown, an embodiment of the present invention provides an electronic device 70, which includes at least one processor 701, at least one memory 702 connected to the processor 701, and a bus 703. The processor 701 and the memory 702 communicate with each other via the bus 703. The processor 701 is configured to call program instructions stored in the memory 702 to execute the above-described method for improving the ride comfort of an electric vehicle in series braking mode. The electronic device herein may be a server, a PC, a PAD, a mobile phone, etc.

[0120] The present invention also provides a computer program product, which, when executed on an electronic device, is adapted to execute a program for initializing the following method steps:

[0121] A method for improving the ride comfort of an electric vehicle in a series braking mode, comprising:

[0122] When the energy recovery exit condition is met during braking, whether the motor compensation condition is met is determined based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and the preset vehicle speed threshold;

[0123] If the motor compensation condition is met, calculating a first deceleration to be compensated during the pressure building process of the fluid transmission system according to the actual pressure;

[0124] The compensation torque to be compensated in the process of building pressure of the fluid transmission system is calculated according to the first deceleration, and the compensation braking force of the motor is controlled according to the compensation torque to improve the ride comfort of the electric vehicle.

[0125] Optionally, in certain optional embodiments, when the energy recovery exit condition is met during braking, determining whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, a preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and a preset vehicle speed threshold includes:

[0126] When the exit energy recovery condition is met during braking, if the current actual pressure in the brake chamber is less than the first product and the current actual vehicle speed is greater than the preset vehicle speed threshold, it is determined that the motor compensation condition is met; otherwise, it is determined that the motor compensation condition is not met, wherein the first product is equal to the product of the target pressure given by the feedback control system and the preset pressure ratio corresponding to the target pressure.

[0127] Optionally, in certain optional embodiments, if the motor compensation condition is met, calculating, according to the actual pressure, a first deceleration to be compensated during the pressure building process of the fluid transmission system includes:

[0128] If the motor compensation condition is met, the brake pressure of each wheel is calculated according to the actual pressure;

[0129] For any of the wheels, calculating a corresponding braking torque according to the corresponding braking pressure and a preset braking efficiency;

[0130] For any of the wheels, calculating a corresponding braking force according to a corresponding braking torque and a preset wheel radius;

[0131] Calculating a first sum of the braking forces of the wheels;

[0132] Calculating a first ratio between the first sum and a preset vehicle mass to obtain an actual deceleration generated by the actual pressure, wherein the actual deceleration is equal to the first ratio;

[0133] A first deceleration to be compensated during the pressure building process of the fluid transmission system is calculated according to the actual deceleration.

[0134] Optionally, in certain optional embodiments, calculating, based on the actual deceleration, a first deceleration to be compensated during the pressure building process of the fluid transmission system includes:

[0135] A first difference between the target deceleration given by the feedback control system and the actual deceleration is calculated to obtain a first deceleration to be compensated during the pressure building process of the fluid transmission system, wherein the first deceleration is equal to the first difference.

[0136] Optionally, in certain optional embodiments, calculating, based on the first deceleration, a compensation torque to be compensated during the pressure building process of the fluid transmission system, and controlling the compensatory braking force of the motor based on the compensation torque to improve the ride comfort of the electric vehicle includes:

[0137] A second product of the first deceleration, a preset vehicle mass, and a preset wheel radius is calculated to obtain a compensation torque to be compensated during the process of building pressure of the fluid transmission system, and a compensatory braking force of the motor is controlled according to the compensation torque to improve the smoothness of the electric vehicle, wherein the compensation torque to be compensated during the process of building pressure of the fluid transmission system is equal to the second product.

[0138] Optionally, in certain optional embodiments, when the energy recovery exit condition is met during the braking process, after determining whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and the preset vehicle speed threshold, the method further includes:

[0139] If the motor compensation condition is not met, the compensation braking force of the motor is controlled to be equal to 0.

[0140] The present invention is described with reference to flowcharts and / or block diagrams of methods, apparatuses, electronic devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable device to produce a machine, so that the instructions executed by the processor of the computer or other programmable device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0141] In a typical configuration, an electronic device includes one or more processors (CPUs), a memory, and a bus. The electronic device may also include an input / output interface, a network interface, and the like.

[0142] Memory may include non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory includes at least one memory chip. Memory is an example of a computer-readable medium.

[0143] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0144] In the description of the present invention, it should be understood that if the terms "up", "down", "front", "back", "left" and "right" are used to indicate directions or positional relationships, they are based on the directions or positional relationships shown in the accompanying drawings. They are only used to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the positions or elements referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limitations of the present invention.

[0145] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. It should also be noted that the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, commodity, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, commodity, or device comprising the element.

[0146] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0147] The above are merely embodiments of the present invention and are not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A method for improving the ride comfort of an electric vehicle in a series braking mode, characterized in that: include: When the energy recovery exit condition is met during braking, whether the motor compensation condition is met is determined based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and the preset vehicle speed threshold; If the motor compensation condition is met, calculating a first deceleration to be compensated during the pressure building process of the fluid transmission system according to the actual pressure; The compensation torque to be compensated in the process of building pressure of the fluid transmission system is calculated according to the first deceleration, and the compensation braking force of the motor is controlled according to the compensation torque to improve the ride comfort of the electric vehicle.

2. The method according to claim 1, characterized in that When the energy recovery exit condition is met during braking, judging whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and the preset vehicle speed threshold, includes: When the exit energy recovery condition is met during braking, if the current actual pressure in the brake chamber is less than the first product and the current actual vehicle speed is greater than the preset vehicle speed threshold, it is determined that the motor compensation condition is met; otherwise, it is determined that the motor compensation condition is not met, wherein the first product is equal to the product of the target pressure given by the feedback control system and the preset pressure ratio corresponding to the target pressure.

3. The method according to claim 1, characterized in that If the motor compensation condition is met, calculating the first deceleration to be compensated during the pressure building process of the fluid transmission system according to the actual pressure, including: If the motor compensation condition is met, the brake pressure of each wheel is calculated according to the actual pressure; For any of the wheels, calculating a corresponding braking torque according to the corresponding braking pressure and a preset braking efficiency; For any of the wheels, calculating a corresponding braking force according to a corresponding braking torque and a preset wheel radius; Calculating a first sum of the braking forces of the wheels; Calculating a first ratio between the first sum and a preset vehicle mass to obtain an actual deceleration generated by the actual pressure, wherein the actual deceleration is equal to the first ratio; A first deceleration to be compensated during the pressure building process of the fluid transmission system is calculated according to the actual deceleration.

4. The method according to claim 3, characterized in that Calculating the first deceleration to be compensated during the pressure building process of the fluid transmission system according to the actual deceleration includes: A first difference between the target deceleration given by the feedback control system and the actual deceleration is calculated to obtain a first deceleration to be compensated during the pressure building process of the fluid transmission system, wherein the first deceleration is equal to the first difference.

5. The method according to claim 1, wherein The method of calculating the compensation torque to be compensated in the process of building pressure of the fluid transmission system according to the first deceleration, and controlling the compensation braking force of the motor according to the compensation torque to improve the ride comfort of the electric vehicle includes: A second product of the first deceleration, a preset vehicle mass, and a preset wheel radius is calculated to obtain a compensation torque to be compensated during the process of building pressure of the fluid transmission system, and a compensatory braking force of the motor is controlled according to the compensation torque to improve the smoothness of the electric vehicle, wherein the compensation torque to be compensated during the process of building pressure of the fluid transmission system is equal to the second product.

6. The method according to claim 1, characterized in that When the energy recovery exit condition is met during the braking process, after determining whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed, and the preset vehicle speed threshold, the method further includes: If the motor compensation condition is not met, the compensation braking force of the motor is controlled to be equal to 0.

7. A device for improving the ride comfort of an electric vehicle in a series braking mode, characterized in that: include: a motor compensation condition judgment unit, a first deceleration calculation unit, and a compensation torque calculation unit; The motor compensation condition judgment unit is used to judge whether the motor compensation condition is met based on the current actual pressure in the brake chamber, the target pressure given by the feedback control system, the preset pressure ratio corresponding to the target pressure, the current actual vehicle speed and the preset vehicle speed threshold when the exit energy recovery condition is met during braking; The first deceleration calculation unit is configured to calculate a first deceleration to be compensated during the pressure building process of the fluid transmission system according to the actual pressure if the motor compensation condition is met; The compensation torque calculation unit is used to calculate the compensation torque to be compensated during the pressure building process of the fluid transmission system according to the first deceleration, and control the compensation braking force of the motor according to the compensation torque to improve the smoothness of the electric vehicle.

8. The device according to claim 7, characterized in that The motor compensation condition judgment unit includes: a motor compensation condition judgment subunit; The motor compensation condition judgment subunit is used to determine that the motor compensation condition is met when the exit energy recovery condition is met during braking. If the current actual pressure in the brake chamber is less than a first product and the current actual vehicle speed is greater than a preset vehicle speed threshold, it is determined that the motor compensation condition is met; otherwise, it is determined that the motor compensation condition is not met, wherein the first product is equal to the product of the target pressure given by the feedback control system and the preset pressure ratio corresponding to the target pressure.

9. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the method for improving the ride comfort of an electric vehicle in a series braking mode according to any one of claims 1 to 6 is implemented.

10. An electronic device, characterized in that: The electronic device includes at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other via the bus; the processor is used to call program instructions in the memory to execute the method for improving the ride comfort of an electric vehicle in a series braking mode as described in any one of claims 1 to 6.

Images