Vehicle control apparatus and method

Abstract

The invention relates to a vehicle control apparatus and method. The vehicle control apparatus includes a processor and a storage medium storing instructions that, when executed by the processor, may cause the vehicle control apparatus to: collect driving information of a vehicle; determining a brake distribution ratio between a main drive shaft and an auxiliary drive shaft of the vehicle based on the driving information and the plurality of distribution maps; determining a first regenerative braking torque of the main drive shaft and a second regenerative braking torque of the auxiliary drive shaft based on the brake distribution ratio; and controlling regenerative braking of the vehicle based on the first regenerative braking torque and the second regenerative braking torque.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2024-0039018 filed on March 21, 2024, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to a vehicle control device and method. Background Art

[0004] An electric vehicle is a vehicle equipped with an electric motor for propulsion. This category includes hybrid vehicles, electric vehicles, and hydrogen fuel cell vehicles. Regenerative braking technology has been used to improve the fuel efficiency of these electric vehicles.

[0005] Regenerative braking is a technology that generates electricity by applying reverse torque to the electric motor and utilizing the energy generated when the vehicle is braked, and stores the generated electricity in a high-voltage battery for reuse when driving the vehicle.

[0006] For four-wheel drive (4WD) vehicles with independent drive devices for the front and rear wheels, the drive devices can be driven independently or together. For example, a two-wheel drive (2WD) mode in which the front or rear wheels are driven as one axle is implemented as the basic drive, and if the driving power is insufficient, the four-wheel drive mode can be activated to additionally use the remaining axle.

[0007] Thus, the vehicle can use one of the front and rear drive shafts as the main drive shaft and the other as the auxiliary drive shaft. In some embodiments, when four-wheel drive is implemented, regenerative braking torque can be applied only to the main drive shaft, and only in special circumstances will a portion of the regenerative braking torque be applied to the auxiliary drive shaft.

[0008] According to these embodiments, if regenerative braking torque is excessively applied to either drive axle, wheel slip may occur, thereby compromising vehicle safety, and may ultimately cause the regenerative braking torque to be released and potentially result in a loss of fuel efficiency. Summary of the Invention

[0009] An aspect of the present disclosure provides a vehicle control apparatus and method capable of improving braking safety by appropriately distributing and applying regenerative braking power to a main drive shaft and an auxiliary drive shaft.

[0010] Another aspect of the present disclosure is to provide a vehicle control device and method, which can obtain the braking distribution ratio between the main drive shaft and the auxiliary drive shaft of the vehicle by using the vehicle's driving information and multiple distribution maps, and use the regenerative braking torque obtained based on the braking distribution ratio to control the regenerative braking of the drive shaft and the auxiliary drive shaft, thereby achieving regenerative braking optimized for the vehicle's driving conditions.

[0011] Another aspect of the present disclosure is to provide a vehicle control apparatus and method capable of improving the degree of freedom of distribution ratio adjustment by selecting one distribution ratio candidate value as a braking distribution ratio from a plurality of distribution ratio candidate values ​​output from a plurality of different distribution maps.

[0012] According to one or more exemplary embodiments of the present disclosure, a vehicle control device may include: a processor and a storage medium. The storage medium may store instructions that, when executed by the processor, cause the vehicle control device to: collect driving information of the vehicle; determine a braking distribution ratio between a main drive shaft and an auxiliary drive shaft of the vehicle based on the driving information and a plurality of distribution maps; determine a first regenerative braking torque for the main drive shaft and a second regenerative braking torque for the auxiliary drive shaft based on the braking distribution ratio; and control regenerative braking of the vehicle based on the first regenerative braking torque and the second regenerative braking torque.

[0013] When the instruction is executed by the processor, the vehicle control device can determine the braking distribution ratio in the following manner: determine multiple distribution ratio candidate values ​​based on multiple distribution maps; and select one of the multiple distribution ratio candidate values ​​as the braking distribution ratio based on the vehicle's main drive shaft information.

[0014] The plurality of distribution maps may include distribution maps for fuel efficiency and drivability of the vehicle. When executed by the processor, the instructions may further cause the vehicle control device to: input required travel amount information included in the travel information into the distribution map; and determine candidate distribution ratio values ​​based on outputs from the distribution map.

[0015] The plurality of distribution maps may include a distribution map for braking safety associated with vehicle cornering at high speeds. When executed by a processor, the instructions may further cause the vehicle control device to: input vehicle speed information and steering angle information included in the driving information into the distribution map; and determine candidate distribution ratio values ​​based on outputs from the distribution map.

[0016] The plurality of distribution maps may include a distribution map for braking safety associated with vehicle deceleration at high speeds. When executed by a processor, the instructions may further cause the vehicle control device to: input vehicle speed information and required braking amount information included in driving information into the distribution map; and determine candidate distribution ratio values ​​based on outputs from the distribution map.

[0017] When the instruction is executed by the processor, the vehicle control device can determine the braking distribution ratio in the following manner: for the front-wheel drive shaft, the braking distribution ratio is determined as one of the following: based on the main drive shaft of the vehicle being the front-wheel drive shaft, the minimum value among multiple distribution ratio candidate values; or based on the main drive shaft of the vehicle being the rear-wheel drive shaft, the maximum value among multiple distribution ratio candidate values.

[0018] When the instruction is executed by the processor, the vehicle control device can further: determine the main drive shaft distribution ratio and the auxiliary drive shaft distribution ratio based on the braking distribution ratio; determine the total required braking amount based on the signal detected by the vehicle brake pedal sensor; and determine the allowable predicted value of regenerative braking of the main drive shaft and the allowable predicted value of regenerative braking of the auxiliary drive shaft based on the total required braking amount, the main drive shaft distribution ratio and the auxiliary drive shaft distribution ratio.

[0019] When the instructions are executed by the processor, the vehicle control device may further: determine a cost regenerative torque of the main drive shaft based on the main drive shaft allocation ratio; and determine a cost regenerative torque of the auxiliary drive shaft based on the auxiliary drive shaft allocation ratio.

[0020] When the instruction is executed by the processor, the vehicle control device can determine the first regenerative braking torque and the second regenerative braking torque in the following manner: based on the allowable predicted value of the regenerative braking of the main drive shaft, the allowable predicted value of the regenerative braking of the auxiliary drive shaft, the cost regenerative torque of the main drive shaft and the cost regenerative torque of the auxiliary drive shaft, determine the allowable amount of regenerative braking of the main drive shaft and the allowable amount of regenerative braking of the auxiliary drive shaft; further based on the allowable amount of regenerative braking of the main drive shaft, determine the first regenerative braking torque of the main drive shaft; and further based on the allowable amount of regenerative braking of the auxiliary drive shaft, determine the second regenerative braking torque of the auxiliary drive shaft.

[0021] When executed by the processor, the instructions may further cause the vehicle control device to adjust the brake distribution ratio based on whether a circuit breaker configured to disconnect the auxiliary drive shaft from the motor is operable.

[0022] According to one or more exemplary embodiments of the present disclosure, a vehicle control method may be executed by a computing device including a processor. The vehicle control method may include: collecting driving information of a vehicle; determining a braking distribution ratio between a main drive shaft and an auxiliary drive shaft of the vehicle based on the driving information and a plurality of distribution maps; determining a first regenerative braking torque for the main drive shaft and a second regenerative braking torque for the auxiliary drive shaft based on the braking distribution ratio; and controlling regenerative braking of the vehicle based on the first regenerative braking torque and the second regenerative braking torque.

[0023] Determining the braking distribution ratio may include: determining a plurality of distribution ratio candidate values ​​based on a plurality of distribution maps; and selecting one of the plurality of distribution ratio candidate values ​​as the braking distribution ratio based on main drive shaft information of the vehicle.

[0024] The plurality of distribution maps may include distribution maps of fuel efficiency and drivability of the vehicle. The method may further include: inputting required travel amount information included in the travel information into the distribution map; and determining the distribution ratio candidate value based on an output of the distribution map.

[0025] The plurality of distribution maps may include a distribution map for braking safety associated with a vehicle turning at high speed. The method may further include: inputting vehicle speed information and steering angle information included in the driving information into the distribution map; and determining a candidate distribution ratio value based on an output of the distribution map.

[0026] The plurality of distribution maps may include a distribution map for braking safety associated with vehicle deceleration at high speed. The method may further include: inputting vehicle speed information and required braking amount information included in the driving information into the distribution map; and determining a candidate distribution ratio value based on an output of the distribution map.

[0027] Determining the braking distribution ratio may include: for the front-wheel drive shaft, determining the braking distribution ratio as one of the following: based on the main drive shaft of the vehicle being the front-wheel drive shaft, the minimum value among multiple distribution ratio candidate values; or based on the main drive shaft of the vehicle being the rear-wheel drive shaft, the maximum value among multiple distribution ratio candidate values.

[0028] The vehicle control method may further include: determining the main drive shaft distribution ratio and the auxiliary drive shaft distribution ratio based on the braking distribution ratio; determining the total required braking amount based on the signal detected by the vehicle's brake pedal sensor; and determining the allowable predicted value of regenerative braking of the main drive shaft and the allowable predicted value of regenerative braking of the auxiliary drive shaft based on the total required braking amount, the main drive shaft distribution ratio and the auxiliary drive shaft distribution ratio.

[0029] The vehicle control method may further include determining a cost regenerative torque of the main drive shaft based on the main drive shaft allocation ratio; and determining a cost regenerative torque of the auxiliary drive shaft based on the auxiliary drive shaft allocation ratio.

[0030] Determining the first regenerative braking torque and the second regenerative braking torque may include: determining the allowable amount of regenerative braking of the main drive shaft and the allowable amount of regenerative braking of the auxiliary drive shaft based on the allowable predicted value of regenerative braking of the main drive shaft, the allowable predicted value of regenerative braking of the auxiliary drive shaft, the cost regenerative torque of the main drive shaft, and the cost regenerative torque of the auxiliary drive shaft; further determining the first regenerative braking torque of the main drive shaft based on the allowable amount of regenerative braking of the main drive shaft; and further determining the second regenerative braking torque of the auxiliary drive shaft based on the allowable amount of regenerative braking of the auxiliary drive shaft.

[0031] The vehicle control method may further include adjusting the brake distribution ratio based on whether a circuit breaker configured to disconnect the auxiliary drive shaft from the motor is operable. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other aspects, features and advantages of the present disclosure will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0033] Figure 1 Schematically illustrates a vehicle including a vehicle control device according to an embodiment of the present disclosure;

[0034] Figure 2 is a block diagram of a vehicle control device according to an embodiment of the present disclosure;

[0035] Figure 3 is a flow chart of a vehicle control method according to an embodiment of the present disclosure;

[0036] Figure 4 is a flow chart of a vehicle control method according to an embodiment of the present disclosure;

[0037] Figure 5 is a flowchart illustrating a vehicle control method according to an embodiment of the present disclosure; and

[0038] Figure 6 is a block diagram of a computing device that may implement, in whole or in part, a vehicle control apparatus according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] Hereinafter, embodiments of the present disclosure are described below with reference to the accompanying drawings. The following description is provided to help a comprehensive understanding of the methods, devices and / or systems disclosed in detail. However, the following description is only exemplary and is not intended to limit the present disclosure.

[0040] In the following description of the present disclosure, specific embodiments of known functions and configurations incorporated herein will be omitted when it would make the subject matter of the present disclosure unclear. The terms used in this specification are defined in view of the functions used in the present disclosure and may change according to the intentions of customers, operators and users or the methods of conventional use. Therefore, the definitions of terms should be understood based on the entire description of this specification. The terms used in the following description are only used to describe the embodiments of the present disclosure and are not intended to limit the inventive concept. As used herein, unless the context clearly indicates otherwise, the singular forms "one", "the / said" are intended to also include plural forms. It will be further understood that when the terms "including" or "having" are used in the specification, the presence of the features, integers, steps, operations, elements or a part or combination thereof is specified, but the presence or addition of one or more other features, integers, steps, operations, elements or a part or combination thereof is not excluded.

[0041] It will be understood that when an element is referred to as being “connected to” another element, it can be directly connected to the other element or intervening elements may be present. In contrast, when an element is referred to as being “directly connected to” another element, there are no intervening elements present.

[0042] Hereinafter, certain embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0043] Figure 1 A vehicle including a vehicle control device according to an embodiment of the present disclosure is schematically shown. Figure 1 , the vehicle 100 may include a vehicle control device 110 , a front-wheel drive unit 120 , a rear-wheel drive unit 130 , and a sensor unit 140 .

[0044] The vehicle 100 may be a four-wheel drive vehicle including a front-wheel drive unit 120 and a rear-wheel drive unit 130. In addition, the vehicle 100 may be an electric vehicle capable of performing regenerative braking control.

[0045] The vehicle control device 110 may generate signals for controlling the vehicle 100 based on information received from other components of the vehicle 100, including the front-wheel drive unit 120, the rear-wheel drive unit 130, and the sensor unit 140. The vehicle control device 110 may transmit the generated control signals to the other components of the vehicle 100 via a controller area network (CAN) signal.

[0046] The front wheel drive unit 120 may include front wheels 121, a front wheel drive shaft 122, and a front wheel motor 123. The front wheel drive unit 120 may be provided at the front of the vehicle 100 to generate power for driving the vehicle 100 and transmit the power to the front wheels 121 via the front wheel drive shaft 122.

[0047] The rear wheel drive unit 130 may include rear wheels 131, a rear wheel drive shaft 132, and a rear wheel motor 133. The rear wheel drive unit 130 may be disposed at the rear of the vehicle 100 to generate power for driving the vehicle 100 and transmit the power to the rear wheels 131 via the rear wheel drive shaft 132.

[0048] The vehicle 100 may use one of the front wheel 121 and the rear wheel 131 as a main drive wheel and the other as an auxiliary drive wheel.

[0049] For example, in the case of a rear-wheel based vehicle in which the rear wheels 131 are main drive wheels, the rear wheel drive shaft 132 may be a main drive shaft, and the front wheel drive shaft 122 may be an auxiliary drive shaft.

[0050] For another example, in the case of a front-wheel vehicle in which the front wheels 121 are main drive wheels, the front-wheel drive shaft 122 may be a main drive shaft, and the rear-wheel drive shaft 132 may be an auxiliary drive shaft.

[0051] The vehicle 100 may further include a circuit breaker that disconnects the auxiliary drive shaft from the motor and allows switching of the driving mode of the vehicle 100. According to a preset circuit breaker operation condition, the circuit breaker may connect or disconnect the auxiliary drive shaft to or from the motor.

[0052] The preset circuit breaker operation situation may include a situation where wheel slip occurs during vehicle driving. For example, the preset circuit breaker operation situation may include a situation where the required deceleration is 0.2 g or greater.

[0053] For example, in the case of a rear-wheel based vehicle, a circuit breaker may be included on the front wheel drive unit 120 side and connect or disconnect the front wheel drive shaft 122 and the front wheel motor 123 according to a preset circuit breaker operation situation.

[0054] For another example, in the case of a front-wheel vehicle, a circuit breaker may be included on the rear-wheel drive unit 130 side, and connect or disconnect the rear-wheel drive shaft 132 and the rear-wheel motor 133 according to a preset circuit breaker operation scenario.

[0055] When the circuit breaker is not operated according to the preset circuit breaker operation condition, that is, when the auxiliary drive shaft is connected to the motor, the vehicle 100 can be operated in the four-wheel drive mode. In addition, when the circuit breaker is operated according to the preset circuit breaker operation condition, that is, when the auxiliary drive shaft is disconnected from the motor, the vehicle 100 can be operated in the two-wheel drive mode.

[0056] The sensor unit 140 may include one or more sensors that collect driving information of the vehicle 100. The sensor unit 140 may include, for example, at least one of a wheel speed sensor, a vehicle speed sensor that detects the speed of the vehicle 100, an accelerator position sensor (APS) associated with operation of an accelerator pedal, a brake pedal sensor (BPS) associated with operation of a brake pedal, and a steering angle sensor (SAS) associated with operation of a steering wheel.

[0057] The sensor unit 140 may transmit the collected driving information of the vehicle 100 to the vehicle control device 110 via a CAN signal.

[0058] Hereinafter, the configuration and operation of the vehicle control device 110 will be described in detail. Figure 2 FIG. 1 shows a block diagram of the vehicle control device 110. Figure 2 As shown, the vehicle control device 110 may include a vehicle controller 111 , a brake controller 112 , and a motor controller 113 .

[0059] The vehicle controller 111 may control various components required for starting, power, braking, steering, and shifting of the vehicle 100. The vehicle controller 111 may control the brake controller 112 and the motor controller 113, and may cooperate with at least one of the brake controller 112 and the motor controller 113 to control other components of the vehicle 100.

[0060] The brake controller 112 can control the brake device of the vehicle 100 based on the signal from the brake pedal sensor to reduce the running speed of the vehicle 100 or stop the vehicle 100. In addition, the motor controller 113 can control the driving device including the front wheel motor 123 and the rear wheel motor 133 of the vehicle 100 based on the signal from the accelerator position sensor to control the running speed of the vehicle 100.

[0061] The vehicle control device 110 may further include a storage unit and a communication unit. The storage unit may store various programs and data to implement the functions performed by the vehicle controller 111, the brake controller 112, and the motor controller 113. The communication unit may be used by the vehicle controller 111, the brake controller 112, and the motor controller 113 to transmit and receive data to and from each other or to and from other components of the vehicle 100.

[0062] Figure 3 and 4 is a flowchart of a vehicle control method according to an embodiment of the present disclosure. Figure 3 and Figure 4 The vehicle control method shown may be implemented in whole or in part by Figure 1 and Figure 2 The vehicle control unit 110 shown executes.

[0063] Reference Figure 3 The vehicle control method (S300) may include: an operation of collecting driving information of the vehicle (S310), an operation of obtaining a braking distribution ratio between a main drive shaft and an auxiliary drive shaft of the vehicle (S320), an operation of obtaining the regenerative braking torque of the main drive shaft and the regenerative braking torque of the auxiliary drive shaft (S330), and an operation of controlling the regenerative braking of the vehicle (S340).

[0064] In the operation of collecting the driving information of the vehicle ( S310 ), the driving information of the vehicle may be collected based on signals detected from one or more sensors included in the vehicle.

[0065] The one or more sensors included in the vehicle may include, for example, at least one of a wheel speed sensor, a vehicle speed sensor, an accelerator position sensor, a brake pedal sensor, and a steering angle sensor.

[0066] The vehicle's driving information may include, for example, at least one of vehicle speed information based on the detection signal of a vehicle speed sensor, required driving amount information based on the detection signal of an accelerator position sensor, required braking amount information based on the detection signal of a brake pedal sensor, and steering angle information based on the detection signal of a steering angle sensor.

[0067] In the operation of obtaining the brake distribution ratio ( S320 ), the brake distribution ratio between the main drive shaft and the auxiliary drive shaft of the vehicle may be obtained using the driving information of the vehicle collected in operation S310 and the plurality of distribution maps.

[0068] Figure 4 A detailed flowchart illustrating the operation (S320) of deriving a braking distribution ratio included in the vehicle control method (S300) is shown.

[0069] Reference Figure 4 The operation of obtaining the braking distribution ratio (S320) may include: an operation of obtaining multiple distribution ratio candidate values ​​using multiple distribution maps (S321); an operation of selecting one of the multiple distribution ratio candidate values ​​based on the main drive shaft information (S322); and an operation of adjusting the braking distribution ratio based on whether the circuit breaker is operable (S323).

[0070] The plurality of distribution maps may include different distribution maps configured to obtain different output values ​​in consideration of a driving condition of the vehicle.

[0071] For example, the plurality of distribution maps include a first distribution map of fuel efficiency and drivability of the vehicle, a second distribution map of braking safety of the vehicle when turning at high speed, and a third distribution map of braking safety of the vehicle when decelerating at high speed.

[0072] The operation of obtaining a plurality of candidate distribution ratio values ​​(S321) may include inputting required travel amount information included in the travel information into a first distribution map and obtaining a first candidate distribution ratio value output from the first distribution map. The first distribution map is used for fuel efficiency and travel performance of the vehicle and may output a first candidate distribution ratio value that allows the regenerative braking torque to be applied to the main drive shaft of the vehicle at a ratio as high as possible.

[0073] In addition, the operation of obtaining a plurality of candidate distribution ratio values ​​(S321) may include an operation of inputting vehicle speed information and steering angle information included in the driving information into a second distribution map and an operation of obtaining a second candidate distribution ratio value output from the second distribution map. The second distribution map is used for braking stability of the vehicle and may output a second candidate distribution ratio value that allows a high ratio of regenerative braking torque to be applied to the auxiliary drive shaft when the vehicle is turning at high speed.

[0074] In addition, the operation of obtaining a plurality of candidate distribution ratio values ​​(S321) may include an operation of inputting vehicle speed information and required braking amount information included in the driving information into a third distribution map and an operation of obtaining a third candidate distribution ratio value output from the third distribution map. The third distribution map is used for braking stability of the vehicle and may output a third candidate distribution ratio value that allows a high ratio of regenerative braking torque to be applied to the auxiliary drive shaft when the vehicle is decelerating at a high speed.

[0075] The above-described first to third distribution maps are examples of the plurality of distribution maps, and the plurality of distribution maps may include all or part of the first to third distribution maps, or may include another distribution map processed in a different manner from the first to third distribution maps.

[0076] In the operation of selecting one of the plurality of distribution ratio candidate values ​​( S322 ), one of the plurality of distribution ratio candidate values ​​may be determined as the brake distribution ratio based on main drive shaft information of the vehicle.

[0077] For example, when the main drive shaft of the vehicle is a rear-wheel drive shaft, the maximum value among a plurality of distribution ratio candidate values ​​may be determined as the brake distribution ratio of the rear-wheel drive shaft.

[0078] For another example, when the main drive shaft of the vehicle is a front-wheel drive shaft, the minimum value among a plurality of distribution ratio candidate values ​​may be determined as the brake distribution ratio of the front-wheel drive shaft.

[0079] According to the present disclosure, the braking distribution ratio can be determined so that the regenerative braking amount is not excessively applied to any one drive shaft, especially the main drive shaft, and the regenerative braking amount is appropriately distributed and applied to the main drive shaft and the auxiliary drive shaft, thereby preventing the occurrence of wheel slip and improving braking safety.

[0080] The operation of obtaining the brake distribution ratio ( S320 ) may further include detecting whether a circuit breaker configured to disconnect between the auxiliary drive shaft and the motor is operable.

[0081] In the operation ( S323 ) of adjusting the brake distribution ratio based on whether the circuit breaker is operable, if the circuit breaker is not operable, the auxiliary drive shaft may be connected to the motor and the brake distribution ratio determined in operation S322 may be applied as it is.

[0082] On the other hand, when the circuit breaker is operable, the auxiliary drive shaft is separated from the motor and the braking distribution ratio determined in operation S322 may not be applied as it is, so the main drive shaft distribution ratio may be adjusted to 1 and the auxiliary drive shaft distribution ratio may be adjusted to 0.

[0083] Return to reference Figure 3 The operation of obtaining the brake distribution ratio (S320) may include an operation of obtaining a main drive shaft distribution ratio and an operation of obtaining an auxiliary drive shaft distribution ratio. The main drive shaft distribution ratio may be applied to the main drive shaft of the vehicle, the auxiliary drive shaft distribution ratio may be applied to the auxiliary drive shaft, and the sum of the main drive shaft distribution ratio and the auxiliary drive shaft distribution ratio may be set to a value of 1.

[0084] For example, if the main drive shaft of the vehicle is the rear-wheel drive shaft, and the maximum value among multiple allocation ratio candidate values ​​is determined to be the brake allocation ratio of the front-wheel drive shaft, the brake allocation ratio of the front-wheel drive shaft may be the auxiliary drive shaft allocation ratio. Therefore, the ratio corresponding to the remainder of the auxiliary drive shaft allocation ratio (1-auxiliary drive shaft allocation ratio) may be the main drive shaft allocation ratio and may be applied to the rear-wheel drive shaft.

[0085] In another example, when the vehicle's main drive shaft is a front-wheel drive shaft and the minimum value among multiple distribution ratio candidate values ​​is determined as the front-wheel drive shaft's brake distribution ratio, the front-wheel drive shaft's brake distribution ratio may be the main drive shaft distribution ratio. Therefore, the ratio corresponding to the remainder of the main drive shaft distribution ratio (1-main drive shaft distribution ratio) may be the auxiliary drive shaft distribution ratio and may be applied to the rear-wheel drive shaft.

[0086] In addition, the vehicle control method ( S300 ) may further include an operation of obtaining a total required braking amount, an operation of obtaining a permissible predicted value of regenerative braking, an operation of controlling a cost regenerative torque, and an operation of obtaining a permissible amount of regenerative braking.

[0087] In the operation of obtaining the total required braking amount, the total required braking amount can be obtained based on the signal detected by the brake pedal sensor of the vehicle. The total required braking amount can refer to the total braking amount required to slow down or stop the vehicle based on the brake pedal stroke input by the driver.

[0088] In the operation of obtaining the permissible predicted value of regenerative braking, the permissible predicted value of regenerative braking for the main drive shaft and the permissible predicted value of regenerative braking for the auxiliary drive shaft may be obtained based on the total required braking amount, the main drive shaft allocation ratio, and the auxiliary drive shaft allocation ratio. The permissible predicted value of regenerative braking may refer to a predicted value of the permissible amount of regenerative braking applicable to the main drive shaft and the auxiliary drive shaft of the vehicle.

[0089] For example, the allowable value of regenerative braking of the main drive shaft can be obtained by multiplying the total required braking amount by the main drive shaft distribution ratio, and the allowable value of regenerative braking of the auxiliary drive shaft can be obtained as a value obtained by subtracting the allowable predicted value of regenerative braking of the main drive shaft from the total required braking amount.

[0090] In addition, the allowable predicted value of regenerative braking of the main drive shaft can be obtained as the value obtained by multiplying the total required braking amount by the main drive shaft distribution ratio, and the allowable predicted value of regenerative braking of the auxiliary drive shaft can be obtained as the value obtained by multiplying the total required braking amount by the auxiliary drive shaft distribution ratio.

[0091] In the operation of controlling the cost regeneration torque, the main drive shaft distribution ratio and the auxiliary drive shaft distribution ratio may be equally applied to the cost regeneration control of the main drive shaft and the auxiliary drive shaft.

[0092] The operation of controlling the cost regenerative torque may include an operation of deriving the cost regenerative torque of the main drive shaft based on the main drive shaft allocation ratio and an operation of deriving the cost regenerative torque of the auxiliary drive shaft based on the auxiliary drive shaft allocation ratio.

[0093] In the operation of controlling the cost regeneration torque, cost regeneration control may be performed based on the cost regeneration torque of the main drive shaft and the cost regeneration torque of the auxiliary drive shaft.

[0094] The present disclosure has the effect of improving fuel efficiency and vehicle safety by obtaining an appropriate brake distribution ratio according to the driving conditions of the vehicle and using the same brake distribution ratio to appropriately distribute and apply the cost regeneration amount to the main drive shaft and the auxiliary drive shaft.

[0095] In the operation of obtaining the allowable amount of regenerative braking, the allowable amount of regenerative braking of the main drive shaft and the allowable amount of regenerative braking of the auxiliary drive shaft can be obtained based on the allowable predicted value of regenerative braking of the main drive shaft, the allowable predicted value of regenerative braking of the auxiliary drive shaft, the cost regenerative torque of the main drive shaft and the cost regenerative torque of the auxiliary drive shaft.

[0096] The allowable amount of regenerative braking may refer to an amount of regenerative braking applied to the main drive shaft and the auxiliary drive shaft of the vehicle in consideration of various factors including the total required braking amount of the vehicle, the cost regeneration execution amount, and limitations of the vehicle itself.

[0097] In the operation of obtaining the regenerative braking torque ( S330 ), the regenerative braking torque of the main driving shaft and the regenerative braking torque of the auxiliary driving shaft may be obtained based on the braking distribution ratio obtained in operation S320 .

[0098] The operation of obtaining the regenerative braking torque ( S330 ) may include obtaining the regenerative braking torque of the main drive shaft based on the allowable amount of regenerative braking of the main drive shaft and obtaining the regenerative braking torque of the auxiliary drive shaft based on the allowable amount of regenerative braking of the auxiliary drive shaft.

[0099] The regenerative braking torque of the main drive shaft may be obtained within an allowable amount range of the regenerative braking of the main drive shaft, and the regenerative braking torque of the auxiliary drive shaft may be obtained within an allowable amount range of the regenerative braking of the auxiliary drive shaft.

[0100] In the operation ( S340 ) of controlling the regenerative braking of the vehicle, the regenerative braking of the vehicle may be controlled based on the regenerative braking torque of the main driving shaft and the regenerative braking torque of the auxiliary driving shaft obtained in operation S330 .

[0101] Figure 5 is a flowchart illustrating a vehicle control method according to an embodiment of the present disclosure. Figure 5 The illustrated vehicle control method ( S500 ) may be implemented by the vehicle control device 110 according to an embodiment of the present disclosure.

[0102] Specifically, Figure 5 Operations and data flows of the vehicle controller 111 , the brake controller 112 , and the motor controller 113 included in the vehicle control device 110 are shown.

[0103] exist Figure 5 In the middle, omit the reference above Figures 1 to 4 Detailed description of the same parts described.

[0104] Reference Figure 5 In the vehicle control method (S500), the brake controller 112 inputs the stroke of the brake pedal (S501) and can calculate the total required braking amount (S502). The total required braking amount calculated by the brake controller 112 can be transmitted from the brake controller 112 to the vehicle controller 111 (S503).

[0105] Subsequently, the vehicle controller 111 determines braking start / stop (ON / OFF) (S504) and may calculate an available regenerative braking amount (S505). The available regenerative braking amount calculated by the vehicle controller 111 may be transmitted from the vehicle controller 111 to the brake controller 112 (S506).

[0106] In addition, the vehicle controller 111 may calculate a braking distribution ratio (S507). The braking distribution ratio calculated by the vehicle controller 111 may be transmitted from the vehicle controller 111 to the brake controller 112 (S508).

[0107] A cost regeneration control signal may be transmitted from the vehicle controller 111 to the motor controller 113 ( S509 ), and cost regeneration may be performed by the motor controller 113 ( S510 ).

[0108] The cost regeneration execution amount may be transmitted from the motor controller 113 to the vehicle controller 111 ( S511 ), and the cost regeneration execution amount may be transmitted from the vehicle controller 111 to the brake controller 112 ( S512 ).

[0109] Subsequently, the allowable amount of regenerative braking may be calculated by the brake controller 112 (S513). The allowable amount of regenerative braking calculated by the brake controller 112 may be transmitted from the brake controller 112 to the vehicle controller 111 (S514).

[0110] A regenerative braking control signal may be transmitted from the vehicle controller 111 to the motor controller 113 ( S515 ), and regenerative braking may be performed by the motor controller 113 ( S516 ).

[0111] The regenerative braking execution amount may be transmitted from the motor controller 113 to the vehicle controller 111 ( S517 ), and the regenerative braking execution amount may be transmitted from the vehicle controller 111 to the brake controller 112 ( S518 ).

[0112] Subsequently, hydraulic braking may be performed (S519) by the brake controller 112. A control signal for the hydraulic braking may be determined based on a value obtained by subtracting the regenerative braking execution amount from the total required braking amount.

[0113] exist Figure 5 In the flowchart of the vehicle control method (S500) shown, the division of operations of the vehicle controller 111, the brake controller 112 and the motor controller 113 is an example, and in fact, the vehicle control method (S500) can be implemented so that all operations can be performed by one of the vehicle controller 111, the brake controller 112 and the motor controller 113, or can be divided to be performed.

[0114] Figure 6 is a block diagram of a computing device 600 that can implement in whole or in part a vehicle control device according to an embodiment of the present disclosure. The vehicle control device can be Figure 1 and Figure 2 The vehicle control device 110 is shown.

[0115] like Figure 6As shown, computing device 600 includes at least one processor 601 , a computer-readable storage medium 602 , and a communication bus 603 .

[0116] The processor 601 can enable the computing device 600 to operate according to the exemplary embodiments described above. For example, the processor 601 can execute one or more programs stored in the computer-readable storage medium 602. The one or more programs may include one or more computer-executable instructions that, when executed by the processor 601, can cause the computing device 600 to perform operations according to the exemplary embodiments.

[0117] The computer-readable storage medium 602 is configured to store computer-executable instructions or program code, program data, and / or other suitable forms of information. The program 602a stored in the computer-readable storage medium 602 includes a set of instructions executable by the processor 601. In an embodiment, the computer-readable storage medium 602 includes a memory (volatile memory, such as random access memory, non-volatile memory, or a suitable combination thereof), one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, another form of storage medium that can be accessed by the computing device 600 and store required information, or a suitable combination thereof.

[0118] Communication bus 603 interconnects various other components of computing device 600 , including processor 601 and computer-readable storage media 602 .

[0119] The computing device 600 may also include one or more input / output interfaces 605 and one or more network communication interfaces 606 that provide an interface for one or more input / output devices 604. The input / output interface 605 and the network communication interface 606 are connected to the communication bus 603.

[0120] The network communication interface 606 is an interface for communication within the vehicle, or for communication between the vehicle and other devices outside the vehicle. For example, the network communication interface 606 may include CAN, a Media Oriented Systems Transport (MOST) network, a Local Interconnect Network (LIN), and / or a drive-by-wire system (X-by-Wire, Flexray), Wi-Fi, Bluetooth, NFC, RFID, etc. The network may be a cellular network, such as Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Time Division CDMA (TD-CDMA), Universal Mobile Telecommunications System (UMTS), Long Term Evolution (LTE), or other cellular networks.

[0121] The input / output device 604 can be connected to other components of the computing device 600 through the input / output interface 605. For example, the input / output device 604 may include, but is not limited to: a contact device (e.g., a mouse or trackpad), a keyboard, a touch input device (e.g., a touchpad or touch screen), a voice or sound input device, various types of sensor devices, and / or input devices such as imaging devices, and / or output devices such as a display device, a printer, a speaker, and / or a network card. The input / output device 604 may be included in the computing device 600 as a component constituting the computing device 600, or may be connected to the computing device 600 as an independent device different from the computing device 600.

[0122] According to aspects of the present disclosure, a vehicle control device includes: a processor and a storage medium storing instructions executable by the processor, wherein the processor is configured to execute the instructions to collect driving information of the vehicle, use the driving information and multiple distribution maps to obtain a braking distribution ratio between a main drive shaft and an auxiliary drive shaft of the vehicle, obtain the regenerative braking torque of the main drive shaft and the regenerative braking torque of the auxiliary drive shaft based on the braking distribution ratio, and control the regenerative braking of the vehicle based on the regenerative braking torque of the main drive shaft and the regenerative braking torque of the auxiliary drive shaft.

[0123] According to another aspect of the present disclosure, a vehicle control method executed in a computing device including a processor and a storage medium storing instructions executable by the processor includes: collecting driving information of the vehicle, using the driving information and multiple distribution maps to obtain a braking distribution ratio between a main drive shaft and an auxiliary drive shaft of the vehicle, obtaining a regenerative braking torque of the main drive shaft and a regenerative braking torque of the auxiliary drive shaft based on the braking distribution ratio, and controlling the regenerative braking of the vehicle based on the regenerative braking torque of the main drive shaft and the regenerative braking torque of the auxiliary drive shaft.

[0124] The present disclosure may provide an apparatus and method for controlling a vehicle, which are capable of improving braking safety by appropriately distributing and applying the amount of regenerative braking to a main drive shaft and an auxiliary drive shaft.

[0125] In an embodiment, the present disclosure may provide a vehicle control device and method, which can obtain the braking distribution ratio between the main drive shaft and the auxiliary drive shaft of the vehicle by using the vehicle's driving information and multiple distribution maps, and use the regenerative braking torque obtained based on the braking distribution ratio to control the regenerative braking of the drive shaft and the auxiliary drive shaft, thereby achieving regenerative braking optimized for the vehicle's driving conditions.

[0126] The present disclosure can provide a device and method for controlling a vehicle, which can improve the freedom of distribution ratio adjustment by selecting a distribution ratio candidate value from multiple distribution ratio candidate values ​​output from multiple different distribution maps as a braking distribution ratio, and can maximize the use of front and rear motors to improve fuel efficiency.

[0127] In addition, the present disclosure can improve fuel efficiency by appropriately distributing and applying the cost regeneration amount to the main drive shaft and the auxiliary drive shaft using the same brake distribution ratio as that of the regenerative braking.

[0128] On the other hand, embodiments of the present disclosure may include a program for executing the method described in this specification on a computer and a computer-readable recording medium including the program. The computer-readable recording medium may include program instructions, local data files, local data structures, etc., alone or in combination. The medium may be a medium specially designed and configured for the present disclosure, or it may be a medium commonly used in the field of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and tapes, optical recording media such as CD-ROMs and DVDs, and hardware devices such as ROMs, RAMs, flash memories, etc. that are specially configured to store and execute program instructions. Examples of programs may include not only machine language codes such as codes generated by a compiler, but also high-level language codes that can be run by a computer using an interpreter, etc.

[0129] While embodiments have been shown and described above, it will be apparent to those skilled in the art that modifications and variations may be made without departing from the scope of the present disclosure as defined by the appended claims.

Claims

1. A vehicle control device, comprising: processor; as well as A storage medium storing instructions, which, when executed by the processor, cause the vehicle control device to: Collect vehicle driving information; determining a braking distribution ratio between a main drive shaft and an auxiliary drive shaft of the vehicle based on the driving information and a plurality of distribution maps; determining a first regenerative braking torque of the main drive shaft and a second regenerative braking torque of the auxiliary drive shaft based on the braking distribution ratio; and Regenerative braking of the vehicle is controlled based on the first regenerative braking torque and the second regenerative braking torque.

2. The vehicle control device according to claim 1, wherein: When the processor executes the instructions, the vehicle control device determines the braking distribution ratio in the following manner: determining a plurality of candidate allocation ratio values ​​based on the plurality of allocation maps; and Based on the main drive shaft information of the vehicle, one of the plurality of distribution ratio candidate values ​​is selected as the brake distribution ratio.

3. The vehicle control device according to claim 1, wherein: The plurality of distribution maps include distribution maps of fuel efficiency and driving performance of the vehicle, and When the instructions are executed by the processor, the vehicle control device is further caused to: inputting required travel amount information included in the travel information into the map; and Based on the output of the allocation map, candidate allocation ratio values ​​are determined.

4. The vehicle control device according to claim 1, wherein: The plurality of distribution maps include a distribution map for braking safety associated with turning of the vehicle at high speed, and When the instructions are executed by the processor, the vehicle control device is further caused to: inputting vehicle speed information and steering angle information included in the driving information into the map; and Based on the output of the allocation map, candidate allocation ratio values ​​are determined.

5. The vehicle control device according to claim 1, wherein: The plurality of distribution maps include a distribution map for braking safety associated with deceleration of the vehicle at high speed, and When the instructions are executed by the processor, the vehicle control device is further caused to: inputting vehicle speed information and required braking amount information included in the driving information into the map; and Based on the output of the allocation map, candidate allocation ratio values ​​are determined.

6. The vehicle control device according to claim 2, wherein: When the processor executes the instructions, the vehicle control device determines the braking distribution ratio in the following manner: For the front wheel drive axle, the brake distribution ratio is determined as one of the following: Based on the main drive shaft of the vehicle being the front-wheel drive shaft, the minimum value among the plurality of candidate allocation ratio values; or Based on the fact that the main drive shaft of the vehicle is a rear-wheel drive shaft, the maximum value among the plurality of distribution ratio candidate values ​​is obtained.

7. The vehicle control device according to claim 1, wherein: When the instructions are executed by the processor, the vehicle control device is further caused to: determining a main drive shaft distribution ratio and an auxiliary drive shaft distribution ratio based on the brake distribution ratio; determining a total required braking amount based on a signal detected by a brake pedal sensor of the vehicle; and Based on the total required braking amount, the main drive shaft allocation ratio, and the auxiliary drive shaft allocation ratio, a permissible predicted value for regenerative braking of the main drive shaft and a permissible predicted value for regenerative braking of the auxiliary drive shaft are determined.

8. The vehicle control device according to claim 7, wherein: When the instructions are executed by the processor, the vehicle control device is further caused to: determining a cost regenerative torque of the main drive shaft based on the main drive shaft allocation ratio; and Based on the auxiliary drive axle allocation ratio, a cost regenerative torque of the auxiliary drive axle is determined.

9. The vehicle control device according to claim 8, wherein: When the instructions are executed by the processor, the vehicle control device determines the first regenerative braking torque and the second regenerative braking torque in the following manner: determining an allowable amount of regenerative braking of the main drive shaft and an allowable amount of regenerative braking of the auxiliary drive shaft based on the allowable predicted value of regenerative braking of the main drive shaft, the allowable predicted value of regenerative braking of the auxiliary drive shaft, the cost regenerative torque of the main drive shaft, and the cost regenerative torque of the auxiliary drive shaft; determining a first regenerative braking torque of the main drive shaft further based on an allowable amount of regenerative braking of the main drive shaft; and A second regenerative braking torque for the auxiliary drive shaft is determined based further on the allowable amount of regenerative braking of the auxiliary drive shaft.

10. The vehicle control device according to claim 1, wherein: When the instructions are executed by the processor, the vehicle control device is further caused to: The brake distribution ratio is adjusted based on whether a circuit breaker configured to disconnect the auxiliary drive shaft from a motor is operable.

11. A vehicle control method, executed by a computing device including a processor, the vehicle control method comprising: Collect vehicle driving information; determining a braking distribution ratio between a main drive shaft and an auxiliary drive shaft of the vehicle based on the driving information and a plurality of distribution maps; determining a first regenerative braking torque of the main drive shaft and a second regenerative braking torque of the auxiliary drive shaft based on the braking distribution ratio; as well as Regenerative braking of the vehicle is controlled based on the first regenerative braking torque and the second regenerative braking torque.

12. The vehicle control method according to claim 11, wherein: Determining the braking distribution ratio includes: determining a plurality of candidate allocation ratio values ​​based on the plurality of allocation maps; and Based on the main drive shaft information of the vehicle, one of the plurality of distribution ratio candidate values ​​is selected as the brake distribution ratio.

13. The vehicle control method according to claim 11, wherein: The plurality of distribution maps include distribution maps of fuel efficiency and driving performance of the vehicle, and The method further comprises: inputting required travel amount information included in the travel information into the map; and Based on the output of the allocation map, candidate allocation ratio values ​​are determined.

14. The vehicle control method according to claim 11, wherein: The plurality of distribution maps include a distribution map for braking safety associated with turning of the vehicle at high speed, and The method further comprises: inputting vehicle speed information and steering angle information included in the driving information into the map; and Based on the output of the allocation map, candidate allocation ratio values ​​are determined.

15. The vehicle control method according to claim 11, wherein: The plurality of distribution maps include a distribution map for braking safety associated with deceleration of the vehicle at high speed, and The method further comprises: inputting vehicle speed information and required braking amount information included in the driving information into the map; and Based on the output of the allocation map, candidate allocation ratio values ​​are determined.

16. The vehicle control method according to claim 12, wherein: Determining the braking distribution ratio includes: For the front wheel drive axle, the brake distribution ratio is determined as one of the following: Based on the main drive shaft of the vehicle being the front-wheel drive shaft, the minimum value among the plurality of candidate allocation ratio values; or Based on the fact that the main drive shaft of the vehicle is a rear-wheel drive shaft, the maximum value among the plurality of distribution ratio candidate values ​​is obtained.

17. The vehicle control method according to claim 11, further comprising: determining a main drive shaft distribution ratio and an auxiliary drive shaft distribution ratio based on the brake distribution ratio; determining a total required braking amount based on a signal detected by a brake pedal sensor of the vehicle; and Based on the total required braking amount, the main drive shaft allocation ratio, and the auxiliary drive shaft allocation ratio, a permissible predicted value for regenerative braking of the main drive shaft and a permissible predicted value for regenerative braking of the auxiliary drive shaft are determined.

18. The vehicle control method according to claim 17, further comprising: determining a cost regenerative torque of the main drive shaft based on the main drive shaft allocation ratio; and Based on the auxiliary drive axle allocation ratio, a cost regenerative torque of the auxiliary drive axle is determined.

19. The vehicle control method according to claim 18, wherein: Determining the first regenerative braking torque and the second regenerative braking torque includes: Obtaining an allowable amount of regenerative braking of the main drive shaft and an allowable amount of regenerative braking of the auxiliary drive shaft based on the allowable predicted value of regenerative braking of the main drive shaft, the allowable predicted value of regenerative braking of the auxiliary drive shaft, the cost regenerative torque of the main drive shaft, and the cost regenerative torque of the auxiliary drive shaft; determining a first regenerative braking torque of the main drive shaft further based on an allowable amount of regenerative braking of the main drive shaft; and A second regenerative braking torque for the auxiliary drive shaft is determined based further on the allowable amount of regenerative braking of the auxiliary drive shaft.

20. The vehicle control method according to claim 11, further comprising: The brake distribution ratio is adjusted based on whether a circuit breaker configured to disconnect the auxiliary drive shaft from a motor is operable.

Images