Self-adaptive regenerative braking distribution method and system based on motor temperature

Abstract

The invention provides a self-adaptive regenerative braking distribution method and system based on motor temperature, and relates to the technical field of whole vehicle braking and energy management. Comprising the steps that whether the motor temperature exceeds a motor high-temperature threshold value or not or whether the inverter temperature exceeds an inverter high-temperature threshold value or not is judged, if yes, regenerative torque is set to be zero, and all braking force is converted into mechanical braking torque; if not, calculating a regeneration priority weight based on the motor temperature; calculating an SOC priority weight based on the battery SOC in combination with the maximum threshold value and the minimum threshold value of the battery SOC; combining the regeneration priority weight and the SOC priority weight to obtain a comprehensive weight; and on the basis of the comprehensive weight and the vehicle deceleration information, the regeneration torque and the mechanical braking torque of the vehicle are obtained. Under the working condition of high temperature or high SOC, automatic amplitude limiting and torque regeneration are achieved, and mechanical brake compensation is introduced, so that safety and smoothness of the system are guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle braking and energy management, and in particular relates to a method and system for adaptive regenerative braking distribution based on motor temperature. Background Art

[0002] Currently, most cooperative regenerative braking systems distribute motor regenerative torque and friction braking torque based solely on brake pedal signals, vehicle deceleration, and motor / battery status. They typically employ fixed mapping or simple priority switching strategies to maximize energy recovery while ensuring braking requirements. This approach works well when the motor or inverter temperature is low, but when the motor temperature rises or the battery SOC reaches its limit, the system often lacks an online adjustment mechanism, which can lead to decreased regenerative efficiency, increased risk of thermal runaway, and even triggering protection degradation, impacting vehicle energy consumption and comfort. Specifically, (1) Existing cooperative regenerative braking systems usually rely on fixed thresholds or offline calibrated mapping tables to allocate regenerative and mechanical braking forces. They lack continuous adaptation to temperature and battery SOC and can only switch modes when the temperature or SOC just crosses the threshold. This not only causes the regenerative torque to suddenly fail when the working conditions change slightly, but also is not compatible with different electric drive systems and battery characteristics, requiring repeated manual calibration. (2) In addition, when encountering long-term high load or rapid temperature rise, due to the lack of millisecond-level extreme protection strategy, the system can only rely on hardware protection actions, which is prone to regenerative power outages, brake jitter or performance drops, seriously affecting energy recovery efficiency, safety and ride comfort. Summary of the Invention

[0003] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides an adaptive regenerative braking distribution method and system based on motor temperature, which performs adaptive torque distribution based on key operating parameters such as motor temperature, inverter temperature and battery SOC, and optimizes the coordinated control of regenerative braking and mechanical braking in real time. It can fully utilize the regenerative torque to improve energy recovery efficiency under low or normal temperature conditions, and automatically limit the regenerative torque and introduce mechanical braking compensation under high temperature or high SOC conditions to ensure system safety and smoothness.

[0004] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions: A first aspect of the present invention provides a method for adaptively allocating regenerative braking based on motor temperature.

[0005] A method for adaptive regenerative braking distribution based on motor temperature includes the following steps: Obtain vehicle motor temperature, inverter temperature, battery SOC and vehicle deceleration information; Determine whether the motor temperature exceeds the motor high temperature threshold or the inverter temperature exceeds the inverter high temperature threshold. If so, set the regenerative torque to zero and convert all braking forces into mechanical braking torque. If not, then: Calculate the regeneration priority weight based on the motor temperature; Based on the battery SOC and combined with the maximum and minimum thresholds of the battery SOC, the SOC priority weight is calculated; Combining the regeneration priority weight and the SOC priority weight, a comprehensive weight is obtained; Based on the comprehensive weight and vehicle deceleration information, the vehicle's regenerative torque and mechanical braking torque are obtained; The vehicle is controlled cooperatively based on regenerative torque and mechanical braking torque.

[0006] A second aspect of the present invention provides an adaptive regenerative braking distribution system based on motor temperature.

[0007] Adaptive regenerative braking distribution system based on motor temperature, including: The data acquisition module is configured to obtain vehicle motor temperature, inverter temperature, battery SOC and vehicle deceleration information; The judgment module is configured to: judge whether the motor temperature exceeds the motor high temperature threshold or whether the inverter temperature exceeds the inverter high temperature threshold; if so, set the regenerative torque to zero and convert all braking forces into mechanical braking torque; if not, then: The regeneration priority weight calculation module is configured to: calculate the regeneration priority weight based on the motor temperature; The SOC priority weight calculation module is configured to calculate the SOC priority weight based on the battery SOC and in combination with the maximum threshold and the minimum threshold of the battery SOC; The comprehensive weight calculation module is configured to: combine the regeneration priority weight and the SOC priority weight to obtain a comprehensive weight; The distribution module is configured to obtain the regenerative torque and mechanical braking torque of the vehicle based on the comprehensive weight and the vehicle deceleration information; The cooperative control module is configured to perform cooperative control on the vehicle based on the regenerative torque and the mechanical braking torque. A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the method for adaptive regenerative braking distribution based on motor temperature as described in the first aspect of the present invention.

[0008] The fourth aspect of the present invention provides an electronic device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the adaptive regenerative braking distribution method based on motor temperature as described in the first aspect of the present invention are implemented.

[0009] One or more of the above technical solutions have the following beneficial effects: The present invention provides a motor temperature-based adaptive regenerative braking distribution method and system. Based on key operating parameters such as motor temperature, inverter temperature and battery SOC, adaptive torque distribution is performed, and the coordinated control of regenerative braking and mechanical braking is optimized in real time. The method can fully utilize the regenerative torque to improve energy recovery efficiency under low or normal temperature conditions, and can automatically limit the regenerative torque and introduce mechanical braking compensation under high temperature or high SOC conditions to ensure system safety and smoothness.

[0010] The present invention can adaptively adjust the regenerative torque according to the real-time thermal conditions and battery status, avoiding the triggering of overheating protection or a sharp drop in regeneration efficiency, and achieving a balance between efficient energy recovery and system safety protection during braking; under extreme temperature conditions, the rapid torque reduction mode is used to effectively suppress heat accumulation, extend the life of the motor and inverter, and improve the system robustness and user riding comfort.

[0011] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0013] Figure 1 This is a flow chart of the method of embodiment 1.

[0014] Figure 2 This is a block diagram of the collaborative allocation method of embodiment 1.

[0015] Figure 3 This is a control information interaction diagram of Example 1. DETAILED DESCRIPTION

[0016] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0017] It should be noted that the terms used herein are for describing particular embodiments only and are not intended to limit the exemplary embodiments according to the present invention.

[0018] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0019] Example 1 This embodiment discloses a method for adaptively allocating regenerative braking based on motor temperature.

[0020] like Figure 1 As shown, a method for adaptive regenerative braking distribution based on motor temperature includes the following steps: Obtain vehicle motor temperature, inverter temperature, battery SOC and vehicle deceleration information; Determine whether the motor temperature exceeds the motor high temperature threshold or the inverter temperature exceeds the inverter high temperature threshold. If so, set the regenerative torque to zero and convert all braking forces into mechanical braking torque. If not, then: Calculate the regeneration priority weight based on the motor temperature; Based on the battery SOC and combined with the maximum and minimum thresholds of the battery SOC, the SOC priority weight is calculated; Combining the regeneration priority weight and the SOC priority weight, a comprehensive weight is obtained; Based on the comprehensive weight and vehicle deceleration information, the vehicle's regenerative torque and mechanical braking torque are obtained; The vehicle is controlled cooperatively based on regenerative torque and mechanical braking torque.

[0021] like Figure 2 As shown, in general, the embodiment of the present invention includes the following steps: First, the system is initialized and data is collected: the vehicle control unit collects real-time data such as motor temperature, inverter temperature, battery SOC, vehicle speed, and brake pedal position; Then, the driver's braking intention is detected. When the driver has a braking intention, the braking intention is quantified and expressed as a braking intention intensity, and the deceleration is adjusted and calculated; Next, the torque allocation process begins: a multi-objective weighted adaptive allocator calculates the current regenerative torque limit and mechanical torque compensation. This adaptive allocator uses a continuous and smooth logistic mapping algorithm to dynamically adjust the regeneration priority weight based on motor temperature and implements predictive protection based on the temperature change rate. When the motor or inverter temperature exceeds the preset threshold, the rapid cooling torque mode is activated, immediately reducing the regenerative torque output while increasing the mechanical braking share, and smoothly restoring the regenerative torque in the subsequent temperature drop phase; Finally, the torque command is issued: the torque command after adaptive distribution is issued to the regenerative braking control module and the mechanical braking execution unit to achieve dynamic coordinated braking.

[0022] When the brake pedal is released and the deceleration request is 0, it indicates that the braking process is completed, and the local increment is updated and uploaded to the cloud.

[0023] The method of this embodiment can adaptively adjust the regenerative torque according to the real-time thermal conditions and battery status, avoiding the triggering of overheating protection or a sharp drop in regeneration efficiency, and achieving a balance between efficient energy recovery and system safety protection during braking; under extreme temperature conditions, the rapid torque reduction mode is used to effectively suppress heat accumulation, extend the life of the motor and inverter, and improve system robustness and user riding comfort.

[0024] Next, the method described in this embodiment will be explained in detail. Figure 2 and Figure 3 As shown, the method provided by the embodiment of the present invention includes the following steps S1 to S7.

[0025] S1, system initialization and cycle scheduling.

[0026] When the vehicle starts or the vehicle domain controller is powered on, the system first loads two sets of key mapping data from the local Flash: one is the mapping function from deceleration to wheel end torque , and the second is the weight curve of temperature and regeneration priority .

[0027] like Figure 3 As shown, the vehicle domain controller then initiates V2X communication with the cloud server, asynchronously downloads the latest mapping table optimized by cloud big data and offline algorithms in the background, and automatically switches to using the cloud-optimized version after the download is complete.

[0028] The system signal acquisition cycle is as follows: Collected in 100ms cycle: Motor temperature , inverter temperature and battery SOC.

[0029] Collected at a 5ms cycle: Brake pedal position , vehicle speed and vehicle longitudinal acceleration .

[0030] S2, calculation of required deceleration and regeneration priority.

[0031] The vehicle domain controller is based on the pedal position Get the current target deceleration by looking up the table or linear interpolation .

[0032] The system is based on the motor temperature S-type (Logistic) function is used to smoothly map to the regeneration priority weight :

[0033] in: is the mapping midpoint temperature (usually 100°C, corresponding to = 0.5. ); is the steepness parameter, which controls the rate at which the weight changes with temperature (taken as 5°C); when hour, (regenerative braking is prioritized); when hour, (Regenerative braking is prohibited).

[0034] Then, the system uses the low / high threshold of the battery SOC (e.g. 20%) and (such as 95%) as the boundary, calculate the SOC priority weight:

[0035] in, is the minimum threshold of battery SOC, is the maximum threshold of battery SOC; is the SOC priority weight; Indicates the current battery SOC value.

[0036] In this embodiment, The minimum threshold of battery SOC is 20%. The maximum threshold of battery SOC is set to 95%.

[0037] Finally, the average of the two is used to get the comprehensive regeneration priority:

[0038] This comprehensive weight can maximize the regenerative torque within the temperature safety range and automatically reduce or prohibit regenerative braking when the battery is close to saturation.

[0039] S3, driver braking intention fusion.

[0040] Furthermore, this embodiment also includes: Determine whether the driver has the intention to brake; The driver's braking intention is quantified as the braking intention intensity; Based on the intensity of the braking intention, the vehicle deceleration is calculated.

[0041] In order to make the vehicle response more in line with the real needs of the driver, the pedal stroke and its rate of change The determination is made: When is less than the first minimum threshold and is less than the second minimum threshold, it is determined that the driver has no braking intention, = 0, represents the braking intention strength; When is greater than the first maximum threshold and is greater than the second maximum threshold, it is determined that the driver has strong braking intention, = 1.

[0042] The first minimum threshold and the first maximum threshold can be set as percentages, respectively representing the proportion of the minimum pedal stroke to the total pedal stroke and the proportion of the maximum pedal stroke to the total pedal stroke.

[0043] In the present embodiment, the first minimum threshold and the first maximum threshold are set to 5% and 60%; the second minimum threshold and the second maximum threshold are set to 0.1 / s and 3 / s. Then in the present embodiment: When < 5% and < 0.1 / s, there is no braking intention, = 0.

[0044] When > 60% and > 3 / s, there is strong braking intention, = 1.

[0045] In other cases, a braking intention strength is calculated according to linear mapping:

[0046] Based on the braking intention strength, the vehicle deceleration is updated in combination with the vehicle deceleration information to obtain an updated deceleration:

[0047] wherein, represents the braking intention strength; represents the deceleration; represents the deceleration updated by the braking intention. Generally, it is taken as 0.1-0.3, which can be flexibly set according to vehicle tuning.

[0048] It can be understood that, is the original deceleration, which is obtained based on the braking pedal mapping; The deceleration requirement is updated after fine-tuning based on the driver's braking intention.

[0049] This step does not increase the complexity of torque distribution, and only requires increasing or decreasing the value when calculating the mapping.

[0050] S4, braking torque distribution.

[0051] The system converts the required deceleration into braking torque using the following formula and distributes it according to priority:

[0052]

[0053] in, is the target regenerative torque of this cycle; The remaining demand is borne by mechanical brakes.

[0054] In this way, there is no need for complex switching logic, and the scheduling module only needs simple multiplication and table lookup to complete the torque distribution.

[0055] S5, high temperature protection and smooth switching.

[0056] If the motor temperature is detected at any time Exceeding the motor high temperature threshold (such as 150℃) or inverter temperature Exceeding high temperature threshold (e.g. 125°C), the regenerative torque is forcibly prohibited:

[0057] And convert all braking force into mechanical braking.

[0058] S6, the final torque command is issued.

[0059] According to the calculation results of the above steps, the domain controller will calculate the final regenerative torque and mechanical torque It is sent synchronously to the motor control unit and brake execution unit through the CAN bus. The entire communication and execution delay is less than 5ms, which can meet real-time control requirements.

[0060] S7, local online learning and cloud iteration.

[0061] When the brake pedal is released and When the braking time approaches zero (meaning the end of a complete braking process), the system automatically triggers local online learning: collecting data such as the temperature curve, actual torque, and regenerative energy; Accumulated learning data is regularly uploaded to the cloud via V2X. After the cloud aggregates multi-vehicle data and offline algorithm optimization, the new model is pushed back to the vehicle via OTA to achieve continuous performance improvement.

[0062] Example 2 This embodiment discloses an adaptive regenerative braking distribution system based on motor temperature.

[0063] Adaptive regenerative braking distribution system based on motor temperature, including: The data acquisition module is configured to obtain vehicle motor temperature, inverter temperature, battery SOC and vehicle deceleration information; The judgment module is configured to: judge whether the motor temperature exceeds the motor high temperature threshold or whether the inverter temperature exceeds the inverter high temperature threshold; if so, set the regenerative torque to zero and convert all braking forces into mechanical braking torque; if not, then: The regeneration priority weight calculation module is configured to: calculate the regeneration priority weight based on the motor temperature; The SOC priority weight calculation module is configured to calculate the SOC priority weight based on the battery SOC and in combination with the maximum threshold and the minimum threshold of the battery SOC; The comprehensive weight calculation module is configured to: combine the regeneration priority weight and the SOC priority weight to obtain a comprehensive weight; The distribution module is configured to obtain the regenerative torque and mechanical braking torque of the vehicle based on the comprehensive weight and the vehicle deceleration information; The cooperative control module is configured to perform cooperative control on the vehicle based on the regenerative torque and the mechanical braking torque. Example 3 The purpose of this embodiment is to provide a computer-readable storage medium.

[0064] A computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps in the method for adaptive regenerative braking distribution based on motor temperature as described in Example 1 of the present disclosure.

[0065] Example 4 The purpose of this embodiment is to provide an electronic device.

[0066] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method for adaptive regenerative braking distribution based on motor temperature as described in Example 1 of the present disclosure are implemented.

[0067] The steps involved in the apparatuses of the above embodiments two, three and four correspond to the method of embodiment one, and the specific implementation can refer to the relevant description of embodiment one. The term "computer readable storage medium" should be understood as including a single medium or multiple media of one or more instruction sets; it should also be understood as including any medium capable of storing, encoding or carrying a set of instructions for execution by a processor and causing the processor to perform any of the methods in the present application.

[0068] Those skilled in the art should understand that each module or step of the present application described above can be realized by a general computer device, alternatively, they can be realized by program codes executable by a computing device, so that they can be stored in a storage device for execution by a computing device, or they can be respectively manufactured into each integrated circuit module, or a plurality of modules or steps among them can be manufactured into a single integrated circuit module to realize. The present application is not limited to any specific combination of hardware and software.

[0069] Although the specific embodiments of the present application are described above in combination with the drawings, the description is not a limitation on the scope of protection of the present application, and those skilled in the art should understand that various modifications or changes made by those skilled in the art on the basis of the technical solutions of the present application without creative labor are still within the scope of protection of the present application.

Claims

1. An adaptive regenerative braking distribution method based on motor temperature, characterized in that: The following steps are involved: Obtain vehicle motor temperature, inverter temperature, battery SOC and vehicle deceleration information; Determine whether the motor temperature exceeds the motor high temperature threshold or the inverter temperature exceeds the inverter high temperature threshold. If so, set the regenerative torque to zero and convert all braking forces into mechanical braking torque. If not, then: Calculate the regeneration priority weight based on the motor temperature; Based on the battery SOC and combined with the maximum and minimum thresholds of the battery SOC, the SOC priority weight is calculated; Combining the regeneration priority weight and the SOC priority weight, a comprehensive weight is obtained; Based on the comprehensive weight and vehicle deceleration information, the vehicle's regenerative torque and mechanical braking torque are obtained; The vehicle is controlled cooperatively based on regenerative torque and mechanical braking torque.

2. The method for adaptive regenerative braking distribution based on motor temperature according to claim 1, wherein: The specific calculation formula of the regeneration priority weight is: ； in, is the mapping midpoint temperature; is the steepness parameter; Indicates the motor temperature is The regeneration priority weight when is the motor temperature; The specific calculation formula of the SOC priority weight is: ； in, is the minimum threshold of battery SOC, is the maximum threshold of battery SOC; is the SOC priority weight; Indicates the current battery SOC value; The calculation formula of the comprehensive weight is: ； in, Indicates the comprehensive weight.

3. The method for adaptive regenerative braking distribution based on motor temperature according to claim 1, wherein: Also includes: Determine whether the driver has the intention to brake; The driver's braking intention is quantified as the braking intention intensity; Based on the braking intention intensity and in combination with the vehicle deceleration information, the vehicle deceleration is updated to obtain an updated deceleration.

4. The method for adaptive regenerative braking distribution based on motor temperature according to claim 3, wherein: The braking intention intensity is specifically calculated as follows: Get vehicle pedal travel and pedal travel rate of change ; when Less than the first minimum threshold and When the speed is less than the second lowest threshold, it is judged that the driver has no braking intention. =0, Indicates the intensity of braking intention; when Greater than the first highest threshold and When the value is greater than the second highest threshold, it is determined that the driver has a forced driving intention. =1; =0 and = 1, based on the first minimum threshold and the first maximum threshold, a braking intention intensity is calculated according to the linear mapping. : ； or, Based on the braking intention intensity and combined with the vehicle deceleration information, the vehicle deceleration is updated to obtain the updated deceleration, specifically: ； in, Indicates the driver's braking intention gain; Indicates deceleration; Indicates the deceleration after updating with the braking intention.

5. The method for adaptive regenerative braking distribution based on motor temperature according to claim 4, characterized in that: Based on the comprehensive weight and vehicle deceleration information, the vehicle's regenerative torque and mechanical braking torque are obtained, specifically: ； ； in, Indicates regenerative torque; Indicates mechanical brake; represents the comprehensive weight; Represents the mapping function from deceleration to wheel end torque.

6. The method for adaptive regenerative braking distribution based on motor temperature according to claim 2, wherein: When the vehicle is started or the vehicle domain controller is powered on, two sets of key mapping data are pre-acquired, including a mapping function from deceleration to wheel-end torque, and a mapping function from motor temperature to regeneration priority weight.

7. The method for adaptive regenerative braking distribution based on motor temperature according to claim 1, wherein: The vehicle is controlled collaboratively based on the regenerative torque and mechanical braking torque, specifically: Sending the regenerative torque to the motor control unit and utilizing the motor control unit to perform energy recovery operations; The mechanical brake is sent to the brake execution unit, and the brake execution unit is used to perform the braking action.

8. Adaptive regenerative braking distribution system based on motor temperature, characterized in that, include: The data acquisition module is configured to obtain vehicle motor temperature, inverter temperature, battery SOC and vehicle deceleration information; The judgment module is configured to: judge whether the motor temperature exceeds the motor high temperature threshold or whether the inverter temperature exceeds the inverter high temperature threshold; if so, set the regenerative torque to zero and convert all braking forces into mechanical braking torque; if not, then: The regeneration priority weight calculation module is configured to: calculate the regeneration priority weight based on the motor temperature; The SOC priority weight calculation module is configured to calculate the SOC priority weight based on the battery SOC and in combination with the maximum threshold and the minimum threshold of the battery SOC; The comprehensive weight calculation module is configured to: combine the regeneration priority weight and the SOC priority weight to obtain a comprehensive weight; The distribution module is configured to obtain the regenerative torque and mechanical braking torque of the vehicle based on the comprehensive weight and the vehicle deceleration information; The cooperative control module is configured to perform cooperative control on the vehicle based on the regenerative torque and the mechanical braking torque.

9. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method for adaptive regenerative braking distribution based on motor temperature as claimed in any one of claims 1 to 7 are implemented.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method for adaptive regenerative braking distribution based on motor temperature as described in any one of claims 1 to 7 are implemented.

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