SYSTEMS AND METHOD FOR ADJUSTING TRAILER BRAKE BOOST TO OPTIMIZE VEHICLE EFFICIENCY WHEN TOWING

Abstract

A vehicle control system for a vehicle towing a trailer includes a trailer control module configured to control the actuation of the trailer's actuators, and a vehicle control module communicating with the trailer control module. The vehicle control module is configured to control the actuation of the actuators in the vehicle, determine an energy parameter associated with the vehicle when the trailer control module controls the actuation of the actuators in the trailer based on the initial trailer condition, determine an actuation force when the trailer control module controls the actuation of the actuators in the trailer based on the initial trailer condition, and, based on the actuation force, generate a control signal for the trailer control module to control the actuation of the actuators of the trailer attached to the vehicle.Other exemplary vehicle systems and vehicle procedures for vehicles towing trailers are also disclosed.

Description

INTRODUCTION

[0001] The present invention relates to a system and a method for adjusting a trailer brake booster to optimize vehicle efficiency when towing.

[0002] A generic vehicle system is essentially derived from DE 10 2019 130 200 A1.

[0003] An electric vehicle, such as a battery electric vehicle, a hybrid vehicle, or a fuel cell vehicle, contains one or more electric motors and a battery system. The battery system contains one or more battery cells. During operation, the electric motors act as engines for propulsion and as generators for energy recuperation during braking. The electric vehicle may be towed by a trailer equipped with brakes. In such scenarios, trailer brake boosting can be used to control the sensitivity of the trailer brakes when the driver applies the vehicle's brakes. The trailer brake boosting can be adjusted by the user according to the weight and load of the vehicle and trailer. SUMMARY

[0004] According to the invention, a vehicle system for an electric vehicle that pulls a trailer is presented, wherein the vehicle system is characterized by the features of claim 1.

[0005] The vehicle system includes a trailer control module configured to control the actuation of the trailer brake actuators of the trailer attached to the electric vehicle, and a vehicle control module communicating with the trailer control module. The vehicle control module is configured to receive an initial trailer brake boost for the trailer attached to the electric vehicle; to determine a change in the recuperated energy associated with the electric vehicle's regenerative braking when the trailer control module controls the actuation of the trailer brake actuators based on the initial trailer brake boost; to determine a braking force when the trailer control module controls the actuation of the trailer brake actuators based on the initial trailer brake boost; and to adjust the trailer brake boost for the trailer attached to the electric vehicle based on changes in recuperated energy.The vehicle control module is configured to determine a recuperation force based on changes in recuperation energy and the initial trailer brake gain, and to adjust the trailer brake gain based on this determined recuperation force. Furthermore, the vehicle control module is configured to receive a lower limit and an upper limit for the trailer brake gain, and to adjust the trailer brake gain between these limits based on the determined recuperation force.

[0006] According to further features, the vehicle control module is configured to repeatedly adjust the trailer brake boost for the trailer attached to the electric vehicle until the recuperation force is maximized.

[0007] According to further features, the vehicle control module is configured to determine the recuperation force based on a learning model and a previously determined recuperation force.

[0008] According to further features, the vehicle system also includes a display module that communicates with the vehicle control module. The display module is configured to show the energy output for the electric vehicle in accordance with the set trailer brake booster.

[0009] According to further features, the vehicle control system also includes an adaptive cruise control module that communicates with the vehicle control module. The adaptive cruise control module is configured to receive the adjusted trailer brake boost and adjust the speed of the electric vehicle based on this adjusted trailer brake boost.

[0010] According to further features, the vehicle control module is configured to determine the change in recuperation energy by determining a difference in recuperation energy when the electric vehicle's brakes are not applied and when the electric vehicle's brakes are applied.

[0011] According to further features, the vehicle control module is configured to determine the change in recuperation energy based on the state of charge of a battery in the electric vehicle.

[0012] According to further features, the vehicle control module is configured to determine the braking force by estimating a trailer braking force and a vehicle braking force based on an acceleration of the electric vehicle, when the trailer control module controls the actuation of the trailer brake actuators based on the initial trailer brake boost.

[0013] A method for adapting a trailer brake booster for a trailer attached to an electric vehicle is presented, characterized by the features of claim 4.

[0014] The method includes receiving an initial trailer brake boost for the trailer attached to the electric vehicle, determining a change in the recuperation energy associated with the electric vehicle's regenerative braking when the trailer brake actuators are controlled based on the initial trailer brake boost, determining a braking force when the trailer brake actuators are controlled based on the initial trailer brake boost, adjusting the trailer brake boost for the trailer attached to the electric vehicle based on the change in recuperation energy, braking force, and initial trailer brake boost, and generating a control signal for a trailer control module based on the adjusted trailer brake boost to control the actuation of the trailer brake actuators of the trailer attached to the electric vehicle.Furthermore, the method includes determining a recuperation force based on the change in recuperation energy and the initial trailer brake gain, and adjusting the trailer brake gain for the trailer attached to the electric vehicle based on the determined recuperation force. Additionally, the method includes receiving a lower limit and an upper limit for the trailer brake gain and adjusting the trailer brake gain for the trailer attached to the electric vehicle between the lower and upper limits based on the determined recuperation force.

[0015] According to further features, the method also includes determining the display of an energy impact for the electric vehicle in accordance with the adapted trailer brake boost and / or adjusting a speed of the electric vehicle controlled by an adaptive cruise control module based on the adapted trailer brake boost.

[0016] According to further characteristics, determining the change in recovery energy includes determining a difference in recovery energy when the electric vehicle's brakes are not applied and when the electric vehicle's brakes are applied.

[0017] According to further features, determining the braking force includes estimating a trailer braking force and a vehicle braking force based on an acceleration of the electric vehicle when the trailer control module controls the actuation of the trailer brake actuators based on the initial trailer brake boost.

[0018] A vehicle control system for a vehicle towing a trailer includes a trailer control module configured to control the actuation of the trailer's actuators, and a vehicle control module communicating with the trailer control module. The vehicle control module is configured to control the actuation of the actuators in the vehicle, to determine an energy parameter associated with the vehicle when the trailer control module controls the actuation of the actuators in the trailer based on the initial trailer condition, to determine an actuation force when the trailer control module controls the actuation of the actuators in the trailer based on the initial trailer condition, and to generate a control signal for the trailer control module based on the actuation force to control the actuation of the actuators of the trailer attached to the vehicle.

[0019] According to further characteristics, the energy parameter assigned to the vehicle includes a state of charge of a battery in the vehicle.

[0020] According to further characteristics, the actuating force includes a braking force.

[0021] According to further characteristics, the initial trailer condition includes a condition associated with trailer braking.

[0022] According to further characteristics, the condition associated with trailer braking includes an initial trailer brake boost.

[0023] According to further features, the vehicle control module is configured to adjust the initial trailer condition based on the actuation force and to generate the control signal for the trailer control module based on the adjusted initial trailer condition.

[0024] Further areas of application of the present invention will become apparent from the detailed description, the claims, and the drawings. The detailed description and the specific examples are for illustrative purposes only. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be more fully understood from the detailed description and the accompanying drawings; these show: Fig. 1 a functional block diagram of an exemplary vehicle system for adapting a trailer brake booster for a trailer according to the present invention; Fig. 2 a top view of a trailer attached to an electric vehicle according to the present invention; Fig. 3 a graph showing parameters of batteries and brakes of an electric vehicle according to the present invention; Fig. 4 a graph showing a recovery force as a function of a change in recovery energy and a trailer brake gain according to the present invention; and Fig. 5-6 Flowcharts of exemplary control processes for adapting a trailer brake booster for a trailer according to the present invention.

[0026] In the drawings, reference symbols may be used multiple times to designate similar and / or identical elements. DETAILED DESCRIPTION

[0027] An electric vehicle (EV), such as a battery electric vehicle, a hybrid vehicle, or a fuel cell vehicle, contains one or more electric machines that function as motors for propulsion and as generators for energy recuperation during braking. The battery system in the EV discharges when the electric machines are operating as motors and charges when they are operating as generators. An EV's range can vary based on numerous parameters, such as the characteristics of the EV itself, the battery system, and so on. Furthermore, the EV's range can decrease significantly while towing. For example, pulling a heavy trailer can reduce the range by up to 45% compared to the EV's range without a trailer. Therefore, the reduction in range while towing can be a significant limiting factor for EVs.

[0028] The vehicle systems and methods according to the present invention provide technical solutions for improving towing efficiency for a vehicle (e.g., an EV) while maintaining the safety of the vehicle and trailer by adaptively adjusting a trailer condition (e.g., trailer brake booster, etc.) to maximize an energy parameter associated with the vehicle (e.g., power generation of a battery system). According to such examples, an optimal trailer brake booster or other trailer condition can be identified, for example, based on a learning model that maximizes recovered energy while maintaining trailer stability. By utilizing the present vehicle systems and methods, an EV towing a trailer can exhibit increased energy recovery (e.g., 20% energy recovery) from braking compared to conventional systems.

[0029] Now in Fig. Figure 1 shows a block diagram of an example vehicle system 100 for an EV towing a trailer. The vehicle system 100 consists of Fig. 1 can be used in any suitable EV, such as a battery electric vehicle, a hybrid vehicle, a fuel cell vehicle, etc. Furthermore, vehicle system 100 can be applied to an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle. Although vehicle system 100 is described here in relation to an EV, it should be noted that vehicle system 100 can be used in other suitable vehicles, such as internal combustion engine vehicles, if desired.

[0030] The trailer attached to the EV (e.g., hitched, etc.) can be any suitable type of trailer equipped with brakes controllable via trailer brake assist. According to various embodiments, the trailer can be attached to the EV via a trailer coupling. The trailer coupling can be attached to the EV's frame (e.g., via bolts, etc.). The trailer coupling can be shaped and dimensioned, etc., to accommodate the mounting of a trailer drawbar with a ball, an opening, etc. The trailer includes a suitable structure for attachment to the ball, the opening, etc.

[0031] In general, the vehicle system 100 includes a vehicle control module 102 and a trailer brake control module 104 communicating with the vehicle control module 102. As further explained below, the vehicle control module 102 adjusts a trailer brake boost (or other suitable trailer condition) for the trailer attached to the EV until an optimal value for maximizing energy recuperation from a vehicle battery is identified. For example, in conventional towing scenarios, a trailer brake boost is set such that it causes a trailer to begin braking before the vehicle brakes cause the towing vehicle to stop. This helps to stop the vehicle but causes the trailer to absorb energy.In contrast, the trailer safely pushes the EV when the vehicle brakes are applied, provided the vehicle control module 102 optimizes the trailer brake boost for the attached trailer. Energy is transferred from the trailer to the EV (more precisely, to the vehicle brakes) to increase energy recuperation within the EV. This allows the trailer to be used to increase the energy efficiency of the EV (or more generally, the vehicle). If the load carried by the trailer (e.g., cargo) changes, if the EV is towing a different trailer, if the EV is driving over different terrain, etc., the optimal trailer brake boost for maximizing energy recuperation in the EV may change.

[0032] As in Fig. As shown in Figure 1, the vehicle system 100 further includes one or more optional modules and sensors communicating with the vehicle control module 102. As shown in Figure 1, the vehicle system 100 also includes one or more optional modules and sensors in communication with the vehicle control module 102. Fig. As shown in Figure 1, the optional modules can include, for example, a brake control module 106, a display module 108, a detection module 110, an adaptive cruise control module 112, and a battery control module 114. Although Fig. While the vehicle system 100 is presented as a single unit containing specific modules and sensors, it should be noted that one or more other modules and / or sensors can be used if desired. Although the vehicle system 100 is shown as a single unit containing several separate modules (e.g., the vehicle control module 102, the trailer brake control module 104, etc.), any combination of the modules and / or their functionality can also be integrated into one or more modules.

[0033] The modules and sensors of the vehicle system 100 can share parameters via a network 116, such as a Controller Area Network (or Car Area Network) (CAN). According to such examples, the parameters can be shared via one or more data buses of the network 116. Thus, various parameters from a given module and / or sensor can be made available to other modules and / or sensors via the network 116.

[0034] According to various embodiments, the trailer brake control module 104 controls the actuation of the trailer brake actuators 118 on the trailer attached to the EV. Actuation of the trailer brake actuators 118 can apply mechanical brakes (friction brakes) of the trailer. According to such examples, the control of the trailer brake actuators 118 is based on the trailer brake boost as determined by the vehicle control module 102. The trailer brake boost can be used to control the sensitivity of the trailer brakes when a driver applies the vehicle brakes by adjusting the amount of power (e.g., current) supplied from a vehicle battery to the trailer brake actuators 118.

[0035] Fig. Figure 2 shows, for example, an EV 200 and a trailer 202 attached to the EV 200. As shown, the EV 200 (e.g., a truck) contains the vehicle control module 102 and the trailer brake control module 104. Fig. 1. The trailer 202 contains tires 222, 224 and brakes 226, 228 assigned to the tires 222, 224. The trailer brake control module 104 controls the brakes 226, 228 based on a trailer brake boost determined by the vehicle control module 102. Although the EV 200 from Fig. Although EV 200 is shown as a truck, it should be noted that another suitable type of EV, such as an off-road vehicle, a van, a passenger car, etc., could be used. While EV 200 is shown to include the Trailer Brake Control Module 104, it should be noted that the Trailer 202 can also optionally include the Trailer Brake Control Module 104.

[0036] Further based on Fig. 1. The brake control module 106 can selectively control the brakes (e.g., friction brakes) 122 of the EV based on one or more inputs, such as a brake request 120. The brake request 120 can be generated, for example, by a driver applying force to a brake pedal in the EV. According to such examples, the brake request 120 can be a brake pedal position signal. According to other examples, the brake request 120 can be provided by a driver assistance system in the EV. For example, the adaptive cruise control module 112 can provide the brake request 120 based on processed data from the detection module 110.

[0037] The EV in Fig. 1 includes a regenerative braking system. The brakes 122 can be, for example, any suitable type of regenerative brake that converts the kinetic energy used to slow down the EV into electrical energy for charging one or more batteries 128 in the EV.

[0038] The battery control module 114 from Fig. 1 generally controls the charging and discharging of one or more batteries 128. The battery control module 114 can, for example, enable the charging of the batteries 128 when the brakes 122 are applied, when the EV is connected to a charging system (e.g., to receive external power), etc. Furthermore, the battery control module 114 can enable the discharging of the batteries 128 to power components in the EV, to the trailer brake actuators 118 of the trailer, etc. According to various embodiments, the battery control module 114 can include one or more controllable power converters (e.g., bidirectional power converters) for regulating an electrical characteristic (e.g., a voltage, a current, etc.) provided to and / or by the batteries 128.

[0039] The detection module 110 can generally receive data relating to components within the EV and / or the environment outside the EV. For example, the detection module 110 can collect data indicating detected objects, road conditions, weather conditions, etc., for use in controlling various driver assistance systems (e.g., an adaptive cruise control system, etc.). Furthermore, the detection module 110 can collect data indicating battery characteristics, whether the EV is connected to a trailer, the EV's velocity vector (or speed), the EV's acceleration, etc. According to such examples, the detection module 110 can include one or more detection devices for collecting such data. The detection devices can include, for example, one or more sensors 124 and / or cameras 126 mounted externally and / or internally on the EV.

[0040] According to various embodiments, one or more sensors 124 can be used to detect battery characteristics. For example, the sensor(s) 124 can detect battery voltage, battery current, etc. According to such examples, the battery control module 102 can use the battery voltage, battery current, etc., to determine the state of charge of the batteries 128. Furthermore, according to some examples, the sensor(s) 124 can be used to determine the regeneration status and / or capacity of the batteries 128. According to other examples, the battery control module 114 can include one or more sensors for detecting battery characteristics and / or providing the state of charge of the batteries 128, the regeneration status, the battery capacity, etc., to the vehicle control module 102.

[0041] In Fig. 1. The display module 108 can contain any suitable device in communication with the vehicle control module 102 for displaying information. The display module 108 can, for example, contain an interactive user display of an entertainment center adjacent to a driver, a user device (e.g., a mobile phone, a tablet, etc.) in communication with the vehicle control module 102 (via network 116), etc.

[0042] According to such examples, the display module 108 can, among other things, display information about the EV in relation to a trailer brake boost used to control the trailer's brakes. For example, the display module 108 can show the energy impact on the EV in accordance with a set trailer brake boost, as determined by the vehicle control module 102, as further explained below. Furthermore, the display module 108 can also display a representation of the data collected by the detection module 110. For example, the display module 108 can show various camera views, a virtual top view of the EV, hazards, notifications, maps, etc.

[0043] Further based on Fig. 1. The vehicle control module 102 receives an initial trailer brake boost for the trailer attached to the EV. The initial trailer brake boost can be set, for example, by user input at the display module 108. According to such examples, the user (e.g., the driver) can select a value (e.g., 0-10, etc.) for the trailer brake boost or provide it in some other way. According to other examples, the initial trailer brake boost can be a default value that is set during a manufacturing process of the EV and provided to the vehicle control module 102 when a trailer (e.g., trailer 202) is attached. Fig. 2) than with the EV (e.g. with the EV 200 from Fig. 2) is detected when connected. According to yet other examples, the trailer brake control module 104 can provide a standard value for the trailer brake boost to the vehicle control module 102.

[0044] Furthermore, the vehicle control module 102 can receive a signal indicating that the application of the EV's brakes 122 has been detected. For example, the brake control module 106 can provide the signal to the vehicle control module 102 after receiving the brake request 120. According to other examples, the vehicle control module 102 can receive the brake request 120. When the vehicle control module 102 detects the application of the brakes 122, the adjustment of the received trailer brake boost can begin. In doing so, the vehicle control module 102 can determine various parameters associated with the vehicle batteries, the vehicle brakes, the trailer brakes, etc.

[0045] For example, the vehicle control module 102 determines a change in the recuperation energy assigned to the EV's regenerative braking when the trailer brake control module 104 controls the actuation of the trailer brake actuators 118. According to such examples, the determination of the change in recuperation energy is based on the initial trailer brake boost. According to such examples, the change in recuperation energy can be determined based on a difference in recuperation energy when the vehicle brakes 122 are not applied and when the vehicle brakes 122 are applied.

[0046] According to various embodiments, the recovered energy can be determined or represented based on different battery parameters. For example, the recovered energy can be represented based on the state of charge of the vehicle batteries 128. Thus, according to this example, the change in the recovered energy can be determined by comparing the state of charge at a time when the vehicle brakes 122 are not applied and the state of charge at a later time when the vehicle brakes 122 are applied.

[0047] Fig. Figure 3 shows, for example, a graph 300 that displays various parameters associated with the EV over time. More precisely, graph 300 shows the state of charge 302 of the batteries 128, a detected pressure 304 applied to a brake pedal to actuate the brakes 122, a voltage 306 of the batteries 128, and a current 308 of the batteries 128. As shown, the state of charge 302 of the batteries 128 increases due to regenerative braking when the brake pedal is applied (as indicated by an increase in pressure 304). In accordance with such examples, a point in time of a change in the state of charge (representing a change in the regenerative braking) is highlighted by vertical lines 310 and 312. For example, line 310 represents a point in time when the vehicle brakes 122 are not applied and the state of charge 302 is at a local minimum.Similarly, line 312 represents a point in time when the vehicle brakes 122 are applied and the state of charge 302 is at a local maximum. According to this example, the change in energy recovery is determined by calculating the difference between the values ​​of the state of charge 302 at lines 310 and 312.

[0048] Further based on Fig. 1. The vehicle control module 102 also determines a braking force when the trailer brake control module 104 controls the actuation of the trailer brake actuators 118 in accordance with the initial trailer brake boost. According to such examples, the braking force can represent a trailer braking force and a vehicle braking force. According to various embodiments, the braking force can be determined by estimating the trailer braking force and the vehicle braking force based on an acceleration of the EV (e.g., of the EV 200 from Fig. 2) can be determined. For example, the acceleration (e.g., deceleration) of the EV can be calculated based on the EV's speed, etc. The vehicle control module 102 can then estimate the braking force based on the EV's acceleration and a known mass of the EV.

[0049] The vehicle control module 102 then adjusts the trailer brake boost for the trailer attached to the EV based on changes in recuperation energy, braking force, and initial trailer brake boost. According to various embodiments, the vehicle control module 102 can use a learning model (e.g., a machine learning model) to adjust the trailer brake boost for the trailer. For example, the vehicle control module 102 can use a filter, such as a stochastic filter, to learn and determine a recuperation force.

[0050] As an example, the vehicle control module 102 can determine the recuperation force in accordance with the following equation (1). According to such examples, f represents r,k a current recovery force. As shown, the recovery force (f) r,k ) based on a previous recovery force (f r,k-1 ), a learning enhancement (α k ), the change in recovered energy (E r ) and the current trailer brake booster (g b ) determined. According to such examples, the estimated braking force can be used to determine the preceding recovery force (f). r,k-1 ) can be used. Furthermore, learning reinforcement (α) k ) an update rate in the filter that can be adjusted based on the variance of the data to make the filter robust. fr,k=fr,k+αk(Er−gb⋅fr,k−1)

[0051] The vehicle control module 102 can then adjust the trailer brake gain based on the determined recuperation force. The vehicle control module 102 adjusts the trailer brake gain in an attempt to determine the optimal value for maximizing energy recuperation in the EV. The vehicle control module 102 can obtain an optimal trailer brake gain, for example, in accordance with the following equation (2). According to such examples, g represents b * an adapted trailer brake booster. gb*=maxgb∑fr(gb)

[0052] The vehicle control module 102 can repeatedly adjust the trailer brake gain until the recuperation force has been maximized. For example, the vehicle control module 102 can provide the trailer brake control module 104 with an initial adjusted trailer brake gain (determined, for example, based on the initial trailer brake gain) or generate a control signal for the trailer brake control module 104 based on the initial adjusted trailer brake gain. If another braking event then occurs, the vehicle control module 102 determines a subsequent change in the recuperation energy and a subsequent braking force in accordance with the initial adjusted trailer brake gain. The vehicle control module 102 can then determine a new recuperation force in accordance with equation (1) above and a newly adjusted trailer brake gain.This repeated adjustment cycle can be continued until the optimal value of the trailer brake boost to maximize power generation in the EV has been identified in accordance with the above equation (2).

[0053] According to the example from Fig. 1. The adaptation and optimization of the trailer brake boost can be maintained between limit values. For example, the vehicle control module 102 can receive or otherwise determine a lower and upper limit for the trailer brake boost. According to such examples, the trailer brake boost limits can be determined based on one or more parameters associated with the trailer, such as safety restrictions, trailer ratings, etc. For example, if the trailer brake boost is too low, the EV will have to brake harder to stop the EV and trailer combination. Conversely, if the trailer brake boost is too high, the trailer brakes may lock the trailer wheels. Such scenarios cause undesirable increases in safety risks and / or damage to the EV brakes 122, the trailer brakes, the trailer wheels, etc.This allows a minimum and a maximum value for the trailer brake boost to be set in order to prevent such undesirable actions.

[0054] For example, it shows Fig. 4 a graph 400, which shows a line 402, which represents the recovery force (f r ) as a function of the change in recovered energy (E r ) and the trailer brake booster. According to this example, the y-axis of graph 400 represents the change in the recovered energy (E). r ) and the x-axis of graph 400 represents the trailer brake gain. Furthermore, graph 400 contains a lower limit for the trailer brake gain (g). b ) and a trailer brake booster upper limit (g bs ). The lower limit of the trailer brake boost (g b ) is represented by a vertical dashed line 406 and the trailer brake booster upper limit (g bs) is represented by a vertical dashed line 408. The trailer brake boost is adjusted until an optimal value (g) is reached. b *) has been identified to maximize power recovery. According to this example, the optimal value (g b *) of the trailer brake booster identified by a point 404, which represents a local maximum of the recovery force between the trailer brake booster lower limit (of line 406) and the trailer brake booster upper limit (of line 408).

[0055] Further based on Fig. 1. The vehicle control module 102 can provide the trailer brake boost, or a representation thereof, to various components in the vehicle system 100. For example, as mentioned above, the vehicle control module 102 can generate a signal for the trailer brake control module 104 based on the adapted (and ultimately optimized) trailer brake boost. The trailer brake control module 104 can then control the actuation of the trailer brake actuators 118 in accordance with the adapted (e.g., optimized) trailer brake boost.

[0056] Furthermore, the vehicle control module 102 can utilize the adapted trailer brake boost for other applications, as illustrated by several examples. For instance, the adaptive cruise control module 112 generally regulates the speed of the EV to maintain a desired distance between the EV and objects (e.g., other vehicles) along its route. The adaptive cruise control module 112 can rely on a speed profile to regulate the EV. According to various embodiments, the speed profile for the EV can be shaped in accordance with the adapted trailer brake boost received by the vehicle control module 102 to regulate the EV's speed.

[0057] According to other examples, the adapted trailer brake boost can be used by other driver assistance applications, such as autonomous and semi-autonomous applications. For example, an autonomous or semi-autonomous application can adjust a planned route based on the adapted trailer brake boost to systematically maximize train energy consumption efficiency. According to such examples, the application can configure a route planning algorithm to include an energy consumption reduction mechanism (e.g., regenerative braking) and configure an automated driving command to include train energy consumption.

[0058] Furthermore, the vehicle control module 102 can determine an energy impact for the EV when using the adapted trailer brake boost. For example, the vehicle control module 102 can calculate an increase in energy recuperation, an increase in the EV's range, and / or other energy impacts caused by the adapted trailer brake boost. The vehicle control module 102 can then provide the determined energy impact and the adapted trailer brake boost to the display module 108. In response, the display module 108 can display the energy impact and the adapted trailer brake boost as user feedback.

[0059] Further based on Fig. The vehicle system 100 is generally described above with regard to the control of trailer brakes (e.g., trailer brake actuators) based on trailer brake boosters. However, it should be noted that, according to other embodiments, the vehicle system 100 can be applicable for controlling actuators other than brake actuators. According to such examples, the vehicle control module 102 can control the actuation of actuators in the vehicle and / or in the trailer.

[0060] For example, the vehicle control module 102 can determine a vehicle-associated energy parameter when the trailer control module controls the actuation of actuators in the trailer based on the initial trailer condition (or a vehicle control command), and subsequently determine an actuation force when the trailer control module controls the actuation of the actuators in the trailer based on the initial trailer condition. According to such examples, the vehicle-associated energy parameter can include any suitable parameter, such as a battery charge level, etc. Furthermore, the actuation force can be any suitable force associated with the actuators (e.g., the trailer actuators). Additionally, the initial trailer condition can be a vehicle control command, such as a condition associated with trailer braking (e.g., trailer brake boost, etc., as explained here).According to other examples, the initial trailer condition may contain any suitable condition relating to the trailer that generally pushes and / or pulls the vehicle.

[0061] Subsequently, the vehicle control module 102 can generate a control signal for the trailer control module based on the actuation force to control the actuators of the trailer attached to the vehicle. For example, the vehicle control module 102 can adjust the initial trailer condition (e.g., a condition associated with trailer braking) based on the actuation force (e.g., a braking force, etc.) and then generate the control signal for the trailer control module based on the adjusted initial trailer condition. According to such examples, the adjusted trailer condition can be optimized, as explained here, to increase energy recovery and / or to reduce fuel consumption.

[0062] The Fig. 5-6 represent exemplary control processes 500, 600, which are implemented by the vehicle system 100. Fig. 1 for adjusting a trailer brake booster for a trailer attached to an EV such as the trailer 202 and the EV 200 from Fig. 2 are usable. Although the exemplary control processes 500, 600 in relation to the vehicle system 100 are from Fig. 1, which contains the vehicle control module 102, any of the control processes 500, 600 can be used by any suitable system.

[0063] As in Fig. As shown in Figure 5, the control process 500 begins at module 502, where the vehicle control module 102 receives a trailer brake boost signal. According to some examples, the trailer brake boost, as explained above, can be provided by a user (e.g., entered on the display module 108), set by a manufacturer (e.g., a standard trailer brake boost), etc. The control then proceeds to module 504.

[0064] At 504, the vehicle control module 102 generates a control signal based on the trailer brake boost received at 502. As explained above, this control signal can be provided to the trailer brake control module 104 for use in controlling the trailer brake actuators 118. According to other examples, the trailer brake control module 104 can receive the trailer brake boost and generate the control signal. Control then passes to 506 and 508.

[0065] At 506, the vehicle control module 102 determines a change in the recuperated energy. As explained above, the recuperated energy can be represented, for example, by the state of charge of the batteries 128, and the vehicle control module 102 can calculate the difference between the state of charge of the batteries 128 when the vehicle brakes 122 are applied and the state of charge of the batteries 128 when the vehicle brakes 122 are not applied. At 508, the vehicle control module 102 determines a braking force, for example, by estimating a combined vehicle braking force and trailer braking force, as explained above. When the trailer brake control module 104 uses the received trailer brake boost, the change in the recuperated energy and the braking force are determined. The control then proceeds to 510.

[0066] At 510, the vehicle control module 102 adjusts the trailer brake boost based on changes in recuperated energy and braking force. As explained above, the vehicle control module 102 can, for example, use a learning model to adjust the trailer brake boost for the trailer. Control then transfers to 512.

[0067] At 512, the vehicle control module 102 generates another control signal based on the adjusted trailer brake boost. As explained above, this new control signal can be provided to the trailer brake control module 104 for use in controlling the trailer brake actuators 118. Control then transfers to 514.

[0068] At 514, the vehicle control module 102 determines whether the adapted trailer brake boost causes the power generation of the batteries 128 to be maximized. For example, by using the learning model (e.g., with stochastic filtering, etc.), the vehicle control module 102 can identify power recovery that changes as a function of the trailer brake boost. As in Fig. As shown in Figure 5, the trailer brake boost can be an optimal value and the control can end if power recuperation has been maximized. As shown in Fig. As shown in Figure 5, the control unit can revert to state 506 if power generation has not been maximized. The vehicle control module 102 can then further adjust the trailer brake boost based on the newly determined change in recuperation energy and braking force.

[0069] The tax process 600 from Fig. 6 is similar to the tax process 500 from Fig. 5, but with additional and / or alternative tax features. As above regarding the tax process 500 from Fig. As explained in section 5, the tax process contains 600 from Fig. 6 e.g. steps 502, 504, 506, 508. The control then switches to 610.

[0070] At 610, the vehicle control module 102 determines a recovery force based on the available trailer brake boost, the change in recuperation energy, and the braking force as received and / or determined in 502, 506, and 508. The recovery force can be determined, for example, in accordance with equation (1) above. The control then proceeds to 612 and 614.

[0071] At 612, the vehicle control module 102 adjusts the trailer brake boost based on the recuperation force. According to some examples, the trailer brake boost can be adjusted in accordance with equation (2) above. At 614, the vehicle control module 102 generates another control signal based on the adjusted trailer brake boost, as explained above. This new control signal can be provided to the trailer brake control module 104 for use in controlling the trailer brake actuators 118. Control then proceeds to 616.

[0072] At module 616, the vehicle control module 102 can optimally determine the energy impact for the EV when the adapted trailer brake boost is used. For example, the vehicle control module 102 can calculate an increase in energy recuperation, an increase in the EV's range, and / or another energy impact caused by the adapted trailer brake boost, and then display the energy impact on the display module 108. The control then switches to module 618.

[0073] At 618, the vehicle control module 102 can optionally provide the adapted trailer brake boost for a driver assistance system, such as an adaptive cruise control system in the EV. For example, as explained above, the vehicle control module 102 can provide the adapted trailer brake boost for the adaptive cruise control module 112. The adaptive cruise control module 112 can, in turn, use the adapted trailer brake boost to create a speed profile for the EV (e.g., to adjust its speed) when an adaptive cruise control application is used. Control then transitions to 620.

[0074] At 620, the vehicle control module 102 determines whether the adapted trailer brake boost causes the power output of the batteries 128 to be maximized. For example, by using the learning module (e.g., with stochastic filtering, etc.), the vehicle control module 102 can identify a power recovery that changes as a function of the trailer brake boost and then use this to obtain an optimal trailer brake boost to maximize the power recovery of the batteries 128. As in Fig. As shown in Figure 6, the trailer brake boost can be an optimal value and the control can end if power generation has been maximized. As shown in Fig. As shown in Figure 6, the control unit can revert to 506 if the power recuperation has not been maximized. The vehicle control module 102 can then further adjust the trailer brake boost, as explained here.

Claims

[1] Vehicle system (100) for an electric vehicle (200) towing a trailer (202), the vehicle system (100) comprising: a trailer control module (104) configured to control the actuation of trailer brake actuators (118) of the trailer (202) attached to the electric vehicle (200); and a vehicle control module (102) in communication with the trailer control module (104), the vehicle control module (102) being configured to: Receiving an initial trailer brake boost for the trailer (202) attached to the electric vehicle (200); Determining a change in regenerative energy associated with regenerative braking of the electric vehicle (200) when the trailer control module (104) controls actuation of the trailer brake actuators (118) based on the initial trailer brake gain; determining a braking force when the trailer control module (104) controls actuation of the trailer brake actuators (118) based on the initial trailer brake gain; adjusting the trailer brake boost for the trailer attached to the electric vehicle (200) based on the change in regenerative energy, braking force and initial trailer brake boost; Generating a control signal for the trailer control module (104) based on the adjusted trailer brake gain for controlling the actuation of the trailer brake actuators (118) of the trailer (202) attached to the electric vehicle (200); Determining a regenerative force based on the change in regenerative energy and the initial trailer brake gain; and Adjusting the trailer brake boost based on the determined regenerative force; characterized by , that the vehicle control module (102) is further configured to: Receiving a trailer brake boost lower limit and a trailer brake boost upper limit; and Adjust the trailer brake boost between the trailer brake boost lower limit and the trailer brake boost upper limit based on the determined regenerative force. [2] The vehicle system (100) of claim 1, wherein the vehicle control module (102) is configured to determine the change in regenerative energy by determining a difference in regenerative energy when brakes (122) of the electric vehicle (200) are not applied and when the brakes (122) of the electric vehicle (200) are applied. [3] The vehicle system (100) of claim 1, wherein the vehicle control module (102) is configured to determine the braking force by estimating a trailer braking force and a vehicle braking force based on an acceleration of the electric vehicle (200) when the trailer control module (104) controls actuation of the trailer brake actuators (118) based on the initial trailer brake boost. [4] A method for adjusting a trailer brake boost for a trailer (202) attached to an electric vehicle (200), the method comprising: Receiving an initial trailer brake boost for the trailer (202) attached to the electric vehicle (200); Determining a change in regenerative energy associated with regenerative braking of the electric vehicle (200) when controlling the trailer brake actuators (118) based on the initial trailer brake gain; determining a braking force when controlling the trailer brake actuators (118) based on the initial trailer brake gain; adjusting the trailer brake boost for the trailer (202) attached to the electric vehicle (200) based on the change in regenerative energy, braking force and initial trailer brake boost; Generating a control signal for a trailer control module (104) based on the adjusted trailer brake gain for controlling the actuation of the trailer brake actuators (118) of the trailer (202) attached to the electric vehicle (200); Determining a regenerative force based on the change in regenerative energy and the initial trailer brake gain; and Adjusting the trailer brake boost for the trailer (202) attached to the electric vehicle (200) adjusting the trailer brake boost based on the determined regenerative force; characterized by Receiving a trailer brake boost lower limit and a trailer brake boost upper limit; and Adjusting the trailer brake boost for the trailer (202) attached to the electric vehicle (200) adjusting the trailer brake boost between the trailer brake boost lower limit and the trailer brake boost upper limit based on the determined regenerative force. [5] The method of claim 4, further comprising: Displaying an energy impact for the electric vehicle (200) in accordance with the adjusted trailer brake boost; and / or Adjusting a speed of the electric vehicle (200) controlled by an adaptive cruise control module (112) based on the adjusted trailer brake boost.

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