Agricultural work vehicle driven by electric motor and regenerative braking control method therefor

Abstract

Provided is a regenerative braking control method for an agricultural work vehicle driven by an electric motor on the basis of an actual state of charge (SOC) of a battery. The regenerative braking control method comprises the steps of: identifying an operation state of an accelerator pedal or a brake pedal; determining chargeable power of the battery on the basis of the actual state of charge if the accelerator pedal is off or the brake pedal is on; and controlling regenerative braking of the agricultural work vehicle on the basis of the determined chargeable power.

Description

Agricultural work vehicle driven by an electric motor and regenerative braking control method thereof

[0001] The present disclosure relates to an agricultural work vehicle driven by an electric motor and a regenerative braking control method thereof.

[0002] Agricultural work vehicles are vehicles used for agricultural work, and may refer to, for example, rice transplanters, combines, tractors, etc. For example, a tractor can be attached to various implements required for agricultural work and perform the necessary agricultural work.

[0003] Advancements in battery technology are accelerating the development and adoption of agricultural work vehicles powered by electric motors. While electric motor technologies already applied to electric vehicles (EVs) can be directly applied to agricultural work vehicles, appropriate modifications should be considered to account for the unique characteristics and working environments specific to agricultural vehicles, which differ from those of general vehicles.

[0004] Regenerative braking is a key technology for improving energy efficiency, as it recovers kinetic energy lost during deceleration into electrical energy to charge the battery. However, applying the regenerative braking technology used in electric vehicles directly to agricultural work vehicles may be unreasonable in terms of safety and efficiency.

[0005] In electric vehicles, regenerative braking is limited based on the battery's State of Charge (SoC). To prevent battery life degradation and safety accidents caused by overcharging and over-discharging, it is common practice to limit regenerative braking when the Displayed SoC—which is visible to the driver on the instrument panel—reaches 100%. When regenerative braking is limited, the electric vehicle brakes solely through mechanical braking, which causes wear on the brake discs. This shortens the replacement cycle of consumables and alters the braking force perceived by the driver, increasing the likelihood of safety accidents.

[0006] However, the displayed state of charge differs from the battery's actual state of charge (Actual SoC). For example, a displayed state of charge of 0% and 100% corresponds to an actual state of charge of 10% and 90%, respectively. In other words, to the driver, it appears as though the battery is completely discharged (i.e., 0%) or fully charged (i.e., 100%), but in reality, the battery is designed not to be completely discharged or fully charged.

[0007] Unlike electric vehicles that spend most of their time on the road, agricultural work vehicles have the characteristic of infrequent deceleration during driving and relatively short braking times. As a result, the amount of battery charged by regenerative braking in agricultural work vehicles is relatively smaller compared to electric vehicles, and the risk of battery overcharging is also lower. For example, the battery can maintain a safe state even when charged to 95% of its actual charge level. Based on these characteristics, a regenerative braking control method capable of solving the aforementioned problems can be considered.

[0008] The present disclosure is intended to provide a regenerative braking control method for an agricultural work vehicle that improves energy efficiency, reduces the replacement cycle of consumables such as brake discs, and prevents a decrease in braking force even when the battery is fully charged.

[0009] According to one aspect of the present disclosure, a regenerative braking control method for an agricultural work vehicle driven by an electric motor based on an actual state of charge (Actual SoC) of a battery, wherein the actual state of charge is different from a displayed state of charge (Displayed SoC) that is displayed on an instrument panel or display of the agricultural work vehicle and is visible to a driver, wherein the numerical range of the displayed state of charge corresponds to a part of the numerical range of the actual state of charge, and the regenerative braking control method may include the steps of identifying the operating state of an accelerator pedal or a brake pedal, determining the chargeable power of the battery based on the actual state of charge when the accelerator pedal is off or the brake pedal is on, and controlling the regenerative braking of the agricultural work vehicle based on the determined chargeable power, and the step of determining the chargeable power may determine the chargeable power as a value greater than 0 if the actual state of charge is less than or equal to a preset reference value, and determine the chargeable power as 0 if the actual state of charge exceeds the preset reference value.

[0010] In one embodiment, the preset reference value may correspond to a charge state higher than the indicated charge state of 100%.

[0011] In one embodiment, the step of determining the chargeable power may determine the chargeable power to a smaller value in stages so that as the actual charge state increases until the actual charge state reaches the preset reference value, the regenerative power generated by regenerative braking decreases.

[0012] In one embodiment, the step of controlling the regenerative braking may include a step of allowing regenerative braking when the rechargeable power is greater than 0, and a step of limiting regenerative braking when the rechargeable power is 0.

[0013] In one embodiment, the step of controlling the regenerative power may include the step of charging the battery using the regenerative power if the regenerative power generated by regenerative braking is less than or equal to the chargeable power.

[0014] In one embodiment, the step of controlling the regenerative power may include, when the regenerative power generated by regenerative braking exceeds the chargeable power, charging the battery by an amount of the chargeable power among the regenerative power; determining whether the operating conditions of one or more loads are satisfied; and when the operating conditions of one or more loads are satisfied, supplying the remaining power among the regenerative power to the one or more loads.

[0015] In one embodiment, the step of supplying the remaining power of the regenerative power to the one or more loads may include the step of temporarily increasing the load amount of the one or more loads.

[0016] In one embodiment, the step of controlling the regenerative power may include, if the operating conditions of one or more loads are not satisfied, checking the actual charge state and re-determining the chargeable power of the battery based on the checked actual charge state.

[0017] In one embodiment, the one or more loads may include a Thermal Management System (TMS) that operates in a cooling mode when the temperature of a target component is greater than a preset first reference temperature and operates in a heating mode when the temperature of the target component is less than a preset second reference temperature, and the step of determining whether the operating conditions of the one or more loads are satisfied may determine at least one of whether the temperature of the target component is greater than the preset first reference temperature and whether the temperature of the target component is less than the preset second reference temperature.

[0018] According to one aspect of the present disclosure, an agricultural work vehicle driven by an electric motor may include an accelerator pedal, a brake pedal, a battery management system (BMS) that estimates the actual state of charge (Actual SoC) of a battery and transmits the actual state of charge to a control unit—wherein the actual state of charge is different from a displayed state of charge (Displayed SoC) that is visible to the driver on the instrument panel or display of the agricultural work vehicle, wherein the numerical range of the displayed state of charge corresponds to a part of the numerical range of the actual state of charge—and a control unit that identifies the operating state of the accelerator pedal or the brake pedal, and when the accelerator pedal is off or the brake pedal is on, determines the chargeable power of the battery based on the actual state of charge and controls regenerative braking of the agricultural work vehicle based on the determined chargeable power, wherein the control unit determines the chargeable power to be a value greater than zero if the actual state of charge is less than or equal to a preset reference value, and if the actual state of charge exceeds the preset reference value, the chargeable power It can be determined as 0.

[0019] An agricultural work vehicle and a regenerative braking control method according to one embodiment enable regenerative braking even after the indicated charge state reaches 100%, thereby improving energy efficiency, reducing the replacement cycle of consumables, and ensuring that the braking force does not decrease even when the battery is fully charged.

[0020] Figure 1 is a reference diagram for explaining the charge state of a battery.

[0021] FIG. 2 is a block diagram illustrating the components of an agricultural work vehicle according to one embodiment.

[0022] FIG. 3 is a flowchart illustrating a regenerative braking control method according to one embodiment.

[0023] FIG. 4 is a flowchart illustrating the operation of controlling regenerative power according to one embodiment.

[0024] The terms used in this disclosure have been selected to be as widely used and general as possible, taking into account their functions within this disclosure; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. In specific cases, terms have been selected at the applicant's discretion, and in such cases, their meanings will be described in detail in the relevant explanatory sections. Therefore, terms used in this disclosure should be defined not merely by their names, but based on their meanings and the overall content of this disclosure.

[0025] Singular expressions may include plural expressions unless the context clearly indicates otherwise. Terms used herein, including technical or scientific terms, may have the same meaning as generally understood by those skilled in the art as described in this specification.

[0026] In this disclosure, the term “and / or” includes a combination of a plurality of related described components or any of a plurality of related described components.

[0027] Terms including ordinal numbers, such as "first" or "second," used in this disclosure may be used to describe various components, but said components should not be limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another.

[0028] In the present disclosure, the expression “at least one of a, b, or c” may refer to “a,” “b,” “c,” “a and b,” “a and c,” “b and c,” “all of a, b, and c,” or variations thereof.

[0029] When a part of a specification is described as "comprising" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Furthermore, terms such as "part" or "module" as used in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware or software, or as a combination of hardware and software.

[0030] Hereinafter, embodiments of the present disclosure are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention. However, the present disclosure may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present disclosure in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification have been given similar reference numerals. In addition, the reference numerals used in each drawing are for the purpose of explaining each drawing, and different reference numerals used in different drawings are not intended to represent different elements.

[0031] Figure 1 is a reference diagram for explaining the charge state of a battery.

[0032] The state of charge (SoC) of a battery refers to the ratio of the current capacity to the maximum available capacity of the battery. For example, if the current capacity of a battery with a rated capacity of 300Ah is 180Ah, the state of charge is 60%. The state of charge can be estimated by a battery management system (BMS) (230 in Fig. 2), and estimation methodologies such as the current integration method, the open-circuit voltage method, or a mixed method may be used.

[0033] The charge status can be utilized for various purposes, such as predicting remaining driving range, limiting battery charging and discharging, determining whether to allow regenerative braking, or deciding whether to supply power to high-output loads. Agricultural work vehicles support drivers in checking the battery status and managing it appropriately by displaying the charge status on the instrument panel or display (e.g., HMI (Human-Machine Interface), infotainment system, etc.).

[0034] The displayed SoC, which is displayed on an instrument panel or the like and can be checked by the driver, differs from the actual SoC of the battery. The numerical range of the displayed SoC may correspond to a part of the numerical range of the actual SoC. For example, as shown in FIG. 1, the displayed SoC may represent only the 80% range of the actual SoC, and the displayed SoCs of 0% and 100% may correspond to the actual SoCs of 10% and 90%, respectively. However, the present disclosure is not limited thereto, and the numerical values ​​shown in FIG. 1 are exemplary. Since the driver determines the timing of battery charging by referring to the displayed SoC, even if the driver charges the battery after using it until the displayed SoC reaches 0%, charging actually begins when the battery is not completely discharged.

[0035] Even during battery charging, charging is halted by cutting off the current to the battery when the displayed charge level reaches 100%, so the battery is not actually fully charged. The same applies to regenerative braking. When the displayed charge level reaches 100%, regenerative braking may be restricted. If regenerative braking is restricted, the agricultural work vehicle brakes solely through mechanical braking, which causes wear on the brake discs. This reduces the replacement cycle of consumables and alters the braking force perceived by the driver, increasing the possibility of safety accidents.

[0036] In the example of Figure 1, even when the displayed charge level reaches 100%, there is actually about 10% of reserve remaining, and an additional charge of about 5% (i.e., up to 95% of the actual charge level) is possible without damaging the battery's lifespan. Since 5% of the battery capacity is large enough to allow continuous charging for about 3 minutes at the maximum charging current, there is no risk of battery overcharging even if an additional charge of about 5% is performed, in the case of agricultural work vehicles, which do not perform deceleration frequently and require relatively short braking times compared to general vehicles.

[0037] In the following, an agricultural work vehicle is described that allows regenerative braking even after the indicated charge level reaches 100% by distributing the power generated by regenerative braking to a high-output load.

[0038] FIG. 2 is a block diagram illustrating the components of an agricultural work vehicle according to one embodiment.

[0039] Referring to FIG. 2, an agricultural work vehicle (200) may include an accelerator pedal (210), a brake pedal (220), a battery management system (BMS) (230), a control unit (240), an electric motor (250), an inverter (260), a power distribution unit (PDU) (270), a battery (280), and one or more loads (290). However, not all of the illustrated components are essential. The agricultural work vehicle (200) may be implemented with more components than those illustrated in FIG. 2, or with fewer components.

[0040] The accelerator pedal (210) is a means of operation available to the driver to accelerate the agricultural work vehicle (200). The accelerator pedal (210) can be positioned within a specific angle range depending on the driver's operation. The control unit (240) can increase the rotational speed of the electric motor (250) based on the operating angle of the accelerator pedal (210).

[0041] The accelerator pedal (210) may include an accelerator position sensor (APS) that detects the operating state of the accelerator pedal (210), generates a corresponding electrical signal, and transmits it to a control unit (240). The control unit (240) can control regenerative braking based on the operating state of the accelerator pedal (210). In the present disclosure, when the driver does not press the accelerator pedal (210), it is referred to as "the accelerator pedal (210) is OFF," and when the driver presses the accelerator pedal (210), it is referred to as "the accelerator pedal (210) is ON."

[0042] The brake pedal (220) is a means of operation available to the driver to brake the agricultural work vehicle (200). The brake pedal (220) can be positioned within a specific angle range depending on the driver's operation. The control unit (240) can actuate a mechanical brake based on the operating angle of the brake pedal (220).

[0043] The brake pedal (220) may include a brake pedal position sensor (BPS) that detects the operating state of the brake pedal (220), generates a corresponding electrical signal, and transmits it to a control unit (240). The control unit (240) can control regenerative braking based on the operating state of the brake pedal (220). In the present disclosure, when the driver does not press the brake pedal (220), it is referred to as "the brake pedal (220) is OFF," and when the driver presses the brake pedal (220), it is referred to as "the brake pedal (220) is ON."

[0044] The battery management system (230) can monitor and control the battery (280) and estimate the state of the battery (280). The battery management system (230) can be connected to the battery (280) through a cell management system (S-BMS) (not shown). In this case, the battery management system (230) can monitor and control the entire battery pack, and the cell management system can monitor and control the battery cells.

[0045] For example, the battery management system (230) can measure the voltage, current, temperature, etc. of the battery (280), estimate the charge state, state of health (SoH), discharge amount, etc., balance the voltage of the cells within the battery (280), and protect the battery (280) by disconnecting the battery (280) from other electronic components in the event of abnormal situations such as overcharging, over-discharging, or overcurrent. The battery management system (230) can transmit the state of the battery (280) to the control unit (240).

[0046] The control unit (240) can control the operations of the agricultural work vehicle (200) described in this disclosure. For example, the control unit (240) can control the regenerative power based on the rechargeable power of the battery (280). However, the control criteria for the regenerative power are not limited thereto, and the control unit (240) can control the regenerative power based on various physical quantities such as rechargeable energy and rechargeable current.

[0047] The control unit (240) may be composed of at least one of an ECU (Electronic Control Unit), HCU (Hybrid Control Unit), VCU (Vehicle Control Unit), and EVCU (Electric Vehicle Control Unit), but is not limited thereto.

[0048] To this end, the control unit (240) may include a memory for storing one or more instructions or programs, and a processor for executing one or more instructions or programs stored in the memory.

[0049] Memory may include at least one of flash memory, hard disk, RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and PROM (Programmable Read-Only Memory), but is not limited thereto.

[0050] The processor may be composed of at least one of, for example, a CPU (Central Processing Unit), an MCU (Micro Controller Unit), a microprocessor, an AP (Application Processor), a GPU (Graphic Processing Unit), an ASIC (Application Specific Integrated Circuit), and a DSP (Digital Signal Processor), but is not limited thereto.

[0051] The electric motor (250) can operate as a generator during regenerative braking to convert the kinetic energy of the agricultural work vehicle (200) into electrical energy. The electric motor (250) can generate reverse torque based on the control of the inverter (260) to decelerate the agricultural work vehicle (200) and generate regenerative power. The electric motor (250) may include a speed sensor that detects the speed of the electric motor (250), generates a corresponding electrical signal, and transmits it to the control unit (240).

[0052] The inverter (260) controls the reverse torque of the electric motor (250) based on the control of the control unit (240) and can convert the alternating current power generated by the electric motor (250) into direct current power suitable for battery charging.

[0053] The power distribution unit (270) can distribute regenerative power generated from the electric motor (250) to the battery (280) and one or more loads (290) based on the control of the control unit (240). The control unit (240) can control the power distribution unit (270) to supply regenerative power to the battery (280) and / or one or more loads (290) based on the magnitude of the regenerative power and whether the operating conditions of one or more loads (290) are satisfied.

[0054] The battery (280) can be charged by receiving regenerative power from the power distribution unit (270). The battery (280) can supply electrical energy to the agricultural work vehicle (200). The battery (280) can output a DC voltage, and electronic devices included in the agricultural work vehicle (e.g., one or more loads (290)) can use the DC voltage of the battery (280) by converting it into the required form (e.g., voltage drop, conversion to AC voltage, etc.). The battery (280) may be a rechargeable secondary battery. For example, the battery (280) may be any one of a lithium-ion battery, a lithium-polymer battery, a nickel-hydrogen battery, a nickel-cadmium battery, a lithium-sulfur battery, or a sodium-ion battery, but is not limited thereto.

[0055] One or more loads (290) can perform a predetermined operation by electrical energy. One or more loads (290) may include a low-output load such as a low-voltage DC-DC converter (LDC) (291) and a high-output load such as a thermal management system (TMS) (292).

[0056] A low-voltage DC converter (291) can convert the high voltage (e.g., 144V, 300V, etc.) of the battery (280) into a low voltage (e.g., 12V, 24V, etc.) and supply it to a low-voltage electronic device included in an agricultural work vehicle (200). The low-voltage electronic device may include at least one of a control unit (240), lighting, an instrument panel, various sensors, a radiator, and a water pump, but is not limited thereto. When the regenerative power generated by regenerative braking exceeds the chargeable power of the battery (280), the low-voltage DC converter (291) can operate by receiving the regenerative power instead of the battery (280).

[0057] The thermal management system (292) can maintain the temperature of target components, such as an electric motor (250), an inverter (260), and a battery (280), within an appropriate range. The thermal management system (292) can operate in a cooling mode if the temperature of the target component is greater than a preset first reference temperature, and can operate in a heating mode if the temperature of the target component is less than a preset second reference temperature. The thermal management system (292) may include a chiller and a PTC heater (Positive Temperature Coefficient Heater), but is not limited thereto.

[0058] The thermal management system (292) consumes high power and is therefore suitable for rapidly consuming regenerative power, but it can operate only when operating conditions (e.g., the temperature of the target component is above a first reference temperature or below a second reference temperature) are met. Accordingly, when the regenerative power generated by regenerative braking exceeds the chargeable power of the battery (280), the control unit (240) can supply regenerative power to the thermal management system (292) depending on whether the operating conditions of the thermal management system (292) are met.

[0059] As illustrated in FIG. 2, the regenerative power generated by the electric motor (250) by regenerative braking can be supplied to the power distribution unit (270) via the inverter (260) and can be supplied to the battery (280) and / or one or more loads (290) based on the control of the control unit (240).

[0060] FIG. 3 is a flowchart illustrating a regenerative braking control method according to one embodiment.

[0061] Referring to FIG. 3, in operation 310, the agricultural work vehicle (200) can identify the operating state of the accelerator pedal (210) or the brake pedal (220). The operating states of the accelerator pedal (210) and the brake pedal (220) are referred to as ON or OFF, respectively. ON indicates that the driver has pressed the pedal, and OFF indicates that the driver has not pressed the pedal.

[0062] In operation 320, the agricultural work vehicle (200) can determine whether the accelerator pedal (210) is off or the brake pedal (220) is on. If the accelerator pedal (210) is on, the agricultural work vehicle (200) can perform operation 310 again.

[0063] In operation 330, the agricultural work vehicle (200) can check the actual charge state of the battery (280) when the accelerator pedal (210) is OFF or the brake pedal (220) is ON, and determine the chargeable power of the battery (280) based on the actual charge state. The chargeable power may be determined by the battery management system (230) or by the control unit (240) that receives the actual charge state of the battery (280) from the battery management system (230).

[0064] For example, an agricultural work vehicle (200) can determine the chargeable power to be greater than 0 if the actual charge state is below a preset reference value, and determine the chargeable power to be 0 if the actual charge state exceeds the preset reference value. The preset reference value may correspond to a charge state higher than 100% of the displayed charge state. For example, if 100% of the displayed charge state corresponds to 90% of the actual charge state, the preset reference value may be 95%, but is not limited thereto.

[0065] The agricultural work vehicle (200) can determine the chargeable power to be a smaller value in stages so that the regenerative power generated by regenerative braking decreases as the actual charge state increases until the actual charge state reaches a preset reference value.

[0066] The agricultural work vehicle (200) may determine the chargeable power of the battery (280) based on at least one of the voltage, current, or temperature of the battery (280) in addition to the actual charge state. For example, the agricultural work vehicle (200) may determine the chargeable power to be 0 if the temperature condition is not met or if there is a severe voltage imbalance between cells, even if the actual charge state is below a preset reference value.

[0067] In operation 340, the agricultural work vehicle (200) can determine whether the chargeable power is greater than 0.

[0068] In operation 350, the agricultural work vehicle (200) allows regenerative braking when the rechargeable power is greater than 0 and can control the regenerative power generated by regenerative braking. Here, the control of regenerative power may include distributing the regenerative power. The agricultural work vehicle (200) can perform operations 330 and 340 in real time and continuously while performing the regenerative power control operation described below with reference to FIG. 4.

[0069] In operation 360, the agricultural work vehicle (200) can limit regenerative braking when the rechargeable power is 0. In this case, the agricultural work vehicle (200) is decelerated only by mechanical braking.

[0070] FIG. 4 is a flowchart illustrating the operation of controlling regenerative power according to one embodiment.

[0071] Referring to FIG. 4, in operation 410, the agricultural work vehicle (200) can determine whether the regenerative power generated by regenerative braking is less than or equal to the chargeable power.

[0072] In operation 420, if the regenerative power of the agricultural work vehicle (200) is less than or equal to the chargeable power, the battery (280) can be charged using the regenerative power.

[0073] In operation 430, when the regenerative power of the agricultural work vehicle (200) exceeds the rechargeable power, the battery (280) can be charged by an amount of the regenerative power that is rechargeable.

[0074] In operation 440, the agricultural work vehicle (200) can determine whether the operating conditions of one or more loads (290) are satisfied. For example, since the thermal management system (292) can operate when the temperature of a target part is greater than a preset first reference temperature or when the temperature of a target part is less than a preset second reference temperature, the agricultural work vehicle (200) can determine at least one of whether the temperature of a target part is greater than a preset first reference temperature and whether the temperature of the target part is less than a preset second reference temperature.

[0075] In operation 450, when the operating conditions of one or more loads (290) are met, the agricultural work vehicle (200) can supply the remaining power from the regenerative power to one or more loads (290). At this time, the agricultural work vehicle (200) can temporarily increase the load amount of one or more loads (290). By doing so, the actual charge state of the battery (280) does not exceed a preset reference value.

[0076] If the operating conditions of one or more loads (290) are not met, the agricultural work vehicle (200) may return to operation 330 to check the actual charge state of the battery (280) and re-determine the chargeable power of the battery (280). Since the actual charge state of the battery (280) will increase by operation 430, the agricultural work vehicle (200) may determine the chargeable power of the battery (280) to a value smaller than before or to 0 based on the actual charge state confirmed (as increased). When the battery (280) is charged until the actual charge state reaches a preset reference value, regenerative braking is eventually limited to prevent over-discharge of the battery (280).

[0077] Meanwhile, operation 430 may be performed after operation 440. For example, an agricultural work vehicle (200) can determine whether the operating conditions of one or more loads (290) are satisfied when the regenerative power exceeds the chargeable power. At this time, if the operating conditions of one or more loads (290) are satisfied, the agricultural work vehicle (200) can charge the battery (280) by the chargeable power among the regenerative power and supply the remaining power to one or more loads (290), and if the operating conditions of one or more loads (290) are not satisfied, it can charge the battery (280) by the chargeable power among the regenerative power and return to operation 330.

[0078] The embodiments of the present disclosure described above may be implemented in the form of a recording medium comprising computer-executable instructions, such as program modules executed by a computer. A computer-readable medium may include any volatile and non-volatile media, and removable and inseparable media, that can be accessed by a computer. Additionally, a computer-readable medium may include computer storage media and communication media. A computer storage medium may include volatile and non-volatile, removable and inseparable media implemented by any method or technique for storing information, such as computer-readable instructions, data structures, program modules, or other data. A communication medium may include other data of modulated data signals, such as computer-readable instructions, data structures, or program modules.

[0079] The foregoing description of the present disclosure is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features of the present disclosure. Therefore, all of the above descriptions should be understood as illustrative and not limiting. For example, a component described in a single form may be implemented in a distributed manner, and components described in a distributed manner may likewise be implemented in a combined manner.

[0080] The scope of the present disclosure is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalents thereof should be interpreted as being included within the scope of the present disclosure.

Claims

1. A regenerative braking control method for an agricultural work vehicle (200) driven by an electric motor (250) based on the actual charge state (Actual SoC) of a battery (280), The above actual charging state is different from the displayed charging state (Displayed SoC) that is displayed on the instrument panel or display of the agricultural work vehicle (200) and can be verified by the driver, wherein the numerical range of the displayed charging state corresponds to a part of the numerical range of the actual charging state. The above regenerative braking control method is, Step (310) of identifying the operating state of the accelerator pedal (210) or the brake pedal (220); Step (320, 330) of determining the chargeable power of the battery (280) based on the actual charge state when the accelerator pedal (210) is OFF or the brake pedal (220) is ON; and The method includes the step (340, 350, 360) of controlling the regenerative braking of the agricultural work vehicle (200) based on the determined rechargeable power, and The step (310) of determining the chargeable power above is, If the above actual charging state is less than or equal to a preset reference value, the above chargeable power is determined to be a value greater than 0, and If the actual charging state exceeds the preset reference value, the chargeable power is determined to be 0. Regenerative braking control method.

2. In Paragraph 1, The above preset reference value corresponds to a charge state higher than the above indicated charge state of 100%, Regenerative braking control method.

3. In Paragraph 1, The step (320, 330) of determining the rechargeable power above is, If the actual charging state increases until it reaches the preset reference value, the regenerative power generated by regenerative braking is reduced, the chargeable power is determined to a smaller value in stages. Regenerative braking control method.

4. In Paragraph 1, The step of controlling the regenerative braking described above is, Step (350) of allowing regenerative braking when the above chargeable power is greater than 0 and controlling the regenerative power generated by regenerative braking, and A step (360) of limiting regenerative braking when the above-mentioned rechargeable power is 0, Regenerative braking control method.

5. In Paragraph 4, The step (350) of controlling the above regenerative power is, If the regenerative power generated by regenerative braking is less than or equal to the rechargeable power, the method includes the step (420) of charging the battery (280) using the regenerative power. Regenerative braking control method.

6. In Paragraph 4, The step (350) of controlling the above regenerative power is, If the regenerative power generated by regenerative braking exceeds the chargeable power, the step (430) of charging the battery by an amount equal to the chargeable power among the regenerative power, A step (440) of determining whether the operating conditions of one or more loads (290) are satisfied, and When the operating conditions of one or more loads (290) are satisfied, the method includes the step (450) of supplying the remaining power of the regenerative power to one or more loads (290). Regenerative braking control method.

7. In Paragraph 6, The step (450) of supplying the remaining power of the above regenerative power to one or more loads (290) is, A step including temporarily increasing the load amount of one or more loads (290) above, Regenerative braking control method.

8. In Paragraph 6, The step (350) of controlling the above regenerative power is, If the operating conditions of one or more loads (290) are not satisfied, the method includes the step of checking the actual charge state and re-determining the chargeable power of the battery (280) based on the checked actual charge state. Regenerative braking control method.

9. In Paragraph 6, The above one or more loads (290) are, It includes a thermal management system (TMS, Thermal Management System) (292) that operates in a cooling mode when the temperature of a target part is greater than a preset first reference temperature and operates in a heating mode when the temperature of the target part is less than a preset second reference temperature. The step (430) of determining whether the operating conditions of one or more loads (290) are satisfied is, Determining at least one of whether the temperature of the target part is greater than the preset first reference temperature and whether the temperature of the target part is less than the preset second reference temperature. Regenerative braking control method.

10. In an agricultural work vehicle (200) driven by an electric motor (250), Accelerator pedal (210); Brake pedal (220); A battery management system (BMS) (230) that estimates the actual charge state (Actual SoC) of a battery (280) and transmits the actual charge state to a control unit (240) - the actual charge state is different from the displayed charge state (Displayed SoC) that is displayed on the instrument panel or display of the agricultural work vehicle (200) and can be verified by the driver, wherein the numerical range of the displayed charge state corresponds to a part of the numerical range of the actual charge state -; and The control unit (240) identifies the operating state of the accelerator pedal (210) or the brake pedal (220), determines the chargeable power of the battery (280) based on the actual charge state when the accelerator pedal (210) is OFF or the brake pedal (220) is ON, and controls the regenerative braking of the agricultural work vehicle (200) based on the determined chargeable power. The above control unit (240) is, If the above actual charging state is less than or equal to a preset reference value, the above chargeable power is determined to be a value greater than 0, and If the actual charging state exceeds the preset reference value, the chargeable power is determined to be 0. Agricultural work vehicle (200).

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