CN109572438B - Electric vehicle and its regenerative braking control method and device - Google Patents
Electric vehicle and its regenerative braking control method and device Download PDFInfo
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- CN109572438B CN109572438B CN201710910619.XA CN201710910619A CN109572438B CN 109572438 B CN109572438 B CN 109572438B CN 201710910619 A CN201710910619 A CN 201710910619A CN 109572438 B CN109572438 B CN 109572438B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Power Engineering (AREA)
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
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Abstract
本发明公开了一种电动汽车及其再生制动控制方法、装置，其中，再生制动控制方法包括：在松开油门踏板时，判断电动汽车是否满足回馈控制条件；如果电动汽车满足回馈控制条件，则获取电动汽车的制动踏板的当前开度；根据电动汽车的制动踏板的当前开度控制电动汽车进入相应的回馈控制模式；在电动汽车进入相应的回馈控制模式后，根据电动汽车的当前挡位、驱动电机的转速、动力电池当前允许的最大回馈电流以及驱动电机当前允许的最大回馈功率对电动汽车进行回馈控制。该再生制动控制方法，能够提升能量回馈能力，且能够使得电动汽车在相同的制动踏板开度、不同挡位下制动时，具有相同的制动效果，提升了再生制动的平顺性。
The invention discloses an electric vehicle and a regenerative braking control method and device thereof, wherein the regenerative braking control method includes: when the accelerator pedal is released, judging whether the electric vehicle meets the feedback control condition; if the electric vehicle meets the feedback control condition , the current opening of the brake pedal of the electric vehicle is obtained; the electric vehicle is controlled to enter the corresponding feedback control mode according to the current opening of the brake pedal of the electric vehicle; after the electric vehicle enters the corresponding feedback control mode, according to the current opening of the electric vehicle The current gear, the rotational speed of the drive motor, the current maximum allowable feedback current of the power battery, and the current maximum allowable feedback power of the drive motor perform feedback control on the electric vehicle. The regenerative braking control method can improve the energy feedback capability, and can make the electric vehicle have the same braking effect when braking under the same brake pedal opening and different gears, which improves the smoothness of the regenerative braking .
Description
Technical Field
The invention relates to the field of automobiles, in particular to a regenerative braking control method of an electric automobile, a regenerative braking control device of the electric automobile and the electric automobile.
Background
In regenerative braking control of an electric vehicle, in the related art, first, a required regenerative braking intensity is selected from a plurality of intensities; then, obtaining the current speed of the vehicle, the opening degree of a brake pedal and the target regenerative braking intensity through a VCU (vehicle control unit) to determine a recovery coefficient; then determining the actual recoverable power of the power battery according to the residual electric quantity and the recovery coefficient of the power battery of the vehicle; the VCU determines the torque of the driving motor according to the actual recoverable power and sends a torque request to the driving motor control unit MCU; and the MCU controls the driving motor to generate power according to the acquired torque request and charges the power battery.
However, the above-mentioned techniques do not consider whether the energy recovered by regenerative braking can be increased by adjusting the existing mechanical structure of the electric vehicle. And for the electric automobile with a plurality of gears of the transmission without clutch, the gear of the electric automobile is not considered when the regenerative braking torque is selected. This may cause different braking effects due to the transmission being in different gears under the same operation, which may degrade the driving experience and may even cause panic to the driver or passengers.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, an object of the present invention is to provide a regenerative braking control method for an electric vehicle, which can improve energy feedback capability, and can enable the electric vehicle to have the same braking effect when braking at the same brake pedal opening and different gears, thereby improving the smoothness of regenerative braking.
A second object of the invention is to propose a non-transitory computer-readable storage medium.
A third object of the present invention is to provide a regenerative braking control device for an electric vehicle.
The fourth purpose of the invention is to provide an electric automobile.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a regenerative braking control method for an electric vehicle, including the steps of: acquiring the current opening degree of a brake pedal of the electric automobile; controlling the electric automobile to enter a corresponding feedback control mode according to the current opening degree of a brake pedal of the electric automobile, wherein the feedback control mode comprises a sliding feedback control mode and a braking feedback control mode; after the electric automobile enters a corresponding feedback control mode, acquiring the current gear of the electric automobile, the current rotating speed of a driving motor of the electric automobile, the currently allowed maximum feedback current of a power battery of the electric automobile and the currently allowed maximum feedback power of the driving motor of the electric automobile, and performing feedback control on the electric automobile according to the current gear of the electric automobile, the rotating speed of the driving motor, the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor.
According to the regenerative braking control method of the electric automobile provided by the embodiment of the invention, the current opening degree of the brake pedal of the electric automobile is firstly obtained, then the electric automobile is controlled to enter the corresponding feedback control mode according to the current opening degree of the brake pedal of the electric automobile, and after the electric automobile enters the corresponding feedback control mode, the feedback control is carried out on the electric automobile according to the current gear of the electric automobile, the rotating speed of the driving motor, the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor, so that the energy feedback capacity can be improved, the electric automobile has the same braking effect when braking is carried out under the same brake pedal opening degree and different gears, and the smoothness of regenerative braking is improved.
In addition, the regenerative braking control method for the electric vehicle according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the control method further includes: when an accelerator pedal is loosened, judging whether the electric automobile meets a feedback control condition; and if the electric automobile meets the feedback control condition, acquiring the current opening degree of a brake pedal of the electric automobile.
According to an embodiment of the invention, when the opening degree of the accelerator pedal is less than or equal to 0, the current gear of the electric vehicle is in the D gear, the temperature and the SOC value of the power battery of the electric vehicle are in a feedback state, and the rotation speed of the driving motor of the electric vehicle is greater than a first preset rotation speed, it is determined that the electric vehicle satisfies the feedback control condition.
According to one embodiment of the invention, if the current opening degree of a brake pedal of the electric automobile is 0, the electric automobile is controlled to enter the coasting feedback control mode; and if the current opening degree of a brake pedal of the electric automobile is larger than 0, controlling the electric automobile to enter the brake feedback control mode.
According to an embodiment of the present invention, after the electric vehicle enters the coasting feedback control mode, the performing feedback control on the electric vehicle according to the current gear of the electric vehicle, the rotation speed of the driving motor, the currently allowed maximum feedback current of the power battery, and the currently allowed maximum feedback power of the driving motor includes: according to the aboveSelecting a corresponding sliding feedback curve according to the current gear of the electric automobile, and acquiring corresponding feedback torque T from the selected sliding feedback curve according to the current rotating speed of the driving motorh1(ii) a Calculating the feedback torque limit value T of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motorh2(ii) a Comparison Th1、Th2And controlling the output T of the driving motorh1、Th2To be applied to the wheels of said electric vehicle.
According to an embodiment of the present invention, after the electric vehicle enters the brake feedback control mode, the performing feedback control on the electric vehicle according to the current gear of the electric vehicle, the rotation speed of the driving motor, the currently allowed maximum feedback current of the power battery, and the currently allowed maximum feedback power of the driving motor includes: selecting a corresponding brake feedback curve according to the current gear of the electric automobile, and acquiring corresponding feedback torque T from the selected brake feedback curve according to the current rotating speed of the driving motorz1(ii) a Selecting a corresponding brake pedal opening-torque curve according to the current gear of the electric automobile, and acquiring a corresponding feedback torque T from the selected brake pedal opening-torque curve according to the current opening of the brake pedalz2(ii) a Calculating the feedback torque limit value T of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motorz3(ii) a Comparison Tz1、Tz2、Tz3And controlling the output T of the driving motorz1、Tz2、Tz3To be applied to the wheels of the electric vehicle.
According to one embodiment of the invention, when the electric vehicle meets at least one of the following conditions, the electric vehicle is controlled to exit the feedback control mode: the current rotating speed of the driving motor is less than or equal to the first preset rotating speed; the ABS of the electric automobile is in a working state; the opening degree of the accelerator pedal is greater than 0; the current gear of the electric automobile is in a non-D gear.
According to one embodiment of the invention, the brake pedal comprises a pneumatic brake pedal and a hydraulic brake pedal, wherein when the brake pedal is the pneumatic brake pedal, the length of the ejector rod extending into the foot brake valve is adjusted through an ejector rod nut on the ejector rod of the brake pedal, so that the adjustment of the mechanical idle stroke percentage of the brake pedal is realized.
Further, the present invention proposes a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed, implements the regenerative braking control method of the electric vehicle of the above-described embodiment.
According to the computer storage medium of the embodiment of the invention, by executing the program stored on the computer storage medium and corresponding to the regenerative braking control method of the electric vehicle, the energy feedback capacity can be improved, the electric vehicle can have the same braking effect when braking under the same brake pedal opening degree and different gears, and the smoothness of regenerative braking is improved.
In order to achieve the above object, a third embodiment of the present invention provides a regenerative braking control device for an electric vehicle, including: the first obtaining module is used for obtaining the current opening degree of a brake pedal of the electric automobile; the first control module is used for controlling the electric automobile to enter a corresponding feedback control mode according to the current opening degree of a brake pedal of the electric automobile, wherein the feedback control mode comprises a sliding feedback control mode and a braking feedback control mode; the second obtaining module is used for obtaining the current gear of the electric automobile, the current rotating speed of a driving motor of the electric automobile, the currently allowed maximum feedback current of a power battery of the electric automobile and the currently allowed maximum feedback power of the driving motor of the electric automobile after the electric automobile enters a corresponding feedback control mode; and the second control module is used for carrying out feedback control on the electric automobile according to the current gear of the electric automobile, the rotating speed of the driving motor, the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor.
According to the regenerative braking control device of the electric automobile provided by the embodiment of the invention, the first obtaining module is used for obtaining the current opening degree of the brake pedal of the electric automobile, the first control module is used for controlling the electric automobile to enter the corresponding feedback control mode according to the current opening degree of the brake pedal of the electric automobile, and after the electric automobile enters the corresponding feedback control mode, the current gear of the electric automobile, the current rotating speed of a driving motor of the electric automobile, the currently allowed maximum feedback current of a power battery of the electric automobile and the currently allowed maximum feedback power of the driving motor of the electric automobile are obtained through a second obtaining module, and then the second control module carries out feedback control on the electric automobile through the second control module according to the current gear of the electric automobile, the rotating speed of the driving motor, the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor. Therefore, the energy feedback capacity can be improved, the electric automobile has the same braking effect when braking is carried out under the same brake pedal opening degree and different gears, and the smoothness of regenerative braking is improved.
In addition, the regenerative braking control device for an electric vehicle according to the above embodiment of the present invention may further have the following additional features:
according to an embodiment of the present invention, the control apparatus further includes: the judging module is used for judging whether the electric automobile meets feedback control conditions or not when an accelerator pedal is loosened; the first obtaining module obtains the current opening degree of a brake pedal of the electric automobile when the electric automobile meets the feedback control condition.
According to an embodiment of the present invention, the determining module is specifically configured to: and when the opening degree of the accelerator pedal is less than or equal to 0, the current gear of the electric automobile is in a D gear, the temperature and the SOC value of the power battery of the electric automobile are in a feedback state, and the rotating speed of the driving motor of the electric automobile is greater than a first preset rotating speed, judging that the electric automobile meets the feedback control condition.
According to an embodiment of the present invention, the first control module is specifically configured to: when the current opening degree of a brake pedal of the electric automobile is 0, controlling the electric automobile to enter the sliding feedback control mode; and when the current opening degree of a brake pedal of the electric automobile is larger than 0, controlling the electric automobile to enter the brake feedback control mode.
According to an embodiment of the present invention, after the electric vehicle enters the coasting feedback control mode, the second control module is specifically configured to: selecting a corresponding sliding feedback curve according to the current gear of the electric automobile, and acquiring corresponding feedback torque T from the selected sliding feedback curve according to the current rotating speed of the driving motorh1(ii) a Calculating the feedback torque limit value T of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motorh2(ii) a Comparison Th1、Th2And controlling the output T of the driving motorh1、Th2To be applied to the wheels of said electric vehicle.
According to an embodiment of the present invention, after the electric vehicle enters the brake feedback control mode, the second control module is further configured to: selecting a corresponding brake feedback curve according to the current gear of the electric automobile, and acquiring corresponding feedback torque T from the selected brake feedback curve according to the current rotating speed of the driving motorz1(ii) a Selecting a corresponding brake pedal opening-torque curve according to the current gear of the electric automobile, and acquiring a corresponding feedback torque T from the selected brake pedal opening-torque curve according to the current opening of the brake pedalz2(ii) a Calculating the feedback torque limit value T of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motorz3(ii) a Comparison Tz1、Tz2、Tz3And controlling the output T of the driving motorz1、Tz2、Tz3To be applied to the wheels of the electric vehicle.
According to an embodiment of the invention, the first control module is further configured to control the electric vehicle to exit the feedback control mode when the electric vehicle meets at least one of the following conditions: the current rotating speed of the driving motor is less than or equal to the first preset rotating speed; the ABS of the electric automobile is in a working state; the opening degree of the accelerator pedal is greater than 0; the current gear of the electric automobile is in a non-D gear.
According to one embodiment of the invention, the brake pedal comprises a pneumatic brake pedal and a hydraulic brake pedal, wherein when the brake pedal is the pneumatic brake pedal, the length of the ejector rod extending into the foot brake valve is adjusted through an ejector rod nut on the ejector rod of the brake pedal, so that the adjustment of the mechanical idle stroke percentage of the brake pedal is realized.
Further, the invention provides an electric vehicle, which comprises the regenerative braking control device of the electric vehicle of the embodiment.
According to the electric automobile provided by the embodiment of the invention, the regenerative control device of the electric automobile is adopted, so that the energy feedback capacity can be improved, the electric automobile can have the same braking effect when braking under different brake pedal opening degrees, and the smoothness of regenerative braking is improved.
Drawings
FIG. 1 is a flowchart of a regenerative braking control method of an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a brake pedal according to one embodiment of the present invention;
FIG. 3 is a schematic illustration of an opening versus braking force curve for a brake pedal according to an embodiment of the present invention;
FIG. 4 is a flowchart of a regenerative braking control method for an electric vehicle according to an embodiment of the present invention;
FIG. 5 is a graphical illustration of a coasting feedback curve according to an embodiment of the present invention;
FIG. 6(a) is a schematic illustration of a brake feedback curve according to an embodiment of the present invention;
FIG. 6(b) is a schematic diagram of a speed-torque curve of a drive motor in brake feedback control according to an embodiment of the present invention;
fig. 7 is a block diagram of a regenerative braking control apparatus of an electric vehicle according to an embodiment of the present invention;
fig. 8 is a block diagram of an electric vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The electric vehicle and the regenerative braking control method and device thereof according to the embodiment of the invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a regenerative braking control method of an electric vehicle according to an embodiment of the present invention. As shown in fig. 1, the regenerative braking control method of the electric vehicle includes the steps of:
and S101, acquiring the current opening degree of a brake pedal of the electric automobile.
Specifically, an opening degree sensor may be provided on the brake pedal, and when the electric vehicle satisfies the feedback control condition, the current opening degree of the brake pedal of the electric vehicle may be obtained through the opening degree sensor.
And S102, controlling the electric automobile to enter a corresponding feedback control mode according to the current opening degree of a brake pedal of the electric automobile.
In this embodiment, the feedback control modes include a coasting feedback control mode and a braking feedback control mode. Specifically, if the current opening degree of the brake pedal of the electric vehicle is 0, the electric vehicle is controlled to enter the coasting feedback control mode. And if the current opening degree of a brake pedal of the electric automobile is larger than 0, controlling the electric automobile to enter a brake feedback control mode.
And S103, after the electric automobile enters a corresponding feedback control mode, acquiring the current gear of the electric automobile, the current rotating speed of a driving motor of the electric automobile, the currently allowed maximum feedback current of a power battery of the electric automobile and the currently allowed maximum feedback power of the driving motor of the electric automobile, and performing feedback control on the electric automobile according to the current gear of the electric automobile, the rotating speed of the driving motor, the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor.
In this embodiment, the transmission of the electric vehicle has a plurality of gears, such as 4 gears including first gear, second gear, third gear, and fourth gear.
According to the regenerative braking control method of the electric automobile, when an accelerator pedal is released, if the electric automobile meets a feedback control condition, the electric automobile is controlled to enter a corresponding feedback control mode according to the current opening degree of a brake pedal of the electric automobile, and after the electric automobile enters the corresponding feedback control mode, the electric automobile is subjected to feedback control according to the current gear position of the electric automobile, the rotating speed of a driving motor, the currently allowed maximum feedback current of a power battery and the currently allowed maximum feedback power of the driving motor, so that the energy feedback capacity can be improved, the electric automobile has the same braking effect when braking is carried out under the same brake pedal opening degree and different gear positions, and the smoothness of regenerative braking is improved.
In some embodiments of the invention, before the current opening degree of the brake pedal of the electric vehicle is obtained, whether the electric vehicle meets the feedback control condition is also judged.
Specifically, when the accelerator pedal is released, whether the electric automobile meets a feedback control condition is judged, and if the electric automobile meets the feedback control condition, the current opening degree of a brake pedal of the electric automobile is acquired.
The accelerator pedal is an electronic accelerator pedal, an angle sensor can be arranged on the accelerator pedal to detect the opening degree of the accelerator pedal, and whether the accelerator pedal is loosened can be judged according to the detected angle value.
In an embodiment of the invention, when the opening degree of the accelerator pedal is less than or equal to 0, the current gear of the electric vehicle is in the D gear, the temperature and the SOC value of the power battery of the electric vehicle are in a feedback state, and the rotation speed of the driving motor of the electric vehicle is greater than a first preset rotation speed, it is determined that the electric vehicle meets the feedback control condition.
The gear D is a driving gear, and may include a plurality of driving gears, for example, the gear D includes 4 gears, i.e., a first gear, a second gear, a third gear, and a fourth gear. The first preset rotating speed can be preset through the actual rotating speed of the electric automobile driving motor in different gears.
Specifically, a temperature sensor and a hall current monitoring device may be provided on a power battery of an electric vehicle to detect a temperature and an SOC value of the power battery of the electric vehicle, respectively. A rotation speed sensor may be provided on the drive motor of the electric vehicle to detect the rotation speed of the drive motor of the electric vehicle. It can be understood that the current gear of the electric vehicle can be obtained by a TCU (Transmission Control Unit).
In one embodiment of the invention, after the electric vehicle enters the coasting feedback control mode, a corresponding coasting feedback curve is selected according to the current gear of the electric vehicle, and a corresponding feedback torque T is obtained from the selected coasting feedback curve according to the current rotating speed of the driving motorh1And calculating the feedback torque limit value T of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motorh2And then compare Th1、Th2And controls the output T of the driving motorh1、Th2To be applied to the wheels of the electric vehicle.
In another embodiment of the invention, after the electric vehicle enters the brake feedback control mode, a corresponding brake feedback curve is selected according to the current gear of the electric vehicle, and a corresponding feedback torque T is obtained from the selected brake feedback curve according to the current rotating speed of the driving motorz1And selecting a corresponding brake pedal opening-torque curve according to the current gear of the electric automobile, and acquiring a corresponding feedback torque T from the selected brake pedal opening-torque curve according to the current opening of the brake pedalz2And calculating the feedback torque limit value T of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motorz3And then compare Tz1、Tz2、Tz3And controls the output T of the driving motorz1、Tz2、Tz3To be applied to the wheels of the electric vehicle.
In this embodiment, the brake pedal may be a pneumatic brake pedal or a hydraulic brake pedal. When the brake pedal is a pneumatic brake pedal, as shown in fig. 2, before the brake pedal of the electric vehicle is assembled on the vehicle, the length of the ejector rod 3 extending into the foot brake valve 2 can be adjusted through the ejector rod nut 4 on the ejector rod 3 of the brake pedal, so that the rotating angle of the driving arm when the ejector rod ejects the foot brake valve 1 when the brake pedal is stepped on is adjusted, and the mechanical idle stroke percentage of the brake pedal is adjusted. Therefore, the whole vehicle structure is not changed, the braking feeling is not reduced, and meanwhile, the regenerative braking is superimposed during the mechanical idle stroke through reasonably adjusting the mechanical idle stroke percentage of the brake pedal, so that the energy recovered by the regenerative braking is increased. When the driver steps on the brake pedal, the motor braking force is preferentially utilized to decelerate the vehicle, and the braking energy is recovered to the maximum extent under the condition that the structure of the whole vehicle is not changed. When the driver feels that the electric brake is insufficient, the opening degree of the brake pedal can be increased, and the mechanical brake is added, so that the electric automobile reaches the preset deceleration.
Further, as shown in fig. 3, the control process of the motor braking force increasing with the opening degree of the brake pedal may be divided into three stages: in the first stage, the opening degree of a brake pedal is small, mechanical braking force is not generated, and only motor braking force acts in the pedal stroke of the section; in the second stage, in the process of slowly increasing the opening degree of the brake pedal, the mechanical braking force is slowly increased, and the motor braking and the mechanical braking force are superposed to play a role together; and in the third stage, the opening degree of the brake pedal is continuously increased, the vehicle is emergently braked under the condition of large opening degree of the brake pedal, the deceleration of the whole vehicle is large, and the proportion of the electric braking force is reduced by mainly using mechanical friction braking in the aspect of safety.
In the embodiment of the invention, when the electric vehicle meets any one of the following conditions, the electric vehicle can be controlled to exit the feedback control mode:
(1) the current rotating speed of the driving motor is less than or equal to a first preset rotating speed;
(2) the ABS of the electric automobile is in a working state;
(3) the opening degree of an accelerator pedal is greater than 0;
(4) the current gear of the electric automobile is in a non-D gear.
The non-D gear can comprise a P gear, an N gear, an R gear and the like, and can be calibrated according to the gear setting of the electric automobile.
In this embodiment, the regenerative braking Control method for the electric Vehicle according to the embodiment of the present invention may be implemented by a VCU (Vehicle Control Unit) of the electric Vehicle. The regenerative braking control method of the electric vehicle according to the embodiment of the invention is described below with reference to fig. 4:
referring to fig. 4, when the driver releases the accelerator pedal during the driving of the electric vehicle, the VCU determines whether the electric vehicle satisfies the feedback control condition through the input signal, that is, whether the electric vehicle satisfies the following conditions: the opening degree of an accelerator pedal is less than or equal to 0, the current gear is in a D gear, the temperature and the SOC value of the power battery are in a feedback state, and the rotating speed of the driving motor is greater than a first preset rotating speed nmin. And if the electric automobile meets the feedback control condition, acquiring the current opening degree of the brake pedal detected by the brake pedal opening degree sensor.
And when the current opening degree of the brake pedal is equal to 0, controlling the electric automobile to enter a coasting feedback control mode. The VCU selects a corresponding coasting feedback curve according to the current gear of the electric vehicle transmitted by the TCU, for example, referring to fig. 5, when the current gear is the second gear, the coasting feedback curve corresponding to the second gear is selected. The sliding feedback curve represents the corresponding relation between the rotating speed and the torque of the driving motor. At this time, the corresponding feedback torque T can be obtained from the selected sliding feedback curve according to the current rotating speed of the driving motorh1(ii) a Meanwhile, the VCU calculates the feedback torque limit value T of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motorh2. Further compare Th1、Th2And will Th1、Th2The smaller value of the sum is taken as the current stepping brake pedalThe brake feedback torque value of the plate.
And when the current opening degree of the brake pedal is larger than 0, controlling the electric automobile to enter a brake feedback control mode. The VCU selects a corresponding brake feedback curve and brake pedal opening-torque curve according to the current gear of the electric vehicle transmitted by the TCU, for example, referring to fig. 6(a) and 6(b), when the current gear is the second gear, the VCU selects a brake feedback curve and a brake pedal opening-torque curve corresponding to the second gear. The brake feedback curve represents the corresponding relation between the rotating speed and the torque of the driving motor. At this time, the corresponding feedback torque T can be obtained from the selected brake feedback curve according to the current rotating speed of the driving motorz1And can obtain corresponding feedback torque T from the selected brake pedal opening-torque curve according to the current opening of the brake pedalz2(ii) a Meanwhile, the VCU calculates the feedback torque limit value T of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motorz3. Further compare Tz1、Tz2、Tz3And will Tz1、Tz2、Tz3The minimum value is used as the brake feedback torque value of the current stepping on the brake pedal.
Therefore, for the electric automobile with the transmission having multiple gears and without clutch, when the driver steps on the brake pedal to brake, the electric automobile has the same brake effect under the condition that different gears have the same brake pedal opening degree, and the regenerative braking driving feeling is improved. Meanwhile, due to the fact that the clutch is not arranged, when the electric automobile is fed back to shift gears, the braking torque of the motor is reduced before the gear reduction premise, the torque change rate when the regenerative braking torque is involved and withdrawn is controlled, impact caused by gear shifting is reduced, and the regenerative braking smoothness is improved.
It should be noted that, in the feedback control process, it is also determined whether the condition for exiting the feedback control is met in real time according to the input signal, that is, whether at least one of the following conditions is met: the rotating speed of the driving motor is less than or equal to nminThe ABS is in a working state, the opening degree of an accelerator pedal is larger than 0, and the current gear is in a non-D gear.
In summary, according to the regenerative braking control method of the electric vehicle in the embodiment of the invention, on one hand, the effect of adjusting the percentage of the mechanical idle stroke of the brake pedal can be achieved by adjusting the position of the ejector rod of the air pressure brake pedal without changing the structure of the existing mechanical braking system of the electric vehicle, so that the regenerative braking is superimposed during the mechanical idle stroke of the brake pedal, the energy recovered by the regenerative braking is increased, and the braking smoothness is improved by controlling the superimposed curve of the regenerative braking and the mechanical braking force when the mechanical braking force intervenes. On the other hand, for the electric automobile with the power assembly having a plurality of gears, different feedback control is respectively adopted for each gear, so that the electric automobile has the same feedback effect under the same brake pedal opening degree when the electric automobile runs in different gears.
Based on the above embodiments, the present invention proposes a non-transitory computer-readable storage medium having stored thereon a program that, when executed, implements the regenerative braking control method of the electric vehicle of the above embodiments.
According to the computer storage medium of the embodiment of the invention, by executing the program stored on the computer storage medium and corresponding to the regenerative braking control method of the electric vehicle, the energy feedback capacity can be improved, the electric vehicle can have the same braking effect when braking at different brake pedal opening degrees, and the smoothness of regenerative braking is improved.
Fig. 7 is a block diagram of a regenerative braking control apparatus according to an embodiment of the present invention. As shown in fig. 7, the regenerative braking control device 100 for an electric vehicle includes: a first acquisition module 20, a first control module 30, a second acquisition module 40, and a second control module 50.
The first obtaining module 20 is configured to obtain a current opening degree of a brake pedal of the electric vehicle; the first control module 30 is configured to control the electric vehicle to enter a corresponding feedback control mode according to a current opening degree of a brake pedal of the electric vehicle, where the feedback control mode includes a coasting feedback control mode and a braking feedback control mode; the second obtaining module 40 is configured to obtain a current gear of the electric vehicle, a current rotation speed of a driving motor of the electric vehicle, a currently allowed maximum feedback current of a power battery of the electric vehicle, and a currently allowed maximum feedback power of the driving motor of the electric vehicle after the electric vehicle enters a corresponding feedback control mode; the second control module 50 is configured to perform feedback control on the electric vehicle according to a current gear of the electric vehicle, a rotational speed of the driving motor, a currently allowed maximum feedback current of the power battery, and a currently allowed maximum feedback power of the driving motor.
In some embodiments of the present invention, referring to fig. 7, the control device 100 further includes a determination module 10, and the determination module 10 is configured to determine whether the feedback control condition is satisfied by the electric vehicle when the accelerator pedal is released. The first obtaining module 20 obtains a current opening degree of a brake pedal of the electric vehicle when the electric vehicle meets the feedback control condition.
In an embodiment of the invention, the determining module 10 determines that the electric vehicle satisfies the feedback control condition when the opening degree of the accelerator pedal is less than or equal to 0, the current gear of the electric vehicle is in the D gear, the temperature and the SOC value of the power battery of the electric vehicle are in the feedback state, and the rotation speed of the driving motor of the electric vehicle is greater than a first preset rotation speed.
Further, the first obtaining module 20 obtains a current opening degree of a brake pedal of the electric vehicle when the electric vehicle satisfies the feedback control condition. The first control module 30 controls the electric vehicle to enter the coasting feedback control mode when the current opening degree of the brake pedal of the electric vehicle is 0, or controls the electric vehicle to enter the braking feedback control mode when the current opening degree of the brake pedal of the electric vehicle is greater than 0.
Further, when the electric vehicle enters the coasting feedback control mode, the second control module 50 selects a corresponding coasting feedback curve according to the current gear of the electric vehicle, and obtains a corresponding feedback torque T from the selected coasting feedback curve according to the current rotation speed of the driving motorh1And calculating the feedback torque limit value T of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motorh2And then compare Th1、Th2And controls the output T of the driving motorh1、Th2To be applied to the wheels of the electric vehicle.
When the electric vehicle enters the brake feedback control mode, the second control module 50 selects a corresponding brake feedback curve according to the current gear of the electric vehicle, and obtains a corresponding feedback torque T from the selected brake feedback curve according to the current rotation speed of the driving motorz1And selecting a corresponding brake pedal opening-torque curve according to the current gear of the electric automobile, and acquiring a corresponding feedback torque T from the selected brake pedal opening-torque curve according to the current opening of the brake pedalz2And calculating the feedback torque limit value T of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motorz3And then compare Tz1、Tz2、Tz3And controls the output T of the driving motorz1、Tz2、Tz3To be applied to the wheels of the electric vehicle.
In this embodiment, the brake pedal includes a pneumatic brake pedal and a hydraulic brake pedal, wherein, when the brake pedal is a pneumatic brake pedal, as shown in fig. 2, before the brake pedal of the electric vehicle is assembled to the vehicle, the length of the ejector rod 3 extending into the foot brake valve 2 can be adjusted by the ejector rod nut 4 on the ejector rod 3 of the brake pedal, so as to adjust the angle of rotation of the active arm when the ejector rod ejects the foot brake valve 1 when the brake pedal is stepped on, thereby realizing the adjustment of the mechanical idle stroke percentage of the brake pedal. Therefore, the whole vehicle structure is not changed, the braking feeling is not reduced, and meanwhile, the regenerative braking is superimposed during the mechanical idle stroke through reasonably adjusting the mechanical idle stroke percentage of the brake pedal, so that the energy recovered by the regenerative braking is increased. When the driver steps on the brake pedal, the motor braking force is preferentially utilized to decelerate the vehicle, and the braking energy is recovered to the maximum extent under the condition that the structure of the whole vehicle is not changed. When the driver feels that the electric brake is insufficient, the opening degree of the brake pedal can be increased, and the mechanical brake is added, so that the electric automobile reaches the preset deceleration.
In some embodiments of the present invention, the first control module 30 is further configured to control the electric vehicle to exit the feedback control mode when the electric vehicle satisfies any one of the following conditions:
(1) the current rotating speed of the driving motor is less than or equal to a first preset rotating speed;
(2) the ABS of the electric automobile is in a working state;
(3) the opening degree of an accelerator pedal is greater than 0;
(4) the current gear of the electric automobile is in a non-D gear.
It should be noted that, for the specific implementation of the regenerative braking control device of the electric vehicle according to the embodiment of the present invention, reference may be made to the specific implementation of the regenerative braking control method of the electric vehicle according to the embodiment of the present invention, and in order to reduce redundancy, no further description is given here.
In summary, according to the regenerative braking control device of the electric vehicle in the embodiment of the invention, when the accelerator pedal is released, if the electric vehicle meets the feedback control condition, the first obtaining module obtains the current opening degree of the brake pedal of the electric vehicle, the first control module controls the electric vehicle to enter the corresponding feedback control mode according to the current opening degree of the brake pedal of the electric vehicle, and after the electric vehicle enters the corresponding feedback control mode, the second control module performs feedback control on the electric vehicle according to the current gear of the electric vehicle, the rotating speed of the driving motor, the currently allowed maximum feedback current of the power battery, and the currently allowed maximum feedback power of the driving motor. Therefore, the energy feedback capacity can be improved, the electric automobile has the same braking effect when braking is carried out under the same brake pedal opening degree and different gears, and the smoothness of regenerative braking is improved.
Fig. 8 is a block diagram of an automobile according to an embodiment of the present invention. As shown in fig. 8, the electric vehicle 1000 includes the regenerative braking control device 100 of the electric vehicle according to the embodiment.
According to the automobile provided by the embodiment of the invention, the regenerative braking control device of the electric automobile is adopted, so that the energy feedback capacity can be improved, the electric automobile can have the same braking effect when braking under the same brake pedal opening degree and different gears, and the smoothness of regenerative braking is improved.
In addition, other configurations and functions of the electric vehicle according to the above embodiment of the present invention are known to those skilled in the art, and are not described herein in detail to reduce redundancy.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A regenerative braking control method of an electric vehicle is characterized by comprising the following steps:
when an accelerator pedal is loosened, judging whether the electric automobile meets a feedback control condition;
if the electric automobile meets the feedback control condition, acquiring the current opening degree of a brake pedal of the electric automobile;
when the opening degree of the accelerator pedal is less than or equal to 0, the current gear of the electric automobile is in a D gear, the temperature and the SOC value of a power battery of the electric automobile are in a feedback state, and the rotating speed of a driving motor of the electric automobile is greater than a first preset rotating speed, judging that the electric automobile meets the feedback control condition;
acquiring the current opening degree of a brake pedal of the electric automobile;
controlling the electric automobile to enter a corresponding feedback control mode according to the current opening degree of a brake pedal of the electric automobile, wherein the feedback control mode comprises a sliding feedback control mode and a braking feedback control mode;
after the electric automobile enters a corresponding feedback control mode, acquiring the current gear of the electric automobile, the current rotating speed of a driving motor of the electric automobile, the currently allowed maximum feedback current of a power battery of the electric automobile and the currently allowed maximum feedback power of the driving motor of the electric automobile, and performing feedback control on the electric automobile according to the current gear of the electric automobile, the rotating speed of the driving motor, the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor;
the brake pedal comprises an air pressure brake pedal and a hydraulic brake pedal, and when the brake pedal is the air pressure brake pedal, the length of the ejector rod extending into the foot brake valve is adjusted through an ejector rod nut on the ejector rod of the brake pedal, so that the mechanical idle stroke percentage of the brake pedal is adjusted;
if the current opening degree of a brake pedal of the electric automobile is 0, controlling the electric automobile to enter the sliding feedback control mode;
if the current opening degree of a brake pedal of the electric automobile is larger than 0, controlling the electric automobile to enter the brake feedback control mode;
after the electric automobile enters the brake feedback control mode, performing feedback control on the electric automobile according to different gears of the electric automobile under the D gear, the rotating speed of the driving motor, the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor comprises the following steps:
selecting corresponding brake feedback curves according to different gears of the electric automobile under the D gear, and acquiring corresponding feedback torque from the selected brake feedback curves according to the current rotating speed of the driving motor
；
Selecting corresponding brake pedal opening-torque curves according to different gears of the electric automobile under D gear, and acquiring corresponding feedback torque from the selected brake pedal opening-torque curves according to the current opening of the brake pedal
；
Calculating the feedback torque limit value of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor
；
Comparison
And controlling the output of the driving motor
To be applied to the wheels of the electric vehicle; wherein
D keeps off for the drive gear, includes: the first gear, the second gear, the third gear and the fourth gear are 4 driving gears, and under different driving gears, the same opening degree of a brake pedal corresponds to different torques of a driving motor, and the same rotating speed of the driving motor corresponds to different torques of the driving motor.
2. The regenerative braking control method of an electric vehicle according to claim 1, wherein the feedback control of the electric vehicle according to the current gear of the electric vehicle, the rotation speed of the driving motor, the currently allowed maximum feedback current of the power battery, and the currently allowed maximum feedback power of the driving motor after the electric vehicle enters the coasting feedback control mode comprises:
selecting a corresponding sliding feedback curve according to the current gear of the electric automobile, and acquiring corresponding feedback torque from the selected sliding feedback curve according to the current rotating speed of the driving motor
；
Calculating the feedback torque limit value of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor
；
Comparison
And controlling the output of the driving motor
To be applied to the wheels of said electric vehicle.
3. The regenerative braking control method of an electric vehicle according to claim 1, wherein the electric vehicle is controlled to exit the regenerative braking control mode when the electric vehicle satisfies at least one of the following conditions:
the current rotating speed of the driving motor is less than or equal to the first preset rotating speed;
the ABS of the electric automobile is in a working state;
the opening degree of the accelerator pedal is greater than 0;
the current gear of the electric automobile is in a non-D gear.
4. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the regenerative braking control method of an electric vehicle according to any one of claims 1 to 3.
5. A regenerative braking control device for an electric vehicle, comprising:
the judging module is used for judging whether the electric automobile meets feedback control conditions or not when an accelerator pedal is loosened;
the first obtaining module is used for obtaining the current opening degree of a brake pedal of the electric automobile;
the first obtaining module is used for obtaining the current opening degree of a brake pedal of the electric automobile when the electric automobile meets the feedback control condition, and the judging module is specifically used for: when the opening degree of the accelerator pedal is less than or equal to 0, the current gear of the electric automobile is in a D gear, the temperature and the SOC value of a power battery of the electric automobile are in a feedback state, and the rotating speed of a driving motor of the electric automobile is greater than a first preset rotating speed, judging that the electric automobile meets the feedback control condition;
the first control module is used for controlling the electric automobile to enter a corresponding feedback control mode according to the current opening degree of a brake pedal of the electric automobile, wherein the feedback control mode comprises a sliding feedback control mode and a braking feedback control mode;
the second obtaining module is used for obtaining the current gear of the electric automobile, the current rotating speed of a driving motor of the electric automobile, the currently allowed maximum feedback current of a power battery of the electric automobile and the currently allowed maximum feedback power of the driving motor of the electric automobile after the electric automobile enters a corresponding feedback control mode;
the second control module is used for carrying out feedback control on the electric automobile according to the current gear of the electric automobile, the rotating speed of the driving motor, the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor;
the brake pedal comprises an air pressure brake pedal and a hydraulic brake pedal, and when the brake pedal is the air pressure brake pedal, the length of the ejector rod extending into the foot brake valve is adjusted through an ejector rod nut on the ejector rod of the brake pedal, so that the mechanical idle stroke percentage of the brake pedal is adjusted;
the first control module is specifically configured to:
when the current opening degree of a brake pedal of the electric automobile is 0, controlling the electric automobile to enter the sliding feedback control mode;
when the current opening degree of a brake pedal of the electric automobile is larger than 0, controlling the electric automobile to enter the brake feedback control mode;
when the electric vehicle enters the brake feedback control mode, the second control module is specifically configured to:
selecting corresponding brake feedback curves according to different gears of the electric automobile under the D gear, and acquiring corresponding feedback torque from the selected brake feedback curves according to the current rotating speed of the driving motor
；
Selecting corresponding brake pedal opening-torque curves according to different gears of the electric automobile under D gear, and acquiring corresponding feedback torque from the selected brake pedal opening-torque curves according to the current opening of the brake pedal
；
Calculating the feedback torque limit value of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor
；
Comparison
And controlling the output of the driving motor
To be applied to the wheels of the electric vehicle; wherein
D keeps off for the drive gear, includes: the first gear, the second gear, the third gear and the fourth gear are 4 driving gears, and under different driving gears, the same opening degree of a brake pedal corresponds to different torques of a driving motor, and the same rotating speed of the driving motor corresponds to different torques of the driving motor.
6. The regenerative braking control apparatus of an electric vehicle of claim 5, wherein when the electric vehicle enters the coasting feedback control mode, the second control module is specifically configured to:
selecting a corresponding sliding feedback curve according to the current gear of the electric automobile, and acquiring corresponding feedback torque from the selected sliding feedback curve according to the current rotating speed of the driving motor
；
Calculating the feedback torque limit value of the driving motor according to the currently allowed maximum feedback current of the power battery and the currently allowed maximum feedback power of the driving motor
；
Comparison
And controlling the output of the driving motor
To be applied to the wheels of said electric vehicle.
7. The regenerative braking control device of an electric vehicle according to claim 5, wherein the first control module is further configured to control the electric vehicle to exit the regenerative braking control mode when the electric vehicle satisfies at least one of the following conditions:
the current rotating speed of the driving motor is less than or equal to the first preset rotating speed;
the ABS of the electric automobile is in a working state;
the opening degree of the accelerator pedal is greater than 0;
the current gear of the electric automobile is in a non-D gear.
8. An electric vehicle characterized by comprising the regenerative braking control apparatus for an electric vehicle according to any one of claims 5 to 7.
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