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GB2592858A - Apparatus and method for determining brake torque - Google Patents

Apparatus and method for determining brake torque Download PDF

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Publication number
GB2592858A
GB2592858A GB1915105.9A GB201915105A GB2592858A GB 2592858 A GB2592858 A GB 2592858A GB 201915105 A GB201915105 A GB 201915105A GB 2592858 A GB2592858 A GB 2592858A
Authority
GB
United Kingdom
Prior art keywords
braking
proportion
foundation
vehicle
electric machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
GB1915105.9A
Other versions
GB201915105D0 (en
Inventor
Tsampardoukas Georgios
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jaguar Land Rover Ltd
Original Assignee
Jaguar Land Rover Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jaguar Land Rover Ltd filed Critical Jaguar Land Rover Ltd
Priority to GB1915105.9A priority Critical patent/GB2592858A/en
Publication of GB201915105D0 publication Critical patent/GB201915105D0/en
Priority to PCT/EP2020/079000 priority patent/WO2021074274A1/en
Publication of GB2592858A publication Critical patent/GB2592858A/en
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
    • B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
    • 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
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • 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
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/14—Preventing excessive discharging
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/58—Combined or convertible systems
    • B60T13/585—Combined or convertible systems comprising friction brakes and retarders
    • B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D61/00—Brakes with means for making the energy absorbed available for use
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/22—Yaw angle
    • 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
    • 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
    • B60L2240/425—Temperature
    • 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
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/463—Torque
    • 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
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/465—Slip
    • 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B60T2270/604—Merging friction therewith; Adjusting their repartition
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Energy (AREA)
  • Sustainable Development (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)

Abstract

A controller 110 (e.g. brake proportion controller) determines brake torque proportions for a vehicle having braking via: foundation (friction) brakes 212, 222, 232, 242; and electric machines 214, 224, 234, 244 (e.g. regenerative braking). The controller receives a braking request signal (145) and a signal indicating a torque capacity limit for electric machine braking and/or foundation braking. A processor (120) determines a first proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the torque capacity limit. A braking proportion signal (155), indicative of the determined first proportion, is output to cause a braking system of the vehicle to fulfil the braking request according to the determined first proportion of electric machine braking to foundation braking. In another embodiment, the controller further receives a signal, indicative of activation of an anti-lock braking system (ABS) and/or a signal indicative of a stability system of the vehicle. The processor determines first and second proportions of electric machine braking to foundation braking to fulfil the braking request in dependence on the torque capacity limit, wherein: the first proportion is determined in the absence of activation of the ABS and/or stability systems; and the second proportion is determined in the presence of activation of the ABS and/or stability systems.

Description

Apparatus and Method for Determining Brake Torque
TECHNICAL FIELD
Aspects of the invention relate to a controller, to a method, to a vehicle and to computer software. In particular, although not exclusively, embodiments of the present invention relate to determining a proportion of braking torque to be applied by each of a plurality of braking actuators.
BACKGROUND
Vehicles are equipped with foundation brakes to facilitate vehicle stopping. Foundation brakes are friction-based brakes which are often located at one or more wheels of the vehicle. However, increasingly, vehicles are capable of braking by control of one or more electric machines of the vehicle. For example, the one or more electric machines (EMs) may be caused to act as a generator to provide regenerative braking to the one or more wheels associated with the electric motor. It is possible to apply both foundation braking and electric machine braking to the vehicle simultaneously. However it may be difficult to determine a proportion of braking to be applied by each of the braking sources.
It is an object of embodiments of the invention to at least mitigate one or more of the problems of the prior art.
SUMMARY OF THE INVENTION
According to aspects of the present invention, there is provided a controller, a method, a vehicle and computer software as claimed in the appended claims.
According to an aspect of the present invention, there is provided a controller for determining brake torque proportions for a vehicle comprising processing means for determining a proportion of electric machine braking to foundation braking to fulfil a braking request in dependence on a torque capacity limit for one or both of the electric machine braking and the foundation braking. Advantageously the proportion of electric machine braking to foundation braking is dynamically determined.
According to another aspect of the present invention, there is provided a controller for determining brake torque proportions for a vehicle, comprising a processing means configured to determine a first proportion of electric machine braking to foundation braking to fulfil a braking request in dependence on a torque capacity limit for one or both of the electric machine braking and foundation braking in absence of activation of an ABS system and/or a stability system of the vehicle, and a second proportion of electric machine braking to foundation braking to fulfil the braking request in a presence of activation of the ABS system and/or the stability system. Advantageously the ratio of electric machine braking to foundation braking is determined responsive to conditions of the vehicle.
According to a further aspect of the present invention, there is provided a controller for determining brake torque proportions for a vehicle, comprising input means to receive a signal indicative of a braking request and a signal indicative of a torque capacity limit for one or both of electric machine braking and foundation braking, processing means configured to determine a first proportion of electric machine braking to foundation to fulfil the braking request, wherein the first proportion is determined in dependence on the torque capacity limit for one or both of the electric machine braking and the foundation braking, and output means configured to output a signal indicative of the determined first proportion to cause a braking system of the vehicle to fulfil the braking request according to the determined proportion of electric machine braking and foundation braking. Advantageously the proportion of electric machine braking to foundation braking is dynamically determined in dependence on the torque capacity limit.
The input means is optionally arranged to receive a signal indicative of an updated torque capacity limit for one or both of the electric machine braking and the foundation braking in dependence on slip of one or more wheels of the vehicle. Advantageously information about the updated torque capacity limit is determined.
The processing means may be arranged to determine a second proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the updated torque capacity limit. Advantageously the proportion of electric machine braking to foundation braking is updated or revised in dependence on the torque capacity limit. The first proportion may be used as a basis to determine the second proportion.
The input means is optionally arranged to receive a signal indicative of an updated torque capacity limit for one or both of the electric machine braking and the foundation braking in dependence on a signal indicative of a stability parameter associated with the vehicle. Advantageously the toque capacity limit for one or both of the electric machine braking and the foundation braking is revised in dependence on the stability parameter.
The processing means may be arranged to determine a second proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the updated torque capacity limit. Advantageously the proportion of electric machine braking to foundation braking is updated. The first proportion may be used as a basis to determine the second proportion.
The signal indicative of the stability parameter is optionally indicative of yaw of the vehicle. Advantageously the first or second proportion is determined in dependence on the yaw of the vehicle.
The input means may be arranged to receive a signal indicative of a total braking torque capacity limit for one or more wheels of the vehicle. Advantageously the total braking torque capacity limit for the one or more wheels is used to determine the first or second proportion.
Optionally the processing means is arranged to determine the first or second proportion of the electric machine braking to the foundation braking in dependence on the total braking torque capacity limit. Advantageously the total braking torque capacity limit for the one or more wheels is used to determine the first or second proportion of electric machine braking and foundation braking.
The input means is optionally arranged to receive a signal indicative of an updated total braking torque capacity limit for one or more wheels of the vehicle.
Advantageously the updated braking torque capacity limit for the one or more wheels is used to determine the first or second proportion.
The processing means is optionally arranged to determine the second proportion of the electric machine braking to the foundation braking in dependence on the updated total braking torque capacity limit. Advantageously the updated total braking torque capacity limit for the one or more wheels is used to determine the second proportion of electric machine braking and foundation braking.
The torque capacity limit for the electric machine braking may be determined in dependence on a remaining energy capacity of one or more batteries associated with the electric machine braking. Advantageously the first or second proportion of electric machine braking to foundation braking is determined with knowledge of an ability of the electric machine braking system to absorb electrical energy.
The input means is arranged to receive a signal indicative of one or more battery operating parameters of one or more batteries associated with the electric machine braking. Advantageously the first or second proportion of electric machine braking to foundation braking is determined with knowledge of one or more parameters of the electric machine braking system.
The processing means may be arranged to update the first or second proportion of the electric machine braking to the foundation braking in dependence the one or more battery operating parameters exceeding one or more predetermined operating limits and the output means is configured to output the signal indicative of the updated proportion to cause the braking system of the vehicle to fulfil the braking request according to the updated proportion of electric machine and foundation braking. Advantageously the proportion of electric machine braking to foundation braking is updated or revised with knowledge of the one or more parameters. The updated proportion may be the updated first or second proportion.
The processing means may be configured to update the determined proportion of the electric machine braking to the foundation braking to comprise a greater proportion of foundation braking. Advantageously, the greater proportion of foundation braking reduces a load on the electric machine braking system.
The determined proportion may be the first proportion or the second proportion. The determined proportion may be a last-determined, or most-recently, proportion.
The input means is optionally arranged to receive a signal indicative of one or more foundation braking operating parameters of one or more of the foundation brakes of the vehicle. Advantageously the proportion of electric machine braking to foundation braking is determined with knowledge of the one or more parameters of the foundation brakes. The proportion may be the first or second proportion of electric machine braking to foundation braking.
Optionally the processing means is arranged to update the proportion of the electric machine braking to the foundation braking in dependence the one or more foundation braking operating parameters exceeding one or more predetermined operating limits. Advantageously the proportion of electric machine braking to foundation braking is updated or revised with knowledge of the one or more parameters of the foundation brakes.
The processing means may be arranged to update the determined proportion of the electric machine braking to the foundation braking to comprise a greater proportion of electric machine braking. Advantageously, the greater proportion of electric machine braking reduces a load on the foundation braking system.
The determined proportion may be the first proportion or the second proportion. The determined proportion may be a last-determined proportion.
Optionally the input means is arranged to receive a signal indicative of a speed of the vehicle. The processing means may be configured to update the first or second proportion of the electric machine braking to the foundation braking in dependence the speed of the vehicle and the output means is configured to output the signal indicative of the updated proportion to cause the braking system of the vehicle to fulfil the braking request according to the updated proportion of electric machine braking and foundation braking. Advantageously the proportion is determined with reference to a speed of the vehicle to appropriately utilise relevant proportions of each braking system.
The processing means is optionally configured to update the first or second proportion of the electric machine braking to the foundation braking to comprise a greater proportion of foundation braking when the speed of the vehicle is below a minimum speed. Advantageously more foundation braking is appropriately used at lower speeds.
The processing means is optionally configured to update the determined first or second proportion of the electric machine braking to the foundation braking to comprise a predetermined proportion of foundation braking when the speed of the vehicle is above a maximum speed. Advantageously more foundation braking is appropriately used at higher speeds.
The input means may be arranged to receive a signal indicative of a braking bias for the vehicle. Advantageously the brake bias is used in determination of the proportion of electric machine braking to foundation braking.
Optionally the processing means is arranged to determine a braking torque allocation for at least some wheels of the vehicle in dependence on the braking bias and the proportion of electric machine braking to foundation braking and the output means is configured to output a signal indicative of the determined brake torque allocation to cause a braking system of the vehicle to fulfil the braking request according to the determined proportion of electric machine and foundation braking and the determined brake torque allocation. Advantageously the brake bias is used to determine the proportions.
The braking torque allocation may be determined as: Tq_dem-FL = -2[be Tq_dem_total + bf Tq_dem_total] Tq_dem-FR = -2[be Tq_dem_total + bf Tq_dem_total] (1-b) Tq_dem_RL = 2 [be Tq_dem_total + bf Tq_dem_total] (1-b) Tq_dem_FR - 2 [be Tq_dem_total + bf Tq_dem_total] wherein Tq dem FL is a braking torque demand for a front-left wheel, Tq_dem FR is a braking torque demand for a front-right wheel, Tq dem RL is a braking torque demand for a rear-left wheel Tq_dem RR is a braking torque demand for a right-right wheel, Tq_dem total is a total braking torque demand, be is a portion of electric machine braking and bf is a portion of foundation braking and b is a brake bias.
According to a yet further aspect of the present invention, there is provided a method determining brake torque proportions for a vehicle, comprising receiving signals indicative of a braking request and a torque capacity limit for one or both of electric machine braking and foundation braking, determining a first proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the torque capacity limit for one or both of the electric machine braking and the foundation braking, and outputting a signal indicative of the determined first proportion to cause the braking system of the vehicle to fulfil the braking request according to the determined proportion of electric machine and foundation braking.
The method may comprise receiving a signal indicative of an updated torque capacity limit for one or both of the electric machine braking and the foundation braking in dependence on one or both of slip of one or more wheels of the vehicle and a stability parameter associated with the vehicle.
The method may comprise determining a second proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the updated torque capacity limit and the output means is configured to output the signal indicative of the determined second proportion to cause the braking system of the vehicle to fulfil the braking request according to the determined proportion of electric machine braking and foundation braking.
The method may comprise determining a braking torque allocation for at least some wheels of the vehicle in dependence on the proportion of electric machine braking to foundation braking.
According to yet another aspect of the present invention, there is provided a controller for determining brake torque proportions for a vehicle, comprising input means to receive signals indicative of a braking request, a torque capacity limit for one or both of electric machine braking and foundation braking, and one or both of an ABS signal indicative of activation of an ABS system of the vehicle and a stability signal indicative of a stability system of the vehicle, processing means arranged to determine a first proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the torque capacity limit for one or both of electric machine braking and foundation braking in absence of activation of the ABS system and/or the stability system, and a second proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the torque capacity limit for one or both of electric machine braking and foundation braking in a presence of activation of the ABS system and/or the stability system, output means to output a signal indicative of the determined proportion to cause a braking system of the vehicle to fulfil the braking request according to the determined proportion of electric machine and foundation braking.
The determined proportion may be the first proportion or the second proportion.
According to an aspect of the present invention, there is provided computer software which, when executed by a computer, is arranged to perform a method as described above.
According to an aspect of the present invention, there is provided a vehicle comprising a controller as described above.
Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.
BRIEF DESCRIPTION OF THE DRAWINGS
Embodiments of the invention will now be described by way of example only, with reference to the accompanying figures, in which: Figure 1 shows a controller 110 for determining brake torque proportions for a vehicle according to an embodiment of the invention; Figure 2 shows a schematic illustration of a vehicle according to an embodiment of the invention; Figure 3 shows a method according to an embodiment of the invention; Figure 4 shows a method according to another embodiment of the invention; and Figure 5 illustrates a vehicle according to an embodiment of the present invention.
DETAILED DESCRIPTION
Figure 1 illustrates a controller 110 for determining brake torque proportions for a vehicle according to an embodiment of the invention. The controller may be referred to as a brake proportion controller 110. The controller 110 comprises a processing means 120 for operatively executing computer-readable instructions, and a memory means 130 for storing data therein which comprises the computer-readable instructions. The processing means 120 is one or more electronic processing devices or processors for executing the computer-readable instructions. The memory means 130 comprises one or more memory devices 130 such as RAM or ROM as will be appreciated. The memory means may operatively store therein data for operating thereon by the processing means 120 whilst performing a method according to an embodiment of the invention.
The controller 110 is arranged to, in use, determine brake torque proportions for a vehicle 200, such as schematically illustrated in Figure 2 which is a land-going vehicle 200 having a plurality of wheels 210, 220, 230, 240. In this case the vehicle 200 comprises four wheels 210, 220, 230, 240 arranged generally at each corner of the vehicle 200.
As described above, the vehicle 200 is equipped with foundation brakes 212, 222, 232, 242 to facilitate vehicle braking and stopping. Foundation brakes 212, 222, 232, 242 are friction-based brakes which are associated with, and often located at as illustrated in Figure 2, each of one or more wheels of the vehicle 200. In the illustrated example each wheel 210, 220, 230, 240 is associated with a respective foundation brake 212, 222, 232, 242.
The vehicle 200 further comprises one or more electric machines (EMs) 214, 224, 234, 244. The one or more EMs 214, 224, 234, 244 may be controlled to selectively act as a motor to provide propulsion i.e. positive torque to at least some of the wheels 210, 220, 230, 240, or to act as a generator to provide regenerative braking i.e. negative torque to the one or more wheels 210, 220, 230, 240 i.e. to provide electric machine braking. In the example illustrated in Figure 2 each wheel 210, 220, 230, 240 is associated with a respective EM 214, 224, 234, 244, although it will be realised that only some of the wheels 210, 220, 230, 240 may be associated with an EM 214, 224, 234, 244 oral least some of the EMs 214, 224, 234, 244 may be associated with more than one wheel 210, 220, 230, 240 in other examples.
The foundation brakes 212, 222, 232, 242 may be controlled to provide braking to the vehicle 200. Braking may also be applied by the one or more EMs 214, 224, 234, 244. It is also possible to apply both foundation braking and EM braking simultaneously to the vehicle 200. The controller 110 illustrated in Figures 1 and 2 is arranged to operatively determine a proportion of braking to be applied by each of the braking sources or actuators of the vehicle 200, namely the foundation brakes 212, 222, 232, 242 and the EMs 214, 224, 234, 244. The proportion may vary between being 100% foundation braking (bf) which may be denoted as bf=1.0, with no EM braking (be) being provided i.e. be=0, and 100% being provided by the one or more EMs i.e. be=1.0 and bf=0. Various proportions of braking from the foundation brakes and the EMs may be determined by the controller between these extremes such as bf=0.5, be=0.5 where braking torque is provided equally by the foundation brakes and EMs for example.
Returning to Figure 1, the controller 110 comprises an input means 140 to receive electrical signals 145. The input means 140 may be an electrical input to the controller 110. The electrical input 140 may be an interface to a communications network of the vehicle 200 such as communications bus which may be, for example, CANBus or an Ethernet based network although other protocols may be envisaged. The controller 110 further comprises an output means 150 for outputting electrical signals 155. The output means 150 may be an electrical output of the controller 110. The electrical output 150 may be an interface to the communications network of the vehicle 200. In some embodiments the input and output means 140, 150 may be integrated into a single 10 means or interface to the network providing input and output of electrical signals in the form of data to the network.
The controller 110 is arranged to, in use, receive a braking signal 145 via the input means 140 indicative of a braking request. The braking request may be initiated by a user of the vehicle 200 i.e. a driver of the vehicle 200 such as by operating a braking control of the vehicle 200 which may be a brake pedal or other control of the vehicle 200. The braking signal 145 indicative of the braking request may alternatively be provided by another system of the vehicle, such as an autonomous driving controller responsible for at least partly autonomous driving of the vehicle. For example, the controller may be an adaptive cruise control (ACC) controller which may instruct braking of the vehicle 200 in dependence on proximity to another vehicle as will be appreciated. Thus the other controller may operate to provide SAE level 3 autonomous driving or a higher level of autonomy.
The braking signal 145 may also be provided by a traction control system of the vehicle 200, where braking is applied to reduce a total positive torque applied to one or more wheels of the vehicle 200 to assist in reducing spinning of the one or more wheels i.e. to facilitate traction of the vehicle 200.
The braking signal 145 may be indicative of a total braking torque demand to satisfy the braking request, such as a braking request provided by the driver of the vehicle 200. The braking request may be indicative of an amount of movement of the braking control, such as the brake pedal, initiated by the driver. In dependence on the amount of movement, a deacceleration demand may be determined indicative of an amount of deacceleration of the vehicle 200. The deacceleration demand may be denoted in terms of gravitational deacceleration g. The total braking torque demand may be determined in dependence on the deacceleration demand, such as by a brake force distribution (BED) controller of the vehicle. The BED controller may determine the total braking torque demand and a distribution of the braking torque between at least front and rear axles of the vehicle 200.
The braking signal 145 received by the brake proportion controller 110 may be indicative of the total braking torque (Tq_dem tot). In some embodiments, the braking signal is indicative of the brake torque distribution between the front and rear axles of the vehicle Tq dem tot(F, R) where F is indicative of the front axle and R is indicative of the rear axle. In some further embodiments, the braking signal 145 is indicative of the brake torque distribution between the individual wheels of the vehicle Tq dem tot(i, j) wherein i is indicative of a front or rear of the vehicle, for example 0=front and 1=rear and] is indicative of left or right of the vehicle i.e. 0=left, 1=right, for example. Thus the braking signal 145 may specify a total braking torque for each of the axles of the vehicle 200, or each wheel of the vehicle 200 in some embodiments.
The controller 110 may also receive one or more signals via the input 140 indicative of a torque capacity limit for one or both of the one or more EMs 214, 224, 234, 244 and the foundation brakes 212, 222, 232, 242.
The signal indicative of the torque capacity limit for the one or more EMs 214, 224, 234, 244 may be provided by an energy management system or controller 250 of the vehicle 200 as shown in Figure 2. The energy management controller 250 is arranged to determine in dependence on measurements associated with the vehicle 200 a torque capacity i.e. maximum braking or negative torque which can be provided by the one or more EMs 214, 224, 234, 244. The determination of the torque capacity for the EMs 214, 224, 234, 244 may be made in dependence on an amount of energy capable of being absorbed or stored by an electrical system of the vehicle 200. The measurements may be associated with a battery system 255 of the vehicle 200. The measurements may also be associated with a drivetrain of the vehicle such as including the one or more EMs 214, 224, 234, 244 where the measurements are indicative of an efficiency of the drivetrain. The energy management controller 250 determines the torque capacity of the one or more EMs 214, 224, 234, 244. The torque capacity of the one or more EMs 214, 224, 234, 244 may be determined in dependence on an amount of electrical energy which can be received by the battery system 255.
The controller 110 is arranged to output a braking proportion signal 155 indicative of determined proportions of braking torque to be provided by the foundation brakes 212, 222, 232, 242 and the EMs 214, 224, 234, 244. As described above, in some embodiments, the braking proportion signal 155 is indicative of the relative proportions of foundation braking and EM braking i.e. bf, be as described above. It will be appreciated that the proportion signal 155 may be indicative of the proportion of only one of the foundation braking and the EM braking, with the relative proportion of the other being inferred there-from. In some embodiments the controller 110 may output a braking proportion signal 155 indicative of a first proportion of braking torque to be provided by the foundation brakes 212, 222, 232, 242 and the EMs 214, 224, 234, 244. The controller 110 may subsequently determine a second proportion of braking torque to be provided by the foundation brakes 212, 222, 232, 242 and the EMs 214, 224, 234, 244, as will be explained. In some embodiments, the controller may determine update either the first proportion or second proportion of braking torque as will be explained.
The braking proportion signal 155 is provided to a braking controller 240 of the vehicle. The braking controller 240 is arranged to receive the braking proportion signal 155 from the controller 110. The braking controller 240 is arranged to control braking of the vehicle 200 utilising one or more types of braking actuator of the vehicle 200 in dependence on the received braking proportion signal 155. In particular, the braking controller is arranged to control braking to be applied by each of the braking sources or actuators of the vehicle 200, namely the foundation brakes 212, 222, 232, 242 and the EMs 214, 224, 234, 244. The braking controller 240 is arranged to control the braking to fulfil the braking request. The braking controller 240, the foundation brakes 212, 222, 232, 242 and the EMs 214, 224, 234, 244 together form a braking system of the vehicle 200.
Figure 3 illustrates a method 300 according to an embodiment of the invention. The method 300 is a method of determining brake torque proportions for the vehicle 200.
The method 300 may be performed by the brake proportion controller 110 described above. In particular, steps of the method 300 may be performed by the processing means 120 of the controller 110 as described above.
The method comprises a step 310 of determining whether the vehicle 200 has been instructed to brake or slow. In some embodiments of step 310 it is determined whether the braking signal 145 has been received. If the braking signal 145 has been received by the controller 110, indicative of the vehicle braking in step 310, the method moves to step 320, otherwise the method remains at step 310. In some embodiments of step 310 the received braking signal 145 is provided along with torque data 321 as shown in Figure 3. The torque data is indicative of the total braking torque demand requested i.e. Tq dem tot 321. The braking signal may provide the torque data 321 indicative of the total torque demand for each axle Tq dem tot(F, R) of the vehicle 200 or for each wheel of the vehicle Tq_dem tot(i, j) as described above.
In step 320 braking torque proportions are dynamically determined. That is, a proportion of braking torque between foundation brakes 212, 222, 232, 242 and EMs 214, 224, 234, 244 is determined in step 320. The determination in step 320 is performed in dependence on capacity and state data 325 as will be explained. The capacity data is indicative of the torque capacity limit for the one or both of the EMs 214, 224, 234, 244 and the foundation brakes 212, 222, 232, 242. The state data is indicative of a state of the vehicle 200 and/or one or more systems of the vehicle 200 as will be explained further with reference to Figure 4. The proportion of foundation braking to EM braking determined in step 320 may be referred to as a first proportion of braking torque between foundation brakes 212, 222, 232, 242 and EMs 214, 224, 234, 244.
As a result of step 320, the braking proportion signal 155 indicative of the determined proportions of braking torque to be provided by the foundation brakes 212, 222, 232, 242 and EMs 214, 224, 234, 244 is output i.e. in some embodiments the first proportion of braking torque.
The braking proportion signal 155 may, in some embodiments, indicate a total braking torque to be applied to one or more wheels of the vehicle 200. The braking proportion signal 155 may indicate the proportion of the total braking torque for each wheel provided from the foundation brakes 212, 222, 232, 242 and the EMs 214, 224, 234, 244. The braking proportion signal 155 may indicate Tq_dem tot(i, j) for each wheel, as described above, wherein the Tq_dem tot(i,j), [bf Tq dem (if) + be Tq dem (i,j)] where bf and be are the proportions of foundation braking torque and EM braking torque, respectively where bf + be= 1. The braking proportion signal 155 output from step 320 may be denoted as Tq dem tot(i, A nnormal where normal denotes normal driving, which may be considered to be operation of the vehicle in absence of wheel slip and yaw of the vehicle 200.
In step 330 it is checked whether slip of one or more wheels of the vehicle 200 has occurred. The slip may be a slip under braking i.e. one or more wheels of the vehicle under-rotating or locking, or a slip under power i.e. spinning of one or more wheels of the vehicle. In step 330 it is determined whether the slip is occurring and, if so, the method 300 moves to step 340. In step 340 the braking torque proportions are dynamically re-determined or updated to provide updated proportions of braking torque. Step 340 corresponds to re-re-performing the dynamic determination of step 320, which may be performed in the presence of updated capacity, state and/or torque data 325, 341. If no slip is detected in step 330, the method moves to step 350.
Step 340 comprises dynamically determining braking torque proportions, as in step 320. The braking torque proportions determined in step 340 may be the same, or different to, those proportions determined in step 320 i.e. the first braking torque proportions. The braking torque proportions determined in step 340 may be referred to as second braking torque proportions or a second proportion of braking torque between foundation brakes 212, 222, 232, 242 and EMs 214, 224, 234, 244. The capacity and state data 325 is also utilised in step 340, as shown in Figure 3.
In step 340, torque data 341 indicative of the total torque demand is utilised to determine the braking proportions as in step 320. However, in step 340 the torque data 341 is provided from a slip controller of the vehicle 200, such as a controller associated with an anti-lock braking system (ABS) of the vehicle 200. As a result of step 340, the braking proportion signal 155 indicative of the determined proportions of braking torque to be provided by the foundation brakes 212, 222, 232, 242 and EMs 214, 224, 234, 244 is output. The braking proportion signal 155 output from step 340 is indicative of the second braking torque proportions. The braking proportion signal 155 output from step 320 may be denoted as Tq_dem tot(i, fisup where slip denotes slip of one or more wheels of the vehicle 200.
Step 350 comprises determining stability of the vehicle 200. Step 350 comprises receiving a signal indicative of a stability parameter associated with the vehicle 200. Determining stability of the vehicle may comprise determining whether a yaw angle of the vehicle 200 exceeds a predetermined threshold value. If the yaw angle of the vehicle exceeds the predetermined yaw angle threshold, the method moves to step 360. If not, the method moves to step 370.
In step 360, braking torque proportions are dynamically determined, as in step 320. The braking torque proportions determined in step 360 may be the same, or different to, those proportions determined in step 320 i.e. the first braking torque proportions.
The braking torque proportions determined in step 360 may also be referred to as a second proportion of braking torque On comparison to the first proportion determined in step 320) or as a third braking torque proportion of braking torque between foundation brakes 212, 222, 232, 242 and EMs 214, 224, 234, 244. The capacity and state data 325 is also utilised in step 360, as shown in Figure 3.
In step 360, torque data 361 indicative of the total torque demand is utilised to determine the braking proportions as in step 320. However, in step 360 the torque data 361 is provided from a stability controller of the vehicle 200, such as a controller associated with a stability system of the vehicle 200. As a result of step 360, the braking proportion signal 155 indicative of the determined proportions of braking torque to be provided by the foundation brakes 212, 222, 232, 242 and EMs 214, 224, 234, 244 is output. The braking proportion signal 155 output from step 360 is indicative of the third braking torque proportions. The braking proportion signal 155 output from step 320 may be denoted as Tq dem tot(/, j")"aw where yaw denotes driving in the presence of vehicle yaw.
In step 370 it is determined whether the vehicle 200 is travelling below a predetermined speed or has stopped i.e. the vehicle's speed Vx equals zero. lithe vehicle 200 has stopped, the method moves to step 380 where the braking of the vehicle 200 ends. If the vehicle has not stopped or is above the predetermined speed Vthresh, the method returns to step 310. In further iterations of the method 300, the determined first, second and/or third proportions may be updated.
Figure 4 illustrates a method 400 according to a further embodiment of the invention. The method 400 may be performed in steps 320, 340 and 360 of the method 300 illustrated in Figure 3. The method 400 is a method of determining a proportion of foundation braking and EM braking torque for the vehicle 200. In some embodiments, the method 400 may be said to update the determined proportion of braking torque determined respectively in steps 320, 340 and 360 i.e. the method 400 may update one or more of the first proportion, second proportion and/or third proportion determined in any of steps 320, 340 and 360.
The method 400 may begin by receiving the capacity and state data 325 and torque data 321, 341, 361. The torque data 321, 341, 361 is indicative of the total torque demand Tq dem tot such as Tq_dem tot(F, R) or Tq_dem tot(i, j) as described 20 above.
Step 410 may comprise setting one or more initial conditions for the method. The initial conditions may comprise setting an initial proportion of foundation braking and EM braking torque for the vehicle 200. That is, step 410 may comprise setting bf and be to predetermined values, such as bf=1 and be=0 although other values may be used.
Step 420 comprises determining whether normal operating conditions of the vehicle 200 are currently experienced. The determination in step 420 is made in dependence on one or both of the capacity and/or the state data 325.
The state data 325 may be indicative of one or more of an operating mode of the vehicle 200, one or more attributes of the battery 255 such as one or both of: a state of charge (SoC) of the battery 255 and a temperature of the battery 255, a temperature of the one or more EMs 214, 224, 234, 244, a temperature of one or more of the foundation brakes 212, 222, 232, 242, a speed of the vehicle 200 and one or more measurements associated with the electrified drivetrain, such as drivetrain efficiency. The drivetrain efficiency may be determined as a ratio of input power, such as by an actuator of the drivetrain i.e. an electric machine, to output power at one or more wheels of the vehicle 200.
In step 420, the determination of the normal operating conditions may comprise determining whether an electrical system associated with the EMs 214, 224, 234, 244 is operating suitable to provide EM braking. The determination may comprise one of more of: (a) Determining whether the SoC of the battery 255 is between predetermined minimum and maximum charge limits, such as 0.2 and 0.9 where 1 is indicative of the battery 255 being fully charged with it being appreciated that other limits may be selected; (b) Determining whether the temperature of the battery is within one or more predetermined limits, such as one or both of above a minimum temperature and/or below a maximum temperature; and (c) Determining whether the temperature of the one or more EMs 214, 224, 234, 244 is within one or more predetermined limits, such as one or both of above a minimum temperature and/or below a maximum temperature.
If the one or determinations in (a)-(c) are negative i.e. the electrical system cannot provide sufficient EM braking, then predetermined proportions of foundation braking and EM braking torque for the vehicle 200 may be determined in step 430 by setting bland be to predetermined values, such as bf=1 and be=0 although other values may be used. In the example, the proportion of foundation braking is determined to be 100% i.e. bf=1 when the electrical system cannot provide adequate EM braking.
In step 420, it may be determined whether the foundation braking system is operating suitable to provide foundation braking. Step 420 may comprise determining whether the temperature of the foundation brakes is below a maximum temperature. If not, in step 430, predetermined proportions of foundation braking and EM braking torque for the vehicle 200 may be set or determined by setting bland be to predetermined values, such as bf=0 and be=1 although other values may be used. In the example, the proportion of foundation braking is reduced, i.e. bf<=0.5, when the foundation braking system cannot provide adequate foundation braking, such as due to the temperature of the foundation brakes.
Step 420 may comprise, in some embodiments, determining whether a speed of the vehicle meets, or is within, one or more predetermined limits. In some embodiments, a first vehicle speed check comprises determining whether a current speed of the vehicle, V., is within predetermined limits such as one or both of above a minimum speed (Vrain) and/or below a maximum speed (Vma.) i.e. Vmia < Vx <Vmax. If not, in some embodiments a further check may be performed to determine if the speed of the vehicle 200 is below a predetermined stopping speed Vstaa which may or may not equal Vmm. If Vx<Vslop then the proportion of braking may be set in step 430 to a predetermined value weighted toward foundation braking i.e. bS0.5 such as bf=1, be=0. If Vx>Vstop then it may be checked whether V.>Vmax and, if so, another predetermined proportion selected such as bf=0.5, be=0.5. If V. is not greater than Vmax a proportion of braking weighted toward EM braking i.e. be>0.5 such as bf=0, be=1 may be determined in step 430.
In some embodiments of step 420 a determination may be made in dependence on the efficiency of the electrified drivetrain. If the efficiency is below a predetermined value a braking proportion weighted to foundation braking is determined in step 430 such as bf=1, be=0.
If it is determined in step 420 that normal operating conditions of the vehicle 200 are currently experienced i.e. the vehicle is suitable to provide both foundation braking and EM braking, then the method moves to step 440.
In step 440 it is determined whether slip of one or more wheels 210, 220, 230, 240 of the vehicle is detected. The slip may be a slip under braking i.e. one or more wheels of the vehicle under-rotating or locking, or a slip under power i.e. spinning of one or more wheels of the vehicle. In some embodiments, step 440 comprises determining whether an ABS signal indicative of activation of the ABS system of the vehicle is received. In step 440, if slip is detected, the method moves to step 460. If, however, no slip is detected in step 400, the method moves to step 450 where the proportion of foundation braking and EM braking is dynamically determined.
In step 460, it is determined whether the total torque demand rq_dem tot is within one or more limits associated with the electrical system of the vehicle. The one or more limits may comprise one or both of a lower (TrqEmin) and an upper (TrqEmax) limit associated with the electrical system. In some embodiments, step 360 comprises determining whether the total torque demand is between the lower and upper limits, as TrqEmin < Tq_dem tot < TrqEmax. The limits associated with the electrical system may be indicative of the amount of energy capable of being absorbed or stored by the electrical system of the vehicle 200. If the torque demand meets the one or more limits, such that it is possible to achieve the required braking torque using EM braking, the method moves to step 461 wherein predetermined proportions of foundation braking and EM braking torque for the vehicle 200 are determined. If, however, the torque demand does not meet, i.e. is outside of the one or more limits, such as being below the lower limit or above the upper limit, the method moves to step 462 wherein predetermined proportions of foundation braking and EM braking torque for the vehicle are determined. The predetermined proportions of foundation braking and EM braking torque for the vehicle 200 may be determined in steps 461 and 462 by setting bf and be to predetermined values. In step 461, a proportion of braking weighted toward EM braking i.e. be>0.5 such as bf=0, be-1 may be determined in step 461. In step 462, a proportion of braking may be set a predetermined value weighted toward foundation braking i.e. bf>0.5 such as bf=1, be-U.
In step 450, one or more torque capacity limits are determined. The one or more torque capacity limits may be determined in step 450 for each wheel of the vehicle 200. The torque capacity limits may indicate the brake torque capacity for each wheel of the vehicle 200. The one or more torque capacity limits may be associated with one or both of the foundation braking and the EM braking. In one embodiment, the torque capacity for EM braking is determined as TrqE(i, j) and the torque capacity for foundation braking is determined as TrqFB(i, j) where, as described above, i is indicative of a front or rear of the vehicle, for example 0=front and 1=rear and] is indicative of left or right of the vehicle i.e. 0=left, 1=right, for example. Furthermore, in some embodiments, the deacceleration demand g may be obtained in step 450 as described above.
In step 470, the proportion of EM braking to foundation braking is dynamically determined. The proportion of EM braking to foundation braking is dynamically determined in step 47 in dependence on the torque capacity for EM braking and the torque capacity for foundation braking determined in step 450. The deacceleration demand may also be used to determine the proportion of EM braking to foundation braking in step 470. The he proportion of EM braking to foundation braking is may be dynamically determined in step 470 using a data storage structure to store data indicative of the respective proportions for each set of input values, such as the torque capacity for EM braking and the torque capacity for foundation braking. The proportion of EM braking to foundation braking indicated in the data structure may have been previously determined, such as from experimental results or simulations. A result of step 470 is determination of values of one or both of be and bf indicative of the proportions as described above.
In step 480 the values of be and bf are output. In dependence on the values of be and bf a braking torque for each wheel of the vehicle 200 may be determined and an allocation of braking torque to each braking actuator, namely each of the EM braking and foundation braking.
A braking bias b for the vehicle 200 is indicative of a braking bias between front and rear axles of the vehicle 200 i.e. a proportion of braking applied to the front and rear axles. The bias b may be predetermined for the respective vehicle, set according to a driving mode of the vehicle i.e. different bias may be applied in modes such as 'road' and 'track', or may be set by the driver of the vehicle. The controller 110 is arranged to, in use, receive a bias signal via the input means 140 indicative of the braking bias b, where b is a value between 0 and 1 indicative of the proportion of total braking torque applied to the front axle.
Given the total braking torque demand, Tq_dem total, the braking torque for each of the front (Tq_dem F) and rear (Tq dem R) axles may be determined as: Tq_dem_F = b Tq_dem_total Tq_dem_R = (1 -b) T q_dem_to tat Furthermore, given the total braking torque demand, Tq_dem total, the braking torque for each wheel of the vehicle may be determined in dependence on the proportion of EM braking to foundation braking in one embodiment as: Tq_dem-FL = -2[be Tq_dem_total + bf Tq_dem_total] Tq _dem-FR = -2[be Tq_dem_total + bf Tq_dem_total] (1 -b) Tq_dem_RL =2 [be Tq_dem_total + bf Tq_dem_total] (1 -b) Tq_dem_FR - 2 [be Tq_dem_total + bf Tq_dem_total] wherein Tq dem FL is a braking torque demand for a front-left wheel, Tq dem FR is a braking torque demand for a front-right wheel, Tq dem RL is a braking torque demand for a rear-left wheel Tq dem RR is a braking torque demand for a right-right wheel.
In dependence on the braking torque for each wheel of the vehicle and for each braking actuator, braking torque may be applied to the vehicle using one or both of the actuators, namely the EM braking and foundation braking.
Figure 5 illustrates a vehicle 500 according to an embodiment of the invention which comprises a controller 110 for determining brake torque proportions for the vehicle 500 according to an embodiment of the invention. The vehicle 500 comprises four wheels arranged at corners of the vehicle 500. The vehicle 500 comprises the brake proportion controller 110 as described above.
It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as claimed in any preceding claim and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.
All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.
Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.
The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed. The claims should not be construed to cover merely the foregoing embodiments, but also any embodiments which fall within the scope of the claims.

Claims (21)

  1. CLAIMS1. A controller for determining brake torque proportions for a vehicle, comprising: input means to receive a signal indicative of a braking request and a signal indicative of a torque capacity limit for one or both of electric machine braking and foundation braking; processing means configured to determine a first proportion of electric machine braking to foundation braking to fulfil the braking request, wherein the first proportion is determined in dependence on the torque capacity limit for one or both of the electric machine braking and the foundation braking; and output means configured to output a signal indicative of the determined first proportion to cause a braking system of the vehicle to fulfil the braking request according to the determined first proportion of electric machine braking to foundation braking.
  2. 2. The controller of claim 1, wherein: the input means is arranged to receive a signal indicative of an updated torque capacity limit for one or both of the electric machine braking and the foundation braking in dependence on one or both of slip of one or more wheels of the vehicle and a stability parameter associated with the vehicle; the processing means is configured to determine a second proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the updated torque capacity limit; and the output means is configured to output the signal indicative of the determined second proportion to cause the braking system of the vehicle to fulfil the braking request according to the determined second proportion of electric machine braking to foundation braking.
  3. 3. The controller of claim 2, wherein the signal indicative of the stability parameter is indicative of yaw of the vehicle.
  4. 4. The controller of any preceding claim, wherein: the input means is arranged to receive a signal indicative of a total braking torque capacity limit for one or more wheels of the vehicle; and the processing means is arranged to determine the first proportion of the electric machine braking to the foundation braking in dependence on the total braking torque capacity limit.
  5. 5. The controller of claim 4 when dependent through claim 2 or 3, wherein: the input means is arranged to receive a signal indicative of an updated total braking torque capacity limit for one or more wheels of the vehicle; and the processing means is configured to determine the second proportion of the electric machine braking to the foundation braking in dependence on the updated total braking torque capacity limit.
  6. 6. The controller of any preceding claim, wherein the torque capacity limit for the electric machine braking is determined in dependence on a remaining energy capacity of one or more batteries associated with the electric machine braking.
  7. 7. The controller of any preceding claim, wherein: the input means is arranged to receive a signal indicative of one or more battery operating parameters of one or more batteries associated with the electric machine braking; the processing means is configured to update the first or second proportion of the electric machine braking to the foundation braking in dependence the one or more battery operating parameters exceeding one or more predetermined operating limits; and the output means is configured to output the signal indicative of the updated proportion to cause the braking system of the vehicle to fulfil the braking request according to the updated proportion of electric machine braking to foundation braking.
  8. 8. The controller of claim 7, wherein the processing means is arranged to update the first or second determined proportion of the electric machine braking to the foundation braking to comprise a greater proportion of foundation braking. 5
  9. 9. The controller of any preceding claim, wherein: the input means is arranged to receive a signal indicative of one or more foundation braking operating parameters of one or more of the foundation brakes of the vehicle; the processing means is configured to update the first or second proportion of the electric machine braking to the foundation braking in dependence the one or more foundation braking operating parameters exceeding one or more predetermined operating limits; and the output means is configured to output the signal indicative of the updated proportion to cause the braking system of the vehicle to fulfil the braking request according to the updated proportion of electric machine braking to foundation braking.
  10. 10. The controller of claim 9, wherein the processing means is configured to update the determined proportion of the electric machine braking to the foundation braking to comprise a greater proportion of electric machine braking.
  11. 11. The controller of any preceding claim, wherein: the input means is arranged to receive a signal indicative of a speed of the vehicle; and the processing means is configured to update the first or second proportion of the electric machine braking to the foundation braking in dependence the speed of the vehicle; and the output means is configured to output the signal indicative of the updated proportion to cause the braking system of the vehicle to fulfil the braking request according to the updated proportion of electric machine braking to foundation braking.
  12. 12. The controller of claim 11, wherein the processing means is configured to update the determined first or second proportion of the electric machine braking to the foundation braking to comprise a greater proportion of foundation braking when the speed of the vehicle is below a minimum speed.
  13. 13. The controller of claim 11, wherein the processing means is configured to update the determined first or second proportion of the electric machine braking to the foundation braking to comprise a predetermined proportion of foundation braking when the speed of the vehicle is above a maximum speed.
  14. 14. The controller of any preceding claim, wherein: the input means is arranged to receive a signal indicative of a braking bias for the vehicle; the processing means is configured to determine a braking torque allocation for at least some wheels of the vehicle in dependence on the braking bias and the first or second proportion of electric machine braking to foundation braking; and the output means is configured to output a signal indicative of the determined brake torque allocation to cause a braking system of the vehicle to fulfil the braking request according to the determined first or second proportion of electric machine braking to foundation braking and the determined brake torque allocation.
  15. 15. The controller of claim 14, wherein the braking torque allocation is determined as: Tq_dem-FL = -2[be Tq_dem_total + b f Tq_dem_total] Tq_dem-FR =-2[be Tq_dem_total + b f Tq_dem_total] (1-b) Tq_dem_RL - 2 [be Tq_dem_to tat + b f Tq_dem_totat] (1 -b) Tq_dem_FR - 2 [be Tq_dem_total + bf Tq_dem_total] wherein Tq dem FL is a braking torque demand for a front-left wheel, Tq dem FR is a braking torque demand for a front-right wheel, Tq_dem RL is a braking torque demand for a rear-left wheel Tq dem RR is a braking torque demand for a right-right wheel, Tq dem total is a total braking torque demand, be is a portion of electric machine braking and bf is a portion of foundation braking and b is a brake bias.
  16. 16. A method determining brake torque proportions for a vehicle, comprising: receiving signals indicative of a braking request and a torque capacity limit for one or both of electric machine braking and foundation braking; determining a first proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the torque capacity limit for one or both of the electric machine braking and the foundation braking; and outputting a signal indicative of the determined first proportion to cause the braking system of the vehicle to fulfil the braking request according to the determined first proportion of electric machine braking to foundation braking.
  17. 17. The method of claim 16, comprising: receiving a signal indicative of an updated torque capacity limit for one or both of the electric machine braking and the foundation braking in dependence on one or both of slip of one or more wheels of the vehicle or a stability parameter associated with the vehicle; determining a second proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the updated torque capacity limit; and outputting a signal indicative of the determined second proportion to cause the braking system of the vehicle to fulfil the braking request according to the determined second proportion of electric machine braking and foundation braking.
  18. 18. The method of claim 16 or 17, comprising determining a braking torque allocation for at least some wheels of the vehicle in dependence on the proportion of electric machine braking to foundation braking.
  19. 19. A controller for determining brake torque proportions for a vehicle, comprising: input means to receive signals indicative of: a braking request, a torque capacity limit for one or both of electric machine braking and foundation braking, and one or both of an ABS signal indicative of activation of an ABS system of the vehicle and a stability signal indicative of a stability system of the vehicle; processing means configured to determine: a first proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the torque capacity limit for one or both of electric machine braking, and foundation braking in absence of activation of the ABS system and/or the stability system, and a second proportion of electric machine braking to foundation braking to fulfil the braking request in dependence on the torque capacity limit for one or both of electric machine braking and foundation braking in a presence of of activation of the ABS system and/or the stability system; output means to output a signal indicative of the determined proportion to cause a braking system of the vehicle to fulfil the braking request according to the determined proportion of electric machine and foundation braking.
  20. 20. Computer software which, when executed by a computer, is arranged to perform a method according to any of claims 16 to 18.
  21. 21. A vehicle comprising a controller according to any of claims 1 to 15 or 19.
GB1915105.9A 2019-10-18 2019-10-18 Apparatus and method for determining brake torque Withdrawn GB2592858A (en)

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GB1915105.9A GB2592858A (en) 2019-10-18 2019-10-18 Apparatus and method for determining brake torque
PCT/EP2020/079000 WO2021074274A1 (en) 2019-10-18 2020-10-15 Apparatus and method for determining brake torque

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WO2021074274A1 (en) 2021-04-22

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