CN-121989703-A - Control method and device for regenerative braking torque of vehicle, driving system and vehicle

CN121989703ACN 121989703 ACN121989703 ACN 121989703ACN-121989703-A

Abstract

The invention discloses a control method and device of regenerative braking torque of a vehicle, a driving system and the vehicle, wherein the control method comprises the steps of acquiring a current state signal of the vehicle and an operation input signal of an auxiliary braking part when the auxiliary braking part carries out gear transition; and interpolating the current state signal and the operation input signal by using a polynomial interpolation method to determine the current expected regeneration torque of the motor. By adopting the method, smooth change of the regenerative braking torque can be realized during gear transition, so that longitudinal impact of the vehicle in the braking process is restrained, and driving comfort and cargo transportation safety are improved.

Inventors

YAN LEI
Yang Pengluo
LIU LIMIN

Assignees

北京福田戴姆勒汽车有限公司

Dates

Publication Date: 20260508
Application Date: 20260327

Claims (10)

1. A method of controlling regenerative braking torque of a vehicle, the vehicle comprising a drive system and an auxiliary braking component, the drive system comprising an electric motor, comprising: acquiring a current state signal of the vehicle and an operation input signal of the auxiliary brake component when the auxiliary brake component carries out gear transition; and interpolating the current state signal and the operation input signal by using a polynomial interpolation method to determine the current expected regeneration torque of the motor.
2. The method of controlling regenerative braking torque of a vehicle according to claim 1, wherein the operation input signal includes a current gear position and a real-time in-gear stroke ratio of the auxiliary brake member, interpolating the current state signal and the operation input signal using a polynomial interpolation method to determine a current desired regenerative torque of the motor, comprising: Determining a first regenerative braking torque corresponding to the current gear and a second regenerative braking torque corresponding to a next gear of the current gear according to the current state signal and the current gear; determining a first expected torque change rate corresponding to a current gear according to the operation input signal and the first regenerative braking torque; determining a second desired torque rate of change for the next gear based on the operating input signal and the second regenerative braking torque; and performing interpolation calculation on the first regenerative braking torque, the second regenerative braking torque, the first expected torque change rate, the second expected torque change rate and the real-time in-gear stroke proportion by adopting the polynomial interpolation method so as to determine the current expected regenerative torque.
3. The control method of regenerative braking torque of a vehicle according to claim 1 or 2, wherein the polynomial interpolation method is a piecewise cubic Hermite interpolation polynomial method.
4. The method of claim 2, wherein the operation input signal includes a real-time in-gear stroke ratio, and determining a first desired torque change rate corresponding to a current gear based on the operation input signal and the first regenerative braking torque includes: Determining a first derivative value corresponding to the current gear according to the first regenerated braking torque corresponding to the current gear and the real-time in-gear travel ratio; determining the first desired torque rate of change from the first derivative value; Determining a second desired torque rate of change for the next gear based on the operating input signal and the second regenerative braking torque, comprising: determining a second derivative value corresponding to the next gear according to the second regenerative braking torque corresponding to the next gear and the real-time in-gear travel ratio; The second desired torque rate of change is determined from the second derivative value.
5. The method according to claim 4, wherein the real-time in-range stroke ratio is obtained by a real-time position signal of an auxiliary brake member, a start position signal of a logical range in which the current gear is located, and an end position signal of a logical range in which the current gear is located.
6. The method for controlling regenerative braking torque of a vehicle according to claim 5, wherein the real-time in-gear stroke ratio is obtained by the following formula: Wherein, the For the real-time in-gear travel ratio, For the real-time position signal, As a function of the start position signal, Is the end position signal.
7. The method for controlling regenerative braking torque of a vehicle according to claim 1, wherein the vehicle includes a battery management system, further comprising: Obtaining the maximum allowable output torque of the motor and the battery state information of the battery management system; determining a maximum allowable regenerative braking torque of the motor according to the battery state information; determining an anti-lock braking torque of the motor according to the current state signal; And determining the final expected regenerative braking torque of the motor according to the maximum allowable output torque, the maximum allowable regenerative braking torque, the anti-lock braking torque and the current expected regenerative braking torque.
8. A regenerative braking torque control device, characterized by comprising: The acquisition module is used for acquiring a current state signal of the vehicle and an operation input signal of the auxiliary braking component when the auxiliary braking component carries out gear transition; and the determining module is used for carrying out interpolation calculation on the current state signal and the operation input signal by adopting a polynomial interpolation method so as to determine the current expected regeneration torque of the motor.
9. A drive system, comprising: a motor; A controller connected to the motor for executing the control method of the regenerative braking torque of the vehicle according to any one of claims 1 to 7.
10. A vehicle, characterized by comprising: the drive system of claim 9.

Description

Control method and device for regenerative braking torque of vehicle, driving system and vehicle Technical Field The invention relates to the technical field of vehicles, in particular to a control method and device for regenerative braking torque of a vehicle, a driving system and the vehicle. Background In the related art, when the discrete gear auxiliary braking component is switched in discrete gear, a regenerative braking torque table is queried to obtain fixed regenerative braking torque, and the motor can extremely quickly respond to the regenerative braking torque, so that the regenerative braking torque can be subjected to step-type change when the gear is changed, thereby causing a vehicle to generate more obvious longitudinal impact, reducing the riding comfort of a driver and passengers, and increasing the risk of damage of cargoes for heavy vehicles for transporting precise or vulnerable cargoes. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a control method for regenerative braking torque of a vehicle, by which smooth change of regenerative braking torque can be achieved at the time of gear transition, thereby suppressing longitudinal shock of the vehicle during braking and improving riding comfort and safety of cargo transportation. Another object of the present invention is to provide a regenerative braking torque control device. It is a third object of the present invention to provide a driving system. A fourth object of the present invention is to provide a vehicle. In order to solve the problems, an embodiment of the first aspect of the invention provides a control method of regenerative braking torque of a vehicle, which is characterized in that the vehicle comprises a driving system and an auxiliary braking component, the driving system comprises a motor, the method comprises the steps of acquiring a current state signal of the vehicle and an operation input signal of the auxiliary braking component when the auxiliary braking component carries out gear transition, and carrying out interpolation calculation on the current state signal and the operation input signal by adopting a polynomial interpolation method to determine the current expected regenerative torque of the motor. Compared with the prior art adopting a mode of fixing the regenerative braking torque, the control method for the regenerative braking torque of the vehicle, provided by the embodiment of the application, has the advantages that the current state signal and the operation input signal are interpolated by adopting a polynomial interpolation method to calculate the current expected regenerative torque of the motor when the auxiliary braking component carries out gear transition, and the smooth change of the regenerative braking torque can be realized when the gear is in transition, so that the longitudinal impact of the vehicle in the braking process is restrained, and the driving comfort and the safety of cargo transportation are improved. In some embodiments, the operation input signal comprises a current gear and a real-time in-gear stroke ratio of the auxiliary brake component, the current state signal and the operation input signal are subjected to interpolation calculation by adopting a polynomial interpolation method to determine a current expected regeneration torque of the motor, the operation input signal comprises a first regeneration brake torque corresponding to the current gear and a second regeneration brake torque corresponding to a next gear of the current gear according to the current state signal and the current gear, a first expected torque change rate corresponding to the current gear is determined according to the operation input signal and the first regeneration brake torque, a second expected torque change rate corresponding to the next gear is determined according to the operation input signal and the second regeneration brake torque, and the first regeneration brake torque, the second regeneration brake torque, the first expected torque change rate, the second expected torque change rate and the real-time in-gear stroke ratio are subjected to interpolation calculation by adopting the polynomial interpolation method to determine the current expected regeneration torque. In some embodiments, the polynomial interpolation is a piecewise cubic Hermite interpolation polynomial. In some embodiments, the operation input signal comprises a real-time in-gear stroke ratio, and determining a first expected torque change rate corresponding to a current gear according to the operation input signal and the first regenerative braking torque comprises determining a first derivative value corresponding to the current gear according to the first regenerative braking torque corresponding to the current gear and the real-time in-gear stroke ratio, determining the first expect