US-12617380-B2 - Braking control device and braking control method

US12617380B2US 12617380 B2US12617380 B2US 12617380B2US-12617380-B2

Abstract

A braking control apparatus includes a driving information detector configured to detect a braking request from a driver while a vehicle is driving; and a vehicle controller configured to control a braking torque of the vehicle in response to the braking request from the driver, wherein the braking torque includes a regenerative braking torque formed by a motor and a hydraulic braking torque formed by a hydraulic brake, and wherein the vehicle controller is configured to perform regenerative braking using an initial regenerative braking torque determined by the braking request from the driver, using an initial regenerative braking torque determined by the braking request from the driver, and when wheel-slippage occurs, the vehicle controller reduces the regenerative braking torque to be less than the initial regenerative braking torque.

Inventors

Kyung Ho Yoon
Yong Hwa Lee
Ho Wook Lee
Ki Young Kim

Assignees

HYUNDAI MOTOR COMPANY
KIA CORPORATION

Dates

Publication Date: 20260505
Application Date: 20230922
Priority Date: 20230428

Claims (18)

1 . A braking control apparatus, comprising: a driving information detector configured to detect a braking request from a driver while a vehicle is driving; and a vehicle controller configured to control a braking torque of the vehicle in response to the braking request from the driver, wherein the braking torque includes a regenerative braking torque formed by a motor and a hydraulic braking torque formed by a hydraulic brake, wherein the vehicle controller is further configured to perform regenerative braking using an initial regenerative braking torque determined by the braking request from the driver, and in response that wheel-slippage occurs, the vehicle controller is further configured to reduce the regenerative braking torque to be less than the initial regenerative braking torque, wherein the vehicle controller compares the wheel-slippage of a rear wheel in the vehicle with a first rear wheel reference value, a second rear wheel reference value, a third rear wheel reference value, and a rear wheel limit reference value, wherein the first, second, and third rear wheel reference values and the rear wheel limit reference value have progressively increasing wheel-slippage reference values, and wherein the vehicle controller is further configured to operate an electric brake-force distribution function for hydraulic braking in response that an amount of the wheel-slippage of the rear wheel in the vehicle is greater than the first rear wheel reference value and less than the rear wheel limit reference value.
2 . The braking control apparatus of claim 1 , wherein the regenerative braking torque is a sum of a predetermined coasting regenerative braking torque and an allowable regenerative braking torque, and wherein the vehicle controller is further configured to reduce the regenerative braking torque to be less than the initial regenerative braking torque by reducing the allowable regenerative braking torque.
3 . The braking control apparatus of claim 1 , wherein, in response that the amount of the wheel-slippage of the rear wheel is greater than the second rear wheel reference value and less than the third rear wheel reference value, the vehicle controller is further configured to reduce regenerative braking torque of the rear wheel to be less than initial regenerative braking torque of the rear wheel.
4 . The braking control apparatus of claim 3 , wherein, in response that an amount of wheel-slippage of a front wheel in the vehicle is greater than a first front wheel reference value and less than a second front wheel reference value, the vehicle controller is further configured to reduce a regenerative braking torque of the front wheel to be less than an initial regenerative braking torque of the front wheel.
5 . The braking control apparatus of claim 1 , wherein the vehicle controller is further configured to determine the regenerative braking torque by feedback control according to the amount of the wheel-slippage in response that the wheel-slippage occurs.
6 . The braking control apparatus of claim 5 , wherein the vehicle controller is further configured to release regenerative braking in response that the regenerative braking torque determined by the feedback control is less than a predetermined coasting regenerative braking torque.
7 . The braking control apparatus of claim 5 , wherein, in response that the regenerative braking torque determined by the feedback control is within a determined range of the initial regenerative braking torque, the vehicle controller is further configured to terminate the feedback control.
8 . The braking control apparatus of claim 7 , wherein the regenerative braking torque is at least one of a front wheel regenerative braking torque and a rear wheel regenerative braking torque.
9 . The braking control apparatus of claim 1 , wherein, in response that an amount of wheel-slippage of the rear wheel in the vehicle is greater than the third rear wheel reference value and less than the rear wheel limit reference value, the vehicle controller is further configured to operate an anti-lock braking system.
10 . The braking control apparatus of claim 9 , wherein, in response that the anti-lock braking system operates, the vehicle controller is further configured to adjust the regenerative braking torque to be a predetermined value.
11 . A braking control method of a vehicle, the method comprising: performing, by a vehicle controller, a regenerative braking using an initial regenerative braking torque according to a braking request from a driver; and adjusting regenerative braking torque based on an amount of wheel-slippage, wherein the adjusting of the regenerative braking torque is performed through feedback control based on the amount of the wheel-slippage, and includes reducing the regenerative braking torque to be less than the initial regenerative braking torque, in response that the wheel-slippage occurs, wherein, when the adjusting of the regenerative braking torque, the vehicle controller compares the wheel-slippage of a rear wheel in the vehicle with a first rear wheel reference value, a second rear wheel reference value, a third rear wheel reference value, and a rear wheel limit reference value, wherein the first, second, and third rear wheel reference values and the rear wheel limit reference value have progressively increasing wheel-slippage reference values, and wherein the adjusting of the regenerative braking torque includes operating an electric brake-force distribution function for hydraulic braking in response that the amount of the wheel-slippage of the rear wheel in the vehicle is greater than the first rear wheel reference value and less than the rear wheel limit reference value.
12 . The braking control method of claim 11 , wherein the regenerative braking torque is a sum of a coasting regenerative braking torque and an allowable regenerative braking torque, wherein the coasting regenerative braking torque is configured to be a predetermined constant value, and wherein the allowable regenerative braking torque is determined through the feedback control.
13 . The braking control method of claim 11 , wherein the adjusting of the regenerative braking torque includes detecting an amount of the wheel-slippage of the rear wheel in the vehicle.
14 . The braking control method of claim 11 , wherein the adjusting of the regenerative braking torque includes ending the adjusting of the regenerative braking torque in response that the regenerative braking torque adjusted through the feedback control is equalized to the initial regenerative braking torque.
15 . The braking control method of claim 11 , wherein the vehicle controller is further configured to release the regenerative braking in response that the regenerative braking torque determined by the feedback control is less than a predetermined coasting regenerative braking torque.
16 . The braking control method of claim 11 , wherein, in response that the regenerative braking torque determined by the feedback control is within a determined range of the initial regenerative braking torque, the vehicle controller is further configured to terminate the feedback control.
17 . The braking control method of claim 11 , wherein, in response that an amount of the wheel-slippage of the rear wheel is greater than a rear wheel reference value and less than the rear wheel limit reference value, the vehicle controller is further configured to operate an anti-lock braking system.
18 . The braking control method of claim 17 , wherein, in response that the anti-lock braking system operates, the vehicle controller is further configured to adjust the regenerative braking torque to be a predetermined value.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present application claims priority to Korean Patent Application No. 10-2023-0056512 filed on Apr. 28, 2023, the entire contents of which is incorporated herein for all purposes by this reference. BACKGROUND OF THE PRESENT DISCLOSURE Field of the Present Disclosure The present disclosure relates to a braking control device and a braking control method. Description of Related Art Recently, as interest in high-power, high-performance vehicles has increased, output of a vehicle has also increased. As an output of a vehicle increases, performance of a braking device suitable for increased output has also become more important. A braking device of a hybrid or electric vehicle may be an integrated brake system using both regenerative braking of a motor and hydraulic braking of a hydraulic brake. In a general integrated brake system, when wheel-slippage occurs, by excluding regenerative braking torque and switching to hydraulic braking by regenerative stability control (RSC), braking force may be secured. The information included in this Background of the present disclosure is only for enhancement of understanding of the general background of the present disclosure and may not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art. BRIEF SUMMARY Various aspects of the present disclosure are directed to providing a braking control device and a braking control method of a vehicle which may obtain relatively high braking performance using regenerative braking even when wheel-slippage occurs during braking. An aspect of the present disclosure is to provide a braking control device and a braking control method which may improve braking performance by increasing regenerative braking without changing a hydraulic braking device to a hydraulic braking device including a high thermal mass. An aspect of the present disclosure is to provide a braking control device and a braking control method which may obtain relatively high fuel efficiency using regenerative braking. An aspect of the present disclosure is to reduce a difference in a process of changing from regenerative braking to hydraulic braking which a driver may feel by maintaining regenerative braking even when wheel-slippage occurs. According to an aspect of the present disclosure, a braking control device includes a driving information detector configured to detect a braking request from a driver while a vehicle is driving; and a vehicle controller configured to control a braking torque of the vehicle in response to the braking request from the driver, wherein the braking torque includes a regenerative braking torque formed by a motor and a hydraulic braking torque formed by a hydraulic brake, and wherein the vehicle controller is configured to perform regenerative braking using an initial regenerative braking torque determined by the braking request from the driver, and in response that wheel-slippage occurs, the vehicle controller is configured to reduce the regenerative braking torque to be less than the initial regenerative braking torque. The regenerative braking torque may be a sum of a predetermined coasting regenerative braking torque and an allowable regenerative braking torque, and the vehicle controller may reduce the regenerative braking torque to be less than the initial regenerative braking torque by reducing the allowable regenerative braking torque. The vehicle controller may operate an electric brake-force distribution function in response that an amount of wheel-slippage of a rear wheel in the vehicle is greater than a first rear wheel reference value and less than a rear wheel limit reference value. When the amount of the wheel-slippage of the rear wheel is greater than a second rear wheel reference value and less than a third rear wheel reference value, the vehicle controller may reduce regenerative braking torque of the rear wheel to be less than initial regenerative braking torque of the rear wheel. In response that an amount of wheel-slippage of a front wheel in the vehicle is greater than a first front wheel reference value and less than a second front wheel reference value, the vehicle controller may reduce a regenerative braking torque of the front wheel to be less than an initial regenerative braking torque of the front wheel. The vehicle controller may be configured to determine the regenerative braking torque by feedback control according to the amount of wheel-slippage when the wheel-slippage occurs. The vehicle controller may release regenerative braking when the regenerative braking torque determined by the feedback control is less than a predetermined coasting regenerative braking torque. The regenerative braking torque determined by the feedback control is within a determined range of the initial regenerative braking torque, the vehicle controller may terminate the feedback control. The regenerative br