Brake control method for hybrid electric vehicle

Abstract

A brake control method for a hybrid electric vehicle including a control mode of a first interval to control regenerative brake of a motor may include sensing, by an Electronic Stability Control system controller (ESC ECU), a time when a wheel brake pressure detected by a pressure sensor of a wheel brake is 0 after entering a control mode of a second interval, determining, by the ESC ECU, a pedal stroke in which the wheel brake pressure is 0 from a pedal stroke Vs wheel brake pressure map, changing and setting, by the ESC ECU, the pedal stroke in which the wheel brake pressure is 0 to an upper threshold stroke value of a pedal stroke Vs pressure map, and re-entering the control mode of the first interval, when the pedal stroke depending on the brake pedal operation decreases to the changed upper threshold stroke value or less.

Claims

1. A brake control method for a hybrid electric vehicle including a control mode of a first interval to control regenerative brake of a motor with regenerative brake torque corresponding to a pressure value determined from a pedal stroke Vs pressure map based on a pedal stroke depending on an operation of a brake pedal and a control mode of a second interval to control hydraulic pressure of a wheel brake with a wheel brake pressure value determined from a pedal stroke Vs wheel brake pressure map based on a detected pedal stroke when the pedal stroke more than an upper threshold stroke value set in the pedal stroke Vs pressure map is detected, the method comprising: sensing, by an Electronic Stability Control system controller (ESC ECU), a time when a wheel brake pressure detected by a pressure sensor of the wheel brake is 0 after entering the control mode of the second interval; determining, by the ESC ECU, the pedal stroke in which the wheel brake pressure is 0 from the pedal stroke Vs wheel brake pressure map; changing and setting, by the ESC ECU, the pedal stroke in which the wheel brake pressure is 0 to the upper threshold stroke value of the pedal stroke Vs pressure map; and re-entering the control mode of the first interval, by the ESC ECU, when the pedal stroke depending on the brake pedal operation decreases to the changed upper threshold stroke value or less.

2. The method of claim 1, wherein in the control mode of the first interval, regenerative brake force to satisfy driver's required total brake force depending on the brake pedal operation is generated through the regenerative brake of the motor, and in the control mode of the second interval, hydraulic brake force to satisfy the driver's required total brake force together with a maximum regenerative brake force generated in the control mode of the first interval is generated through a hydraulic control of the wheel brake.

3. The method of claim 1, wherein after re-entering the control mode of the first interval, the pedal stroke Vs pressure map of the control mode of the first interval is applied while being changed to a diagram connecting a maximum regenerative brake force pressure corresponding value in the changed upper threshold pedal stroke value and 0 bar in a lower threshold stroke value.

4. The method of claim 3, wherein the diagram is a linear diagram and a slope A of the diagram is determined as A=(maximum regenerative brake force pressure corresponding value)/(Str_p0lower threshold stroke), wherein Str_p0 is a pedal stroke value in which the wheel brake pressure is 0 as the changed upper threshold pedal stroke value.

5. The method of claim 1, wherein when the pedal stroke depending on the brake pedal operation while the control mode of the first interval is performed by entering the first interval is detected as a value larger than the changed upper threshold stroke value, the control mode of the second interval is entered.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 and FIG. 2 are diagrams illustrating a control mode for each brake interval in a hybrid electric vehicle in which a regenerative brake cooperation control is performed.

(2) FIG. 3 is a diagram illustrating a pedal stroke Vs pressure map for calculating a regenerative brake torque value in a first interval of FIG. 1 and FIG. 2.

(3) FIG. 4 and FIG. 5 are diagrams illustrating a hysteresis characteristic of pressure generation depending on a pedal stroke in a second interval of FIG. 1 and FIG. 2.

(4) FIG. 6 and FIG. 7 are diagrams schematically illustrating a configuration of a brake control device performing a brake control of the present invention.

(5) FIG. 8 is a flowchart illustrating a regenerative brake cooperation control process of the hybrid electric vehicle.

(6) FIG. 9 is a flowchart illustrating a hydraulic hysteresis control process according to an exemplary embodiment of the present invention; and

(7) FIG. 10A, FIG. 10B, FIG. 11A, and FIG. 11B are diagrams illustrating a pedal stroke Vs pressure map changed during the hydraulic hysteresis control process.

(8) It should be understood that the appended drawings are not necessarily to scale, presenting a somewhat simplified representation of various features illustrative of the basic principles of the invention. The specific design features of the present invention as disclosed herein, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particular intended application and use environment.

DETAILED DESCRIPTION

(9) Reference will now be made in detail to various embodiments of the present invention(s), examples of which are illustrated in the accompanying drawings and described below. While the invention(s) will be described in conjunction with exemplary embodiments, it will be understood that the present description is not intended to limit the invention(s) to those exemplary embodiments. On the contrary, the invention(s) is/are intended to cover not only the exemplary embodiments, but also various alternatives, modifications, equivalents and other embodiments, which may be included within the spirit and scope of the invention as defined by the appended claims.

(10) The present invention is to solve a problem in brake control in the prior art, that is, a hydraulic hysteresis problem depending on a pedal stroke shown when a transition between a first interval and a second interval is performed according to a brake pedal press degree (pedal stroke).

(11) That is, the present invention is to provide an enhanced brake control method to cope with a hydraulic hysteresis phenomenon when entering a second interval to generate both regenerative brake force and hydraulic brake force from a first interval to generate only the regenerative brake force by increasing a brake pedal stroke and thereafter, re-entering the first interval again in a hybrid electric vehicle in which a regenerative brake cooperation control is performed.

(12) As illustrated in FIG. 6 and FIG. 7, a brake control device performing a brake control of the present invention includes a hybrid control unit (HCU) 10, a brake electric control unit (ECU) 11, an electronic stability control (ESC) system 12, a motor control unit (MCU) 13, a master cylinder 14, a hydraulic booster 15, a wheel brake 16, a pedal stroke sensor 17 detecting a pedal stroke depending on a driver's operation of a brake pedal, a pressure sensor detecting wheel brake pressure of a wheel brake (for example, left wheel and right wheel brakes of a front wheel), a pressure sensor (not illustrated) detecting the pressure of the master cylinder, and the like.

(13) The HCU 10 as a top control unit is connected with each control unit constituted in the hybrid electric vehicle through a network to control all operations of a movement of a vehicle and the regenerative brake cooperation control.

(14) The brake ECU 11 is connected with the HCU 10 through the network to exchange control information and analysis information with the HCU 10, receives a signal of the brake pedal stroke sensor 17 which is a driver's brake request, that is, a pedal stroke signal to determine driver's required brake force (total brake force) depending on the pedal stroke, distributes the regenerative brake force and the hydraulic brake force for satisfying the driver's required brake force, and thereafter, adjusts the flow of a brake oil liquid supplied to the wheel brake 16 by operating the ESC 12 so as to generate the determined hydraulic brake force (hydraulic brake force).

(15) The ESC 12 which controls brake hydraulic pressure of the wheel brake 16 to generate the hydraulic brake force determined depending on the pedal stroke signal in the brake ECU 11 while braking includes a traction control (TC) valve 18 connected between the master cylinder 14 and the ESC pump 21 (alternatively, inlet valve) through the hydraulic booster 15, an inlet valve 19 connected between the TC valve 18 and the wheel brake 16 (alternatively, outlet valve), an outlet valve 20 of which one side is connected between the inlet valve 19 and the wheel brake 16, and a low pressure accumulator (LPA) 22 connected to the outlet valve 20 and the ESC pump 21.

(16) The TC valve 18 and the inlet valve 19 are normal open (NO) type valves and the TC valve 18 serves to cut off a path between the master cylinder 14 and the ESC pump 21 so as to prevent pressure generated in the ESC pump 21 from being transferred to the master cylinder 14 as the TC valve 18 is closed when while hydraulic pressure generated in the master cylinder 14 is transferred to the inlet valve 19 in an open state, the regenerative brake is released, and as a result, the regenerative brake force is decreased and the ESC pump 21 is driven.

(17) The inlet valve 19 serves to transfer to the wheel brake 16 the hydraulic pressure transferred through an output terminal (alternatively, an input terminal of the inlet valve) path of the TC valve 18 in the open state.

(18) The outlet valve 20 as a normal close (NC) type valve serves to decrease pipe pressure between the master cylinder 14 and the wheel brake 16 by discharging the hydraulic pressure (that is, the hydraulic pressure supplied from the master cylinder to the wheel brake) of the wheel brake 16 to the LPA 22 in the open state when the regenerative brake force increases.

(19) The ESC pump 21 pumps a brake oil liquid of the LPA 22 and supplies the pumped brake oil liquid to the wheel brake 16 to increase brake pressure depending on an added pedal stroke when brake force more than allowable maximum regenerative brake force is required.

(20) In this case, the outlet valve 20 is controlled to be a closed state.

(21) Although not illustrated, the ESC 12 includes the ECU (that is, ESC ECU) and the ECU controls driving of a valve and a pump in the ESC 12 according to the signal received from the brake ECU 11.

(22) The master cylinder 14 generates the hydraulic pressure required for generating the brake force and supplies the generated hydraulic pressure to the wheel brake through the ESC 12 and the hydraulic booster 15 serves to increase hydraulic pressure of the master cylinder 14.

(23) The wheel brake 16 restrains a wheel of a vehicle according to the pressure of the brake oil liquid supplied through the ESC 12 to generate the hydraulic brake force (friction brake force).

(24) The MCU 13 is connected with the HCU 10 through the network to exchange the control information and the analysis information with the HCU 10, and receives a control signal (regenerative brake torque command) depending on a regenerative brake torque amount output from the HCU 10 to execute a regenerative brake torque control by the motor, thereby charging a battery.

(25) A basic operation of the ESC based brake control device configured as above and a basic process of the regenerative brake cooperation control using the ESC are not different from those in the prior art except for a hydraulic hysteresis control to be described below and will be described below with reference to the control mode for each brake interval of FIG. 1 and FIG. 2 and the flowchart of FIG. 8.

(26) When the driver requests braking such as deceleration or stop by pressing the brake pedal while the vehicle is driven at a predetermined speed, the brake pedal stroke sensor 17 detects the pedal stroke depending on the driver's pedal press degree and outputs a detection signal (pedal stroke signal) to the brake ECU 11, the master cylinder 14 generates pressure in the brake oil liquid according to the pedal stroke, and the brake ECU 11 recognizes master cylinder hydraulic pressure through a master cylinder pressure sensor.

(27) As a result, the brake ECU 11 determines the driver's required brake torque amount required by the driver according to the pedal stroke signal (S10), calculates a front wheel brake torque amount for front-wheel brake according to the driver's required brake torque amount (S11), and calculates a maximum available regenerative brake torque amount which may be maximally braked by regenerative braking in the front wheel brake torque amount and outputs and transmits the calculated maximum available regenerative brake torque amount to the HCU 10 (S12).

(28) In this case, the HCU 10 calculates the maximum allowable regenerative brake torque amount which is maximally allowable based on information such as an RPM of an electric motor, a battery charge state, a vehicle speed, an electric motor temperature, and the like (S13), compares the calculated maximum allowable regenerative brake torque amount with the maximum available regenerative brake torque amount received in the brake ECU 11 (S14), and determines a smaller value between both amounts as an execution regenerative brake torque amount for executing actual regenerative brake and thereafter, output and transmits the determined value to the MCU 13 (S15).

(29) Therefore, the MCU 13 executes the regenerative brake torque control for the electric motor according to the received execution regenerative brake torque amount (S16).

(30) The brake ECU 11 subtracts the execution regenerative brake torque amount received from the HCU 10 from the front wheel brake torque amount calculated in the brake ECU 11 (S17) and calculates an execution hydraulic brake torque amount for executing actual hydraulic brake and thereafter, outputs the calculated execution hydraulic brake torque amount to the ESC (ESC ECU) (S18).

(31) Therefore, the ESC 12 executes a hydraulic brake control to control the hydraulic brake torque (brake hydraulic pressure of the wheel brake, that is, wheel liquid pressure) according to the execution hydraulic brake torque amount received from the brake ECU 11 (S19).

(32) Next, the hydraulic brake control process through the ESC 12 during the regenerative brake cooperation control will be described with reference to FIG. 1 and FIG. 2.

(33) The ESC 12 controls the brake hydraulic pressure supplied to the wheel brake 16 according to the control mode for each brake interval as described below during the regenerative brake cooperation control.

(34) As illustrated in FIG. 1, the control mode for each brake interval may be divided based on the regenerative brake force while braking and classified into a first interval {circle around (1)} of performing braking only by the regenerative brake force, a second interval {circle around (2)} of constantly maintaining the regenerative brake force at a maximum value and increasing the brake hydraulic pressure according to driver's brake pedal pressing, and a third interval {circle around (3)} of increasing the brake hydraulic pressure as much as the decrease amount of the regenerative brake force by releasing the regenerative brake.

(35) In the first interval {circle around (1)} as an interval in which the driver's required brake force (alternatively, driver's required brake torque amount) is brake force corresponding to 0.1 g or less based on the deceleration as one example, braking is performed only by the regenerative brake force of the motor without the hydraulic brake force, and the brake hydraulic pressure supplied from the master cylinder 14 is stored in the LPA 22 by opening the outlet valve 20 of the ESC 12 to prevent the brake hydraulic pressure of the wheel brake 16 from being increased.

(36) When the driver presses the brake pedal, the hydraulic pressure is generated in a pipe from the master cylinder 14 up to the wheel brake, but required vehicle braking may be performed only by the regenerative brake force in an initial braking stage such as the first interval, and as a result, a control of increasing and decreasing the regenerative brake force is performed according to the driver's pedal press degree without the hydraulic brake while discharging the brake oil liquid to the LPA 22 by opening the outlet valve 20 of the ESC 12 in order to minimize the generation of the hydraulic pressure in the first interval and decreasing the pipe pressure up to the wheel brake from the master cylinder 14 through the discharged brake oil liquid.

(37) In the second interval {circle around (2)}, the maximum value (maximum regenerative brake force) increased and formed in the first interval is just maintained with respect to the regenerative brake force and when the brake force more than the regenerative brake force is required by due to additional pressing of the brake pedal by a driver, the brake hydraulic pressure is increased to generate the hydraulic brake force.

(38) In the second interval {circle around (2)} as an interval in which brake force larger than the brake force which may be output with the regenerative brake force is required, the outlet valve 20 connected to the LPA 22 is closed to allow the wheel brake 16 to receive the brake hydraulic pressure of the master cylinder 14 formed according to the driver's pedal operation amount and the brake hydraulic pressure of the wheel brake 16 may be thus increased and decreased according to the brake pedal operation amount.

(39) In the second interval {circle around (2)}, the driver's brake pedal operation amount, that is, the brake hydraulic pressure corresponding to the signal value (that is, pedal stroke value) of the brake pedal stroke sensor 17 may be determined from the pedal stroke Vs wheel brake pressure map illustrated in FIGS. 4 and 5.

(40) The third interval {circle around (3)}, is an interval in which the regenerative brake is released, and as a result, the regenerative brake amount decreases and in this interval, the hydraulic brake force is increased as much as the decrease amount of the regenerative brake force in order to satisfy the driver's required total brake force, and to this end, the brake hydraulic pressure stored in the LPA 22 is supplied to the wheel brake 16 by driving the ESC pump 21 to increase the hydraulic pressure of the wheel brake 16.

(41) In this case, the TC valve 18 is closed in order to allow the hydraulic pressure to influence only the wheel brake 16 without influencing the master cylinder 14.

(42) Subsequently, when the hydraulic pressure reaches target pressure, the driving of the ESC pump 21 is stopped.

(43) In the system in the related art, a separate pedal simulator is present and the hydraulic booster directly controls the pipe pressure from the master cylinder to the wheel brake, but in the system of FIG. 6 and FIG. 7 using the ESC, the pedal simulator is deleted.

(44) The regenerative brake cooperation control is performed by controlling the hydraulic pressure supplied to the wheel brake 16 during the regenerative braking through the ESC 12 and in this case, boosting force of the hydraulic booster 15 is used for generation of basic hydraulic pressure and an increase in hydraulic pressure is implemented by driving the ESC 12 during the regenerative brake cooperation control.

(45) The control mode (brake force control mode) for each brake interval may further include a fourth interval {circle around (4)} in addition to the first to third intervals {circle around (1)}, {circle around (2)}, and {circle around (3)} similar to the control mode of FIG. 1 as illustrated in FIG. 2.

(46) The hydraulic brake control process through the ESC during the regenerative brake cooperation control in the first to third intervals of FIG. 1 is performed similarly as described above and the fourth interval {circle around (4)} may be included after the third interval, and in the example of FIG. 2, in the third interval, the total brake force does not decrease and is maintained similarly as in the second interval and the total brake force is maintained similarly through the hydraulic braking even in the fourth interval in addition to the third interval.

(47) The respective valves 18 to 20 and the pump 21 in the ESC 12 therefore operate in an operation mode shown in Table 1 given below.

(48) TABLE-US-00001 TABLE 1 Operation mode during braking Before First Second Third Fourth After braking Interval braking interval interval interval interval (released) valve Inlet valve(ON) Open Open Open Open Open Open Outlet valve(NC) Close Open Close Close Close Close TC valve(ON) Open Open Open Close Close Open Pump OFF OFF OFF ON OFF OFF

(49) Next, the hydraulic hysteresis control process according to the present invention will be described with reference to FIG. 9.

(50) In the hydraulic hysteresis control process, a wheel brake pressure sensor detecting wheel brake pressure (brake pressure) of the wheel brake installed at each wheel is used and when it is assumed that the wheel brakes are installed at the left wheel and the right wheel of the front wheel in a general mild hybrid electric vehicle in which the regenerative brake cooperation control is performed, a total of two wheel brake pressure sensors installed at the wheel brake of the left wheel and the wheel brake of the right wheel, respectively to detect wheel brake pressure of the corresponding wheel brake may be used.

(51) A pressure detection signal output by each wheel brake pressure sensor, that is, a signal indicating the wheel brake pressure (brake hydraulic pressure of the wheel brake) is input into the ESC ECU.

(52) First, when the driver presses the brake pedal, and as a result, the driver's required brake force increases to a level more than the maximum regenerative brake force, that is, when the pedal stroke detected by the brake pedal stroke sensor 17 is more than 15 mm which is the upper threshold stroke value shown in the map of FIG. 3, since the driver's required brake force may not be satisfied with only the regenerative brake force, the second interval {circle around (2)} of additionally generating the hydraulic brake force is entered.

(53) When the second interval {circle around (2)} is entered and thereafter, the ESC ECU determines that the wheel brake pressure, that is, the brake pressure of the wheel brake decreases from the signal of the wheel brake pressure sensor (S11), the ESC ECU senses a time when the wheel brake pressure (brake pressure) is 0 from the signal of the wheel brake pressure sensor (S12).

(54) Herein, the time when the wheel brake pressure is 0 means a time when average pressure of wheel brake pressure detected at the left wheel of the front wheel and wheel brake pressure detected at the right wheel is 0.

(55) When the wheel brake pressure (brake pressure) is 0 as described above, a value of a pedal stroke Str_p0 in which the wheel brake pressure is 0 is calculated from the pedal stroke Vs wheel brake pressure map shown in FIGS. 4 and 5 used in the wheel brake hydraulic control in the second interval {circle around (2)}.

(56) In the map of FIG. 4, when the second interval is entered and thereafter, the pedal stroke decreases and the wheel brake pressure decreases to become 0, the pedal stroke Str_p0 is 10 mm and in the map of FIG. 5, when the wheel brake pressure is 0, the pedal stroke Str_p0 is 20 mm.

(57) In the first interval {circle around (1)}, in the map of FIG. 3 for the regenerative brake control (in particular, determining the driver's required brake force(=regenerative brake force) and the regenerative brake torque), the lower threshold stroke value in which the driver's required brake force is 0 is 2 mm and the maximum regenerative brake force pressure corresponding value is set to 10 bar.

(58) Consequently, after the value of the pedal stroke Str_p0 is acquired when the wheel brake pressure is 0, the acquired value is reset as the upper threshold stroke value and thereafter, when the pedal stroke detected through the brake pedal stroke sensor 17 decreases to the reset upper threshold stroke value or less, the first interval {circle around (1)} is entered and the map diagram of FIG. 3 for determining the driver's required brake force and the regenerative brake torque is applied while being changed as illustrated in FIGS. 10 to 11B (S14).

(59) That is, by using the pedal stroke Vs pressure map illustrated in FIG. 10B or 11B, the driver's required brake force for generating the regenerative brake force in the first interval {circle around (1)} is determined and the regenerative brake torque value for performing the motor regenerative brake control to satisfy the driver's required brake force is determined.

(60) Referring to FIGS. 10B and 11B, the upper threshold stroke value for determining whether to enter the first interval {circle around (1)} from the second interval {circle around (2)} based on the pedal stroke signal is changed to the value of the pedal stroke Str_p0 corresponding to the wheel brake pressure of 0 and a linear diagram connecting the maximum regenerative brake force pressure corresponding value of 10 bar set in the upper threshold stroke value and 0 bar in the lower threshold stroke value after entering the first interval {circle around (1)} is used as the map diagram for determining the driver's required brake force from the pedal stroke in the first interval {circle around (1)}.

(61) Herein, a slope A of the map diagram may be determined by the following equation.
A=(maximum regenerative brake force pressure corresponding value)/(Str_p0lower threshold stroke).

(62) For example, the slope A of the map diagram of the pedal stroke Vs pressure map illustrated in FIG. 10B becomes (10 bar)/(10 mm2 mm)=1.25 and the slope A of the map diagram of the pedal stroke Vs pressure map illustrated in FIG. 11B becomes (10 bar)/(20 mm2 mm)=0.56.

(63) When the pedal stroke value depending on the driver's brake pedal operation is more than a newly changed upper threshold stroke value after re-entering the first interval {circle around (1)} from the second interval {circle around (2)}, the second interval {circle around (2)} is entered again (S15).

(64) For convenience in explanation and accurate definition in the appended claims, the terms upper or lower, inner or outer and etc. are used to describe features of the exemplary embodiments with reference to the positions of such features as displayed in the figures.

(65) The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teachings. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and their practical application, to thereby enable others skilled in the art to make and utilize various exemplary embodiments of the present invention, as well as various alternatives and modifications thereof. It is intended that the scope of the invention be defined by the Claims appended hereto and their equivalents.