Methods and systems are described for controlling a vehicle braking system. A braking force is applied to the vehicle by applying friction only braking to the wheels of one axle and applying a blended braking force (including a regenerative braking force and a friction braking force) to the wheels of another axle. Using vehicle and tire modeling techniques, a set of side-slip angles is calculated that is estimated to occur if the total braking force were applied using only friction braking. A compensatory yaw moment is then determined based on differences between the estimated side-slip angles and the actual side-slip angles of the vehicle under the blended braking. The compensatory yaw moment is then applied to the vehicle to enable the vehicle to utilize regenerative braking while exhibiting the same vehicle dynamics that occur when using friction braking only.
LATERAL DYNAMIC CONTROL FOR REGENERATIVE AND FRICTION BRAKE BLENDING
SEITLICHE DYNAMISCHE STEUERUNG FÜR MISCHUNG AUS REGENERATIVER UND REIBUNGSBREMSE
COMMANDE DYNAMIQUE LATÉRALE POUR MÉLANGE DE FREIN À RÉCUPÉRATION ET À FRICTION
2023-03-08
Patent
Electronic Resource
English
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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