# US 10,369,888 B2 · Control system for regenerative braking in a hybrid vehicle

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- Number: US 10,369,888 B2
- Document ID: US10369888B2
- Status: Granted
- Kind: B2
- Application number: 15/065,325
- Filed: 2016-03-09
- Published: 2017-09-14
- Granted: 2019-08-06
- Earliest claimed: 2016-03-09
- Assignees: Ford Global Technologies, LLC
- Applicants: Ford Global Technologies, LLC
- Inventors: Ming Lang Kuang; Bernard D. Nefcy; Yanan Zhao; Daniel Scott Colvin
- Web page: https://patentgrep.com/patent/US10369888B2

## CPC

- B60L 7/18: Controlling the braking effect (B60L7/12, B60L7/14, B60L7/16 take precedence)
- B60K 6/48: Parallel type
- B60L 7/26: Controlling the braking effect
- B60L 15/2009: {for braking}
- B60T 1/10: by utilising wheel movement for accumulating energy, e.g. driving air compressors
- B60T 13/586: {the retarders being of the electric type}
- B60W 10/08: including control of electric propulsion units, e.g. motors or generators
- B60W 10/184: with wheel brakes
- B60W 20/14: in conjunction with braking regeneration
- B60W 30/18127: {Regenerative braking}
- B60L 2240/423: Torque
- B60T 2230/04: Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
- B60T 2260/04: Automatic transmission
- B60T 2270/60: Regenerative braking
- B60T 2270/604: Merging friction therewith; Adjusting their repartition
- B60W 2520/30: Wheel torque
- B60W 2540/10: Accelerator pedal position
- B60W 2540/12: Brake pedal position
- B60W 2710/083: Torque
- B60W 2710/18: Braking system
- Y02T 10/62: Hybrid vehicles
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/72: Electric energy management in electromobility
- Y10S 903/903: having energy storing means, e.g. battery, capacitor
- Y10S 903/947: Characterized by control of braking, e.g. blending of regeneration, friction braking
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A vehicle includes a powertrain, an electric machine, a battery, and a controller. The powertrain is configured to transfer motive power to the electric machine to charge the battery during regenerative braking. The controller programmed to, in response to a decreasing demanded powertrain output torque, adjust a regenerative braking torque limit based on an anti-jerk torque schedule, generate an actual regenerative braking torque based on system constraints, and limit the actual regenerative braking torque to the regenerative braking torque limit.

## Claims

### Claim 1

A vehicle comprising:
a controller programmed to,
in response to releasing an accelerator pedal, decrease a constrained wheel torque request prior to, during, and after a period of lash crossing where the constrained wheel torque request changes direction from positive to negative, wherein a rate at which the constrained wheel torque request decreases during the period of lash crossing is less than rates at which the constrained wheel torque request decreases during times periods before and after the period of lash crossing, and
in response to the constrained wheel torque request becoming negative during the period of lash crossing and a braking torque request having an absolute value that exceeds an absolute value of the constrained wheel torque request, limit regenerative braking to the constrained wheel torque request during the period of lash crossing such that the regenerative braking does not satisfy the braking torque request, and increase friction braking torque to satisfy a remainder of the braking torque request.

### Claim 2 (depends on 1)

The vehicle of claim 1, wherein the controller is further programmed to, in response to initiation of the braking torque request prior to the decreasing constrained wheel torque request becoming negative, prevent regenerative braking until the constrained wheel torque request becomes negative.

### Claim 3

A vehicle system comprising;
a controller programmed to,
in response to releasing an accelerator pedal, decrease a filtered demanded wheel torque request prior to, during, and after a period of lash crossing where the filtered demanded wheel torque changes direction from positive to negative, and
in response to the filtered demanded wheel torque request becoming negative during the period of lash crossing and a braking torque request having an absolute value that exceeds an absolute value of the filtered demanded wheel torque request, limit actual regenerative braking torque to the filtered demanded wheel torque during the period of lash crossing such that the actual regenerative braking does not the braking torque request and increase friction braking torque to satisfy a remainder of the braking torque request.

### Claim 4 (depends on 3)

The system of claim 3, wherein the controller is further programmed to, in response to initiation of the braking torque request prior to the decreasing filtered demanded wheel torque becoming negative, prevent regenerative braking until the filtered demanded wheel torque becomes negative.

### Claim 5 (depends on 4)

The system of claim 4, wherein the filtered demanded wheel torque is reduced according an anti-jerk torque schedule.

### Claim 6 (depends on 1)

The vehicle of claim 1, wherein the controller is programmed to increase regenerative braking to the constrained wheel torque request during the period lash crossing subsequent to the constrained wheel torque request becoming negative.

### Claim 7 (depends on 1)

The vehicle of claim 1, wherein the controller is programmed to, in response to increasing a rate at which the constrained wheel torque request decreases and the braking torque request having an absolute value that that exceeds an absolute value of the constrained wheel torque request during a period subsequent to the period of lash crossing, limit regenerative braking to the constrained wheel torque request during the period subsequent to the period of lash crossing such that the regenerative braking does not satisfy the braking torque request, and increase friction braking torque to satisfy a remainder of the braking torque request.

### Claim 8 (depends on 7)

The vehicle of claim 7, wherein the controller is programmed to increase regenerative braking torque to the constrained wheel torque request during the period subsequent to the period of lash crossing.

### Claim 9 (depends on 7)

The vehicle of claim 7, wherein the controller is programmed to, in response to a completion of the period of the lash crossing, ramp the constrained wheel torque request to an unfiltered demanded wheel torque during the period subsequent to the period of lash crossing.

### Claim 10 (depends on 1)

The vehicle of claim 1, wherein the constrained wheel torque request is reduced according to an anti-jerk torque schedule.

### Claim 11 (depends on 3)

The vehicle of claim 3, wherein the controller is programmed to increase regenerative braking torque to the filtered demanded wheel torque request during the period of lash crossing subsequent to the filtered demanded wheel torque request becoming negative.

### Claim 12 (depends on 3)

The vehicle system of claim 3, wherein the controller is programmed to decrease the filtered demanded wheel torque request at a first rate during a period prior to the period of lash crossing and decrease the filtered demanded wheel torque request at a second rate during the period of lash crossing, wherein the first rate is greater than the second rate.

### Claim 13 (depends on 12)

The vehicle system of claim 12, wherein the controller is programmed to decrease the filtered demanded wheel torque request at a third rate during a period that is subsequent to the period of lash crossing, wherein the third is greater than the second rate.

### Claim 14 (depends on 13)

The vehicle system of claim 13, wherein the controller is programmed to increase regenerative braking torque to the filtered demanded wheel torque request during the period that is subsequent to the period lash crossing.

### Claim 15 (depends on 13)

The vehicle system of claim 13, wherein the controller is further programmed to, in response to a completion of the period of the lash crossing, ramp the filtered demanded wheel torque request at the third rate to an unfiltered demanded wheel torque during the period that is subsequent to the period lash crossing.