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US 10,814,727 B2Granted
Regenerative vehicle braking with wheel slip control and yaw stability control
AssigneeFord Global Technologies, LLC
InventorsYanan Zhao, Ming Lang Kuang, Dale Scott Crombez, Walter Joseph Ortmann, Xiaoyong Wang
Life of this patent
Estimating the term…
Abstract
Methods and systems are provided for operating a hybrid vehicle during operating conditions where vehicle braking is requested. In one example, regenerative braking is allocated to vehicle wheels responsive to actual and estimated vehicle yaw. Additionally, friction braking torque is allocated to vehicle wheels responsive to requested braking torque and regenerative braking torques.
Claims7
A vehicle operating method, comprising:
- receiving inputs to a controller and estimating yaw rate of a vehicle according to a model via the controller;
- during a first condition, commanding a first electric machine to a first regenerative braking torque and a second electric machine to a second regenerative braking torque, the first regenerative braking torque a torque of a less capable wheel, the second regenerative braking torque a torque of a more capable wheel, the torque of the less capable wheel based on a normal force, coefficient of friction, and tire radius of the less capable wheel and the torque of the more capable wheel based on a normal force, coefficient of friction, and tire radius of the more capable wheel;
- during a second condition, providing a feedforward control parameter via the estimated yaw rate, commanding the first electric machine to the first regenerative braking torque, commanding the second electric machine to a third regenerative braking torque, the third regenerative braking torque responsive to the feedforward control parameter and a feedback control parameter, the feedback control parameter a function of a difference between an actual yaw rate of the vehicle and a threshold yaw rate.
Dependencies are inferred from the claim text.