A method for controlling regenerative braking torque values of a vehicle, the vehicle comprising at least one first axle on which at least one first moving member of the vehicle is mounted and at least one second axle on which at least one second moving member of the vehicle is mounted, the vehicle further comprising a braking system comprising a first plurality of components operatively associated with said at least one first axle and a second plurality of components operatively associated with said at least one second axle, the vehicle comprising at least one traction and regenerative braking supply module configured to provide information on the basis from which regenerative braking torque values can be determined and provided to one or more regenerative braking torque actuation modules, the regenerative braking torque actuation modules comprising at least one electric motor, the vehicle further comprising a battery module and at least one data processing unit operatively connected to said at least one traction and regenerative braking supply module, to the first plurality of components of the braking system, and to the second plurality of components of the braking system,
- the method comprising steps of:
- detecting, by the at least one data processing unit, a first information representing a deceleration request of the vehicle;
- detecting, by the at least one data processing unit, a second information representing a speed of at least one of the vehicle, the first moving member of the vehicle and the second moving member of the vehicle;
- determining, by the at least one data processing unit, a first temperature value of at least one component of the first plurality of components of the braking system operatively associated with said at least one first axle;
- determining, by the at least one data processing unit, a second temperature value of at least one component of the second plurality of components of the braking system operatively associated with said at least one second axle;
- determining, by the at least one data processing unit, a third information representing an electric charge of the battery module;
- determining, by the at least one data processing unit, a regenerative braking power dynamic distribution ratio between the at least one first axle and the at least one second axle on the basis of the first information, of the first temperature value and of the second temperature value;
- determining, by the at least one data processing unit, a first regenerative braking torque value to be applied to the at least one first axle and a second regenerative braking torque value to be applied to the at least one second axle on the basis of the determined regenerative braking power dynamic distribution ratio, of the second information and of the third information;
- providing, by the at least one data processing unit, the first regenerative braking torque value and the second regenerative braking torque value to said at least one traction and regenerative braking supply module;
- wherein the first plurality of components of the braking system associated with said at least one first axle comprises at least one first dissipative braking torque actuation device, the second plurality of components of the braking system associated with said at least one second axle comprising at least one second dissipative braking torque actuation device, the method further comprising steps of:
- determining, by the at least one data processing unit, a first dissipative braking torque value to be applied to the at least one first axle and a second dissipative braking torque value to be applied to the at least one second axle on the basis of the determined braking power dynamic distribution ratio, of the first information and of the third information;
- providing, by the at least one data processing unit, the first dissipative braking torque value to said at least one first dissipative braking torque actuation device and the second dissipative braking torque value to said at least one second dissipative braking torque actuation device,
- wherein the vehicle further comprises a dissipation resistance module, the method comprising steps of:
- determining, by the at least one data processing unit, a dissipative electric power value on the basis of the third information, of the first dissipative braking torque value and of the second dissipative braking torque value;
- providing, by the at least one data processing unit, the dissipative electric power value to the dissipation resistance module;
- and
- the dissipation resistance module is configured to dissipate a quantity of regenerative power.