Hybrid brake control

Method to control a vehicle including control of regenerative brakes and friction brakes, comprising:

• monitoring a desired total braking torque for the vehicle based on a desired operator braking command;
• monitoring a desired corner force and moment distribution, wherein each corner of the vehicle corresponds to a respective one of the plurality of wheels;
• determining a respective desired individual braking torque for each wheel to achieve the desired total braking torque for the vehicle based on the desired corner force and moment distribution;
• monitoring real-time actuator constraints comprising a braking torque limit of each of the regenerative brakes;
• determining a respective regenerative braking torque for each of the regenerative brakes, each respective regenerative braking torque based upon the desired corner force and moment distribution and the respective braking torque limit of the respective regenerative brake;
• determining a respective friction braking torque for each of the friction brakes, each respective friction braking torque based upon the desired corner force and moment distribution and the determined regenerative braking torque for each of the regenerative brakes;
• and
• controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques comprising:
• for a corresponding one of the wheels having a regenerative brake and not having a friction brake
• utilizing the regenerative braking torque for the corresponding wheel up to the respective braking torque limit,
• monitoring if a remaining portion of the respective desired individual braking torque for the corresponding wheel exists based on a difference between the respective desired individual braking torque and the respective braking torque limit for the corresponding wheel, and
• when the remaining portion of the respective desired individual braking torque exists after the respective braking torque limit is reached, distributing any portion of the respective desired individual braking torque in excess of the braking torque limit for the corresponding wheel to another wheel using the respective friction braking torque corresponding to the other wheel.

Method to control a vehicle having a plurality of wheels including control of regenerative brakes and friction brakes, comprising:

• monitoring a desired total braking torque for the vehicle based on a desired operator braking command;
• monitoring a desired corner force and moment distribution describing a desired force and moment of each corner of the vehicle, wherein each corner of the vehicle corresponds to a respective one of the plurality of wheels;
• determining a respective desired individual braking torque for each wheel to achieve the desired total braking torque for the vehicle based on the desired corner force and moment distribution;
• monitoring real-time actuator constraints comprising a respective braking torque limit of each of the regenerative brakes;
• determining a respective regenerative braking torque for each of the wheels having respective regenerative brakes, each respective regenerative braking torque based upon the desired corner force and moment distribution and the respective braking torque limit of the respective regenerative brake;
• determining a respective friction braking torque for each of the wheels having respective friction brakes, each respective friction braking torque based upon the desired corner force and moment distribution and the determined regenerative braking torque for each of the regenerative brakes;
• and
• controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques, comprising:
• for a corresponding one of the wheels having a regenerative brake and not having a friction brake
• utilizing the respective regenerative braking torque for the corresponding wheel up to the respective braking torque limit,
• monitoring if a remaining portion of the respective desired individual braking torque for the corresponding wheel exists based on a difference between the respective desired individual braking torque and the respective braking torque limit for the corresponding wheel, and
• when the remaining portion of the respective desired individual braking torque exists after the respective braking torque limit is reached, distributing the remaining portion of the respective desired individual braking torque in excess of the respective braking torque limit for the corresponding wheel to a plurality of other wheels using respective ones of friction braking torques corresponding to respective ones of the plurality of other wheels.

Method to control a vehicle having a plurality of wheels including control of regenerative brakes and friction brakes, comprising:

• monitoring a desired total braking torque for the vehicle based on a desired operator braking command;
• monitoring a desired corner force and moment distribution describing a desired force and moment of each corner of the vehicle, wherein each corner of the vehicle corresponds to a respective one of the plurality of wheels;
• determining a respective desired individual braking torque for each wheel to achieve the desired total braking torque for the vehicle based on the desired corner force and moment distribution;
• monitoring real-time actuator constraints comprising a respective braking torque limit of each of the regenerative brakes;
• determining a respective regenerative braking torque for each of the wheels having respective regenerative brakes, each respective regenerative braking torque based upon the desired corner force and moment distribution and the respective braking torque limit of the respective regenerative brake;
• determining a respective friction braking torque for each of the wheels having respective friction brakes, each respective friction braking torque based upon the desired corner force and moment distribution and the determined regenerative braking torque for each of the regenerative brakes;
• and
• controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques, comprising:
• for a corresponding one of the wheels having a regenerative brake and not having a friction brake
• utilizing the respective regenerative braking torque for the corresponding wheel up to the respective braking torque limit,
• monitoring if a remaining portion of the respective desired individual braking torque for the corresponding wheel exists based on a difference between the respective desired individual braking torque and the respective braking torque limit for the corresponding wheel, and
• when the remaining portion of the respective desired individual braking torque exists after the respective braking torque limit is reached, distributing the remaining portion of the respective desired individual braking torque in excess of the respective braking torque limit for the corresponding wheel to a plurality of other wheels using respective ones of regenerative braking torques corresponding to respective ones of the plurality of other wheels.

Method to control a vehicle having a plurality of wheels including control of regenerative brakes and friction brakes, comprising:

• monitoring a desired total braking torque for the vehicle based on a desired operator braking command;
• monitoring a desired corner force and moment distribution describing a desired force and moment of each corner of the vehicle, wherein each corner of the vehicle corresponds to a respective one of the plurality of wheels;
• determining a respective desired individual braking torque for each wheel to achieve the desired total braking torque for the vehicle based on the desired corner force and moment distribution;
• monitoring real-time actuator constraints comprising a respective braking torque limit of each of the regenerative brakes;
• determining a respective regenerative braking torque for each of the wheels having respective regenerative brakes, each respective regenerative braking torque based upon the desired corner force and moment distribution and the respective braking torque limit of the respective regenerative brake;
• determining a respective friction braking torque for each of the wheels having respective friction brakes, each respective friction braking torque based upon the desired corner force and moment distribution and the determined regenerative braking torque for each of the regenerative brakes;
• and
• controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques, comprising:
• for a corresponding one of the wheels having a regenerative brake and not having a friction brake
• utilizing the respective regenerative braking torque for the corresponding wheel up to the respective braking torque limit,
• monitoring if a remaining portion of the respective desired individual braking torque for the corresponding wheel exists based on a difference between the respective desired individual braking torque and the respective braking torque limit for the corresponding wheel, and
• when the remaining portion of the respective desired individual braking torque exists after the respective braking torque limit is reached, distributing the remaining portion of the respective desired individual braking torque in excess of the respective braking torque limit for the corresponding wheel to a plurality of other wheels using respective ones of both regenerative braking torques and friction braking torques corresponding to respective ones of the plurality of other wheels of the vehicle, each of the other wheels having respective regenerative brakes and respective friction brakes.

Method to control a vehicle including control of regenerative brakes and friction brakes, comprising:

• monitoring a desired total braking torque for the vehicle based on a desired operator braking command;
• monitoring a desired corner force and moment distribution comprising a respective desired braking torque for each of a plurality of wheels of the vehicle;
• determining a respective desired individual braking torque for each wheel to achieve the desired total braking torque for the vehicle based on the desired corner force and moment distribution;
• monitoring real-time actuator constraints comprising a respective braking torque limit of each of the regenerative brakes;
• determining a respective regenerative braking torque for each of the wheels having respective regenerative brakes, each respective regenerative braking torque based upon the desired corner force and moment distribution and the respective braking torque limit of the respective regenerative brake;
• determining a respective friction braking torque for each of the wheels having respective friction brakes, each respective friction braking torque based upon the desired corner force and moment distribution and the respective regenerative braking torque for each of the regenerative brakes;
• controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques;
• and
• for one of the wheels having a regenerative brake and not having a friction brake:
• setting the respective regenerative braking torque utilizing the respective regenerative brake for the corresponding wheel until the respective braking torque limit of the corresponding regenerative brake is reached,
• monitoring if a remaining portion of the respective desired individual braking torque for the corresponding wheel exists based on a difference between the respective desired individual braking torque and the respective braking torque limit for the corresponding wheel, and
• when the remaining portion of the respective desired individual braking torque exists after the respective braking torque limit is reached, distributing the remaining portion of the respective desired braking torque in excess of the respective braking torque limit for the corresponding wheel to one or more other wheels using respective ones of the friction braking torques corresponding to the one or more other wheels.

Apparatus to control a braking of a vehicle, comprising:

• a plurality of regenerative brakes each operatively coupled to a wheel of the vehicle;
• a plurality of friction brakes each operatively coupled to a wheel of the vehicle;
• and
• an actuator supervisory control module:
• monitoring a desired total braking torque for the vehicle based on a desired operator braking command;
• monitoring a desired corner force and moment distribution describing a desired force and moment of each corner of the vehicle, wherein each corner of the vehicle corresponds to a respective one of the plurality of wheels;
• determining a respective desired individual braking torque for each wheel to achieve the desired total braking torque for the vehicle based on the desired corner force and moment distribution;
• monitoring real-time actuator constraints comprising a respective braking torque limit of each of the regenerative brakes;
• determining a respective regenerative braking torque for each of the wheels having respective regenerative brakes, each respective regenerative braking torque based upon the desired corner force and moment distribution and the respective braking torque limit of the respective regenerative brake;
• determining a respective friction braking torque for each of the wheels having respective friction brakes, each respective friction braking torque based upon the desired corner force and moment distribution and the respective regenerative braking torque for each of the regenerative brakes;
• and
• controlling the regenerative brakes and the friction brakes based upon the determined regenerative braking torques and the determined friction braking torques, comprising:
• for a corresponding one of the wheel having a regenerative brake and not having a friction brake
• utilizing the respective regenerative braking torque for the corresponding wheel up to the respective braking torque limit,
• monitoring if a remaining portion of the respective desired individual braking torque for the corresponding wheel exists based on a difference between the respective desired individual braking torque and the respective braking torque limit for the corresponding wheel, and
• when the remaining portion of the respective desired individual braking torque exists after the respective braking torque limit is reached, distributing the remaining portion of the respective desired individual braking torque in excess of the respective braking torque limit for the corresponding wheel to one or more other wheels using respective ones of the friction braking torques corresponding to the one or more other wheels.