Hybrid brake control

1. 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 one or more other wheels using respective ones of the friction braking torques corresponding to the one or more other wheels.

2. The method of claim 1 , wherein controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques further comprises:

for each wheel of the vehicle having a respective regenerative brake and a respective friction brake, utilizing the respective regenerative braking torque for the respective regenerative brake up to the respective braking torque limit before utilizing the respective friction braking torque for the respective friction brake to achieve the respective desired individual braking torque.

3. 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.

4. 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.

5. The method of claim 1 , wherein determining the respective regenerative braking torque for each of the regenerative brakes based upon the desired corner force and moment distribution and the respective braking torque limit of the respective regenerative brake:

determining a friction braking distribution ratio for each of the plurality of wheels based upon the respective desired individual braking torque and the real-time actuator constraints, said friction braking distribution ratio comprising a ratio of the friction braking torque to the desired braking torque for each of the plurality of wheels; and

determining the regenerative braking torque for each of the regenerative brakes further based upon the friction braking distribution ratio for the corresponding wheel.

6. The method of claim 1 , further comprising monitoring a steering angle for each of a plurality of wheels of the vehicle having a respective friction brake; and

wherein determining the friction braking torque for each of the friction brakes is further based upon the steering angle.

7. 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.

8. 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.

9. The method of claim 1 , wherein monitoring real-time actuator constraints comprising the braking torque limit of each of the regenerative brakes comprises monitoring the braking torque limit of a respective regenerative brake located at each of a plurality of wheels of the vehicle.

10. The method of claim 1 , further comprising determining a weighted escape from a total power constraint of batteries of the vehicle;

wherein determining the regenerative braking torque for each of the regenerative brakes is further based upon the weighted escape.

11. The method of claim 1 , wherein monitoring the desired corner force and moment distribution comprises:

monitoring a desired vehicle force and moment;

monitoring real-time corner constraints upon vehicle dynamics comprising:

monitoring corner states of health for the vehicle; and

monitoring corner capacities for the vehicle; and

determining the desired corner force and the moment distribution based upon the desired vehicle force and moment and the real-time corner constraints.

12. The method of claim 1 , wherein monitoring real-time actuator constraints further comprises a respective braking torque limit of each of the friction brakes; and

wherein determining the friction braking torque for each of the friction brakes is further based upon the real-time actuator constraints.

13. 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.

14. 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.

15. The apparatus of claim 14 , further comprising:

a corner dynamics control module:

monitoring a desired vehicle force and moment;

monitoring real-time corner constraints; and

determining the desired force and the moment desired of each corner of the vehicle based upon the desired vehicle force and moment and the real-time corner constraints.

16. The apparatus of claim 14 , further comprising:

two front wheels of the vehicle, each comprising:

one of the regenerative brakes, and

one of the friction brakes; and

two rear wheels of the vehicle, each comprising one of the regenerative brakes.

17. The apparatus of claim 16 , wherein determining the respective friction braking torque for each of the friction brakes of the two front wheels is further based upon a friction braking distribution ratio for each of the two rear wheels, said friction braking distribution ratio comprising a ratio of the friction braking torque of the corresponding friction brake of the corresponding front wheel to the desired force and moment of the respective corner corresponding to the respective front wheel.