Regenerative braking in the presence of an antilock braking system control event
A hybrid electric vehicle includes at least one wheel, a friction brake, a motor, and at least one controller. The friction brake is coupled to the wheel and configured to provide friction brake torque, and the motor is coupled to the wheel and configured to provide regenerative brake torque. The controller is configured to command the motor to provide a regenerative brake torque to satisfy a low frequency torque component or a high frequency torque component of a required antilock wheel brake torque during an antilock braking event.
1. A vehicle comprising:
a wheel;
a friction brake coupled to the wheel and configured to provide friction brake torque;
a motor coupled to the wheel and configured to provide regenerative brake torque; and
at least one controller configured to filter a requested antilock wheel brake torque into different frequency components, scale a magnitude of one of the frequency components based on a magnitude of wheel slip, and command the motor to provide a regenerative brake torque to satisfy the one of the frequency components during an antilock braking event.
2. The vehicle of claim 1 , wherein the one of the frequency components has a frequency less than other of the frequency components.
3. The vehicle of claim 1 , wherein the at least one controller is further configured to reduce the commanded regenerative brake torque in response to at least one of a battery state of charge exceeding a threshold, a battery charging or discharging limit being exceeded, and a motor speed or torque limit being exceeded.
4. The vehicle of claim 1 , wherein the at least one controller is further configured to command the friction brake to provide a friction brake torque to satisfy the other of the frequency components.
5. The vehicle of claim 4 , wherein the friction brake torque to satisfy the other of the frequency components is based on a first torque to satisfy the requested antilock wheel brake torque less a percentage of the regenerative brake torque.
6. The vehicle of claim 1 , wherein the controller is configured to filter the requested antilock wheel brake torque with a low pass filter.
7. A method of controlling a hybrid electric vehicle comprising:
filtering a required antilock wheel brake torque into first and second components, the first component having a higher frequency than the second component;
commanding one of a friction brake and a motor, each coupled to a wheel, to provide a torque to satisfy the first component; and
commanding the other of the friction brake and the motor to provide a torque to satisfy the second component, wherein the friction brake is commanded to provide a friction brake torque to satisfy the second component and the motor is commanded to provide a regenerative brake torque to satisfy the first component, and wherein commanding the friction brake to provide a friction brake torque to satisfy the second component comprises commanding the friction brake to provide a friction brake torque equal to a first torque to satisfy the required antilock wheel brake torque less a percentage of the commanded regenerative brake torque.
8. The method of claim 7 , wherein filtering the required antilock wheel brake torque into the first component and the second component comprises filtering the required antilock wheel brake torque with a low pass filter to obtain the second component, and wherein commanding the motor to provide the regenerative brake torque comprises commanding the motor to provide a torque equal to the required antilock wheel brake torque less the filtered antilock wheel brake torque.
9. The method of claim 7 , further comprising reducing the commanded regenerative brake torque in response to at least one of a battery state of charge exceeding a threshold, a battery charging or discharging limit being exceeded, and a motor speed or torque limit being exceeded.
10. The method of claim 7 , further comprising filtering the required antilock wheel brake torque with a band stop filter to remove frequency components that excite a vehicle powertrain.
11. A vehicle comprising:
a wheel;
a friction brake configured to provide friction brake torque to the wheel;
a motor configured to provide regenerative brake torque to the wheel; and
at least one controller configured to filter a required antilock wheel brake torque with a low pass filter and command the motor to provide a regenerative brake torque according to the difference between the required antilock wheel brake torque and the filtered antilock wheel brake torque.
12. The vehicle of claim 11 , wherein the controller is further configured to command the friction brake to provide a friction brake torque equal to a first torque to satisfy the required antilock wheel brake torque less a percentage of the commanded regenerative brake torque.
13. The vehicle of claim 11 , wherein the controller is further configured to reduce the commanded regenerative brake torque in response to at least one of a battery state of charge exceeding a threshold, a battery charging or discharging limit being exceeded, and a motor speed or torque limit being exceeded.
14. The vehicle of claim 11 , wherein the controller is further configured to filter the required antilock wheel brake torque with a band stop filter to remove frequency components that excite a powertrain of the vehicle.