Braking control method in regenerative braking cooperative control

1. A braking control method in regenerative braking cooperative control, the method comprising:

confirming whether to enter a blending section where regenerative braking torque is reduced and friction braking torque is increased;

determining a target reduced deceleration by a controller upon entering the blending section, the target reduced deceleration being determined only when vehicle speed is less than or equal to a predetermined reference vehicle speed and when vehicle deceleration is less than or equal to a predetermined reference deceleration;

reducing braking torque of a vehicle in response to the determined target reduced deceleration; and

returning the braking torque of the vehicle to a driver's requested braking torque when the vehicle is being stopped.

2. The method of claim 1 , wherein determining the target reduced deceleration comprises determining the target reduced deceleration only when the driver's requested deceleration is maintained stably within a predetermined reference range.

3. The method of claim 1 , wherein reducing the braking torque of the vehicle comprises controlling a friction braking system in such a manner that friction braking torque of rear wheels is preferentially decreased and then friction braking torque of front wheels is decreased.

4. The method of claim 3 , wherein reducing the braking torque of the vehicle comprises decreasing regenerative braking torque according to a state of charge (SOC) of a battery when the target reduced deceleration is not satisfied with a decrement of the friction braking torque of the front and rear wheels.

5. The method of claim 4 , wherein reducing the braking torque of the vehicle comprises performing control in such a manner that the regenerative braking torque is decreased in response to the target reduced deceleration when the SOC of the battery exceeds a predetermined reference SOC whereas the regenerative braking torque is not decreased when the SOC of the battery is equal to or less than the predetermined reference SOC.

6. The method of claim 1 , wherein returning the braking torque of the vehicle to the driver's requested braking torque comprises determining whether a predetermined waiting time elapses after the vehicle stops and when the waiting time elapses, returning the braking torque to the driver's requested braking torque.

7. The method of claim 1 , wherein returning of the braking torque of the vehicle to the driver's requested braking torque comprises constantly increasing the braking torque to return to the driver's requested braking torque.

8. A brake controller for a vehicle, the brake controller comprising:

a processor; and

a non-transitory computer-readable storage medium storing code to be executed by the processor, the code including instructions for a braking control method in regenerative braking cooperative control, the method comprising:

confirming whether to enter a blending section where regenerative braking torque is reduced and friction braking torque is increased;

determining a target reduced deceleration by a controller upon entering the blending section;

reducing braking torque of the vehicle in response to the determined target reduced deceleration; and

returning the braking torque of the vehicle to a driver's requested braking torque when the vehicle is being stopped, wherein returning the braking torque of the vehicle to the driver's requested braking torque comprises determining whether a predetermined waiting time elapses after the vehicle stops and when the waiting time elapses, returning the braking torque to the driver's requested braking torque.

9. The brake controller of claim 8 , wherein determining the target reduced deceleration comprises determining the target reduced deceleration only when vehicle speed is less than or equal to a predetermined reference vehicle speed and when vehicle deceleration is less than or equal to a predetermined reference deceleration.

10. The brake controller of claim 9 , wherein determining the target reduced deceleration comprises determining the target reduced deceleration only when the driver's request deceleration is maintained stably within a predetermined reference range.

11. The brake controller of claim 8 , wherein reducing the braking torque of the vehicle comprises controlling a friction braking system in such a manner that friction braking torque of rear wheels is preferentially decreased and then friction braking torque of front wheels is decreased.

12. The brake controller of claim 11 , wherein reducing the braking torque of the vehicle comprises decreasing regenerative braking torque according to a state of charge (SOC) of a battery when the target reduced deceleration is not satisfied with a decrement of the friction braking torque of the front and rear wheels.

13. The brake controller of claim 12 , wherein reducing the braking torque of the vehicle comprises performing control in such a manner that the regenerative braking torque is decreased in response to the target reduced deceleration when the SOC of the battery exceeds a predetermined reference SOC whereas the regenerative braking torque is not decreased when the SOC of the battery is equal to or less than the predetermined reference SOC.

14. The brake controller of claim 8 , wherein returning of the braking torque of the vehicle to the driver's requested braking torque comprises constantly increasing the braking torque to return to the driver's requested braking torque.

15. A vehicle comprising:

a drive motor;

a battery coupled to the drive motor to supply power to the drive motor;

a differential gear;

vehicle wheels operatively coupled to the differential gear, wherein the drive motor, battery, differential gear and vehicle wheels are configured so that a rotational force generated from the drive motor by the battery is transmitted to the vehicle wheels via the differential gear;

a braking system coupled to the vehicle wheels;

a controller configured to control the braking system, the controller configured to:

confirm whether to enter a blending section where regenerative braking torque is reduced and friction braking torque is increased;

determine a target reduced deceleration upon entering the blending section, the target reduced deceleration being determined only when vehicle speed is less than or equal to a predetermined reference vehicle speed and when vehicle deceleration is less than or equal to a predetermined reference deceleration;

reduce braking torque of the vehicle in response to the determined target reduced deceleration; and

return the braking torque of the vehicle to a driver's requested braking torque when the vehicle is being stopped.

16. The vehicle of claim 15 , wherein the braking system comprises a caliper, a disk and a hydraulic line.

17. The vehicle of claim 15 , wherein the controller comprises a brake controller configured to control the braking system and a drive motor controller configured to control the drive motor.

18. The vehicle of claim 15 , wherein the controller comprises a processor and a non-transitory computer-readable storage medium storing code to be executed by the processor.

19. The vehicle of claim 15 , wherein the controller is configured to return the braking torque of the vehicle to the driver's requested braking torque by determining whether a predetermined waiting time elapses after the vehicle stops and, when the waiting time elapses, returning the braking torque to the driver's requested braking torque.

20. The vehicle of claim 15 , wherein the controller is configured reduce the braking torque of the vehicle by controlling a friction braking system in such a manner that friction braking torque of rear wheels is preferentially decreased and then friction braking torque of front wheels is decreased.