To optimize energy recovery and vehicle controllability.
Braking is started based on the request of a driver with the initial regenerative braking quantity set larger than the quantity that estimated to be shown by normal braking balance, and while monitoring and maintaining vehicle controllability elements such as over-steering and under-steering, braking torque before and after braking is monitored and dynamically adjusted. The control mentioned above is performed using single proportion, integration, and a derived function feedback controller. A vehicle sensor monitors the state of a vehicle and inputs signals to activate a non-regenerative braking and a regenerative brake to the controller at various rates based on a specified desired value related to the optimization of at least an actual vehicle controllability value, controllability and energy recovery quantity. The controllability elements include the comparison between a specified vertical wheel slip rate and the desired value of tire slip angle or yaw rate.
Hiroshi Koyama
Hiroshi Takeuchi
Yuji Takeuchi
Katsumi Imae
Tomoo Harada