Vehicle control method and device, storage medium and vehicle

Abstract

The invention relates to a vehicle control method and device, a storage medium and a vehicle, and the method comprises the steps that under the condition that the vehicle is in an energy recovery mode and the current temperature of a monitored object of the vehicle does not meet a preset condition, the predicted working power of electric equipment of the vehicle is determined, and the predicted working power is larger than the initial working power of the electric equipment; increasing the initial energy recovery power of the vehicle to target energy recovery power under the condition of determining that the vehicle meets a recovery energy increasing condition at least according to the initial energy recovery power, the initial charging power, the initial working power, the predicted working power and the maximum allowable recovery power; and the vehicle is controlled to perform energy recovery according to the target energy recovery power, the increased energy recovery power is used for increasing the power of the electric equipment, the power of the electric equipment can be increased to quickly enable the temperature of the monitored object to meet the preset condition, and thus the energy consumption of the vehicle is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and in particular, to a vehicle control method, device, storage medium and vehicle. Background Art

[0002] With the rapid development of electric vehicles, electric vehicles are usually equipped with a braking feedback function, that is, when the vehicle is braking, energy is recovered, and the recovered energy can charge the battery or support the consumption of the vehicle's electrical equipment.

[0003] During the braking process of a vehicle, the amount of recovered energy affects the vehicle's energy consumption. Therefore, improving energy recovery is one of the effective ways to reduce vehicle energy consumption. Summary of the invention

[0004] In order to achieve the above objectives, the present disclosure provides a vehicle control method, device, storage medium and vehicle.

[0005] In a first aspect, the present disclosure provides a vehicle control method, comprising: When the vehicle is in an energy recovery mode and the current temperature of the monitored object of the vehicle does not meet a preset condition, determining an estimated operating power of an electrical device of the vehicle, the estimated operating power being greater than an initial operating power of the electrical device; Obtaining an initial charging power of a power battery of the vehicle, an initial energy recovery power of the vehicle, and a maximum allowable recovery power of a drive motor of the vehicle; When it is determined that the vehicle meets the recovery energy improvement condition at least based on the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power and the maximum allowable recovery power, the initial energy recovery power of the vehicle is increased to a target energy recovery power, and the increased energy recovery power is used to increase the power of the electrical equipment; The vehicle is controlled to perform energy recovery according to the target energy recovery power.

[0006] Optionally, the method further comprises: When the initial energy recovery power is greater than the initial total consumed power and the first candidate energy recovery power is less than the maximum allowable recovery power, determining that the vehicle meets the recovery energy improvement condition; Among them, the initial total power consumption is the sum of the initial charging power and the initial working power, the first candidate energy recovery power is the sum of the initial charging power and the expected working power, and the target energy recovery power is the first candidate energy recovery power.

[0007] Optionally, the electrical equipment includes a heat dissipation device, and determining the estimated operating power of the electrical equipment of the vehicle includes: Determining the difference between the current temperature of the monitored object and a preset operating temperature; Determine the power coefficient of the electrical equipment according to the size of the difference, wherein the difference and the power coefficient are positively correlated; The expected operating power is determined according to the power coefficient and the initial operating power.

[0008] Optionally, the electrical device includes a heat dissipation device, and the method further includes: When the difference between the initial energy recovery power and the estimated operating power is greater than the initial charging power, and the second candidate energy recovery power is less than the maximum allowable recovery power, determining that the vehicle meets the recovery energy improvement condition; The second candidate energy recovery power is the sum of the initial charging power and the maximum allowable operating power of the electrical equipment, and the target energy recovery power is the second candidate energy recovery power.

[0009] Optionally, the method further comprises: In a case where the initial energy recovery power is less than or equal to the initial total consumed power, determining that the vehicle meets a condition for maintaining the initial energy recovery power; When the initial energy recovery power is greater than the estimated operating power, reducing the initial charging power to obtain a target charging power for the power battery; and The predicted operating power is determined as the target operating power of the electrical equipment, and the target charging power is the difference between the initial energy recovery power and the predicted operating power.

[0010] Optionally, the method further comprises: Controlling the operation of the electrical equipment according to the target operating power of the electrical equipment, wherein the target operating power is the maximum allowable recovery power or the estimated operating power; The power battery is charged according to a target charging power of the power battery, where the target charging power is the initial charging power or a charging power obtained by reducing the initial charging power.

[0011] Optionally, the electrical equipment includes a heating device, the monitored object includes the power battery, and determining the estimated operating power of the electrical equipment of the vehicle includes: The estimated operating power of the electrical equipment of the vehicle is determined based on the acquired preset power coefficient and the initial operating power of the electrical equipment.

[0012] In a second aspect, the present disclosure provides a vehicle control device, comprising: A first determination module is used to determine the expected working power of the electric device of the vehicle when the vehicle is in an energy recovery mode and the current temperature of the monitored object of the vehicle does not meet a preset condition, wherein the expected working power is greater than the initial working power of the electric device; An acquisition module, used to acquire an initial charging power of a power battery of the vehicle, an initial energy recovery power of the vehicle, and a maximum allowable recovery power of a drive motor of the vehicle; a second determination module, configured to increase the initial energy recovery power of the vehicle to a target energy recovery power when it is determined that the vehicle satisfies a recovery energy improvement condition based at least on the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power, and the maximum allowable recovery power, and the increased energy recovery power is used to increase the power of the electrical equipment; The first control module is used to control the vehicle to perform energy recovery according to the target energy recovery power.

[0013] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect.

[0014] In a fourth aspect, the present disclosure provides a vehicle, comprising the vehicle control device described in the second aspect.

[0015] Through the above technical scheme, when the vehicle is in energy recovery mode and the current temperature of the monitored object of the vehicle does not meet the preset conditions, the expected working power of the vehicle's electrical equipment is determined, and the expected working power is greater than the initial working power of the electrical equipment; then, when it is determined that the vehicle meets the recovery energy improvement conditions based on at least the initial energy recovery power, the initial charging power, the initial working power, the expected working power and the maximum allowable recovery power, the initial energy recovery power of the vehicle is increased to the target energy recovery power; finally, the vehicle is controlled to recover energy according to the target energy recovery power, thereby improving the energy recovery of the vehicle, and the increased energy recovery power is used to increase the power of the electrical equipment. Increasing the power of the electrical equipment can quickly make the temperature of the monitored object meet the preset conditions, thereby reducing the energy consumption of the vehicle.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 is a system schematic diagram of a vehicle according to an exemplary embodiment of the present disclosure.

[0018] Figure 2 The figure is a flow chart of a vehicle control method according to an exemplary embodiment of the present disclosure.

[0019] Figure 3 is another flow chart of a vehicle control method according to an exemplary embodiment of the present disclosure.

[0020] Figure 4 is a block diagram of a vehicle control device according to an exemplary embodiment.

[0021] Figure 5 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0022] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0023] In the related art, when recovering energy, only the allowable charging power of the battery and the working power of the electrical equipment are considered, and the actual operating status of certain equipment in the vehicle is not considered, and the energy recovery system cannot be used to recover energy to the maximum extent. In addition, the recovered energy is generally used for charging the power battery and the consumption of the vehicle's electrical equipment. If the power of the power battery charging and the vehicle's electrical equipment is not reasonably allocated, too much recovered energy is used for charging the power battery, and the energy in the battery charging process needs to be converted multiple times, which may cause the problem of low efficiency of the use of recovered energy and also affect the life of the battery.

[0024] Figure 1 FIG. 1 is a system diagram of a vehicle according to an exemplary embodiment of the present disclosure. Figure 1 The vehicle's system includes a vehicle controller, a thermal manager, a drive motor, a power battery and a power electronic unit. The thermal manager may further include a refrigeration air conditioner, a cooling fan and an electric heater.

[0025] The vehicle controller can collect vehicle information, such as the temperature of the drive motor, the temperature of the power battery, the temperature of the power electronic unit, the maximum allowable recovery power of the drive motor, the maximum allowable charging power of the power battery, the working power of the refrigeration and air conditioning, the working power of the cooling fan and the working power of the electric heater, etc. The vehicle controller can also calculate the energy recovery power, and the drive motor performs energy recovery based on the calculated energy recovery power.

[0026] Figure 2 is a flow chart of a vehicle control method according to an exemplary embodiment of the present disclosure. The vehicle control method may be Figure 1 The vehicle control method is executed by the vehicle controller of the vehicle shown, and the vehicle control method includes: Step 210, when the vehicle is in energy recovery mode and the current temperature of the monitored object of the vehicle does not meet the preset condition, determine the expected working power of the electrical equipment of the vehicle, and the expected working power is greater than the initial working power of the electrical equipment.

[0027] In this embodiment, when the vehicle is in a state of deceleration or braking or the accelerator pedal is not depressed, it can be determined that the vehicle is in the energy recovery mode.

[0028] In this embodiment, the preset condition may be that the current temperature of the monitored object meets the expected temperature, and the expected temperature is the optimal temperature of the monitored object when it is working. When the thermal manager of the vehicle is in different modes, the monitored objects are different, and the corresponding expected temperatures may also be different.

[0029] For example, the vehicle may be in a cooling mode. In the cooling mode, the electrical device may be a heat dissipation device in the thermal manager. The heat dissipation device may be, for example, Figure 1 In the refrigeration air conditioner and cooling fan shown, the monitored object may include at least one of a drive motor, a power battery, and a power electronic unit. Accordingly, if the current temperature of the monitored object is greater than or equal to the first preset temperature threshold, it is determined that the current temperature of the monitored object does not meet the preset condition; if the current temperature of the monitored object is less than the first preset temperature threshold, it is determined that the current temperature of the monitored object meets the preset condition.

[0030] For example, the vehicle may be in a heating mode, in which the electrical device may be a heating device in a thermal manager, such as Figure 1 In the electric heater shown, the monitored object may include a power battery. Accordingly, if the current temperature of the monitored object is less than or equal to the second preset temperature threshold, it is determined that the current temperature of the monitored object does not meet the preset condition; if the current temperature of the monitored object is greater than the second preset temperature threshold, it is determined that the current temperature of the monitored object meets the preset condition. Wherein, when the monitored object is a power battery, the first preset temperature threshold is greater than the second preset temperature threshold.

[0031] Step 220 , obtaining the initial charging power of the vehicle's power battery, the vehicle's initial energy recovery power, and the maximum allowable recovery power of the vehicle's drive motor.

[0032] It should be noted that the initial charging power of the power battery is the allowable charging power of the power battery. Generally, during charging, the charging power is not exceeded.

[0033] It should be noted that the initial charging power, initial energy recovery power and the maximum allowable recovery power of the drive motor are calculated by the vehicle controller based on the vehicle's operating conditions. The specific calculation method can refer to the relevant technology. The initial energy recovery power calculated by the vehicle controller can be greater than the sum of the initial charging power and the initial working power, or less than or equal to the sum of the initial charging power and the initial working power. The energy recovery power finally executed by the drive motor can be determined according to the actual situation. In the relevant technology, the minimum of the sum of the initial charging power and the initial working power and the maximum allowable recovery power is generally selected as the energy recovery power finally executed by the drive motor.

[0034] Step 230, when it is determined that the vehicle meets the recovery energy improvement conditions based on at least the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power and the maximum allowable recovery power, the initial energy recovery power of the vehicle is increased to the target energy recovery power, and the increased energy recovery power is used to increase the power of the electrical equipment.

[0035] It is worth noting that there are limitations to improving the energy recovery power of a vehicle. For example, the energy recovery power executed by the drive motor of the upgraded vehicle needs to be less than the maximum allowable recovery power, and the initial energy recovery power needs to be greater than the sum of the initial working power and the initial charging power of the electrical equipment, and so on.

[0036] Among them, the implementation method for determining whether the vehicle meets the recovery energy improvement conditions based on the initial energy recovery power, initial charging power, initial operating power, expected operating power and maximum allowable recovery power can refer to the following embodiment, which is not described in detail here.

[0037] Step 240, controlling the vehicle to perform energy recovery according to the target energy recovery power.

[0038] It should be understood that the target energy recovery power is the energy recovery power ultimately performed by the drive motor, and the recovered energy is used for consumption of electrical equipment and charging of power batteries.

[0039] As an example, the vehicle control method may further include: controlling the operation of the electric device according to the target operating power of the electric device, wherein the target operating power is the maximum allowable recovery power or the expected operating power. The determination of the target operating power may refer to the following embodiments, which will not be described in detail in this embodiment.

[0040] As an example, the vehicle control method may further include: charging the power battery according to the target charging power of the power battery, wherein the target charging power is the initial charging power or the charging power obtained by reducing the initial charging power. The determination of the target charging power may refer to the following embodiment, which will not be described in detail in this embodiment.

[0041] Through the above technical scheme, when the vehicle is in the energy recovery mode and the current temperature of the monitored object of the vehicle does not meet the preset conditions, the expected working power of the vehicle's electrical equipment is determined, and the expected working power is greater than the initial working power of the electrical equipment; then, when it is determined that the vehicle meets the recovery energy improvement conditions based on at least the initial energy recovery power, the initial charging power, the initial working power, the expected working power and the maximum allowable recovery power, the initial energy recovery power of the vehicle is increased to the target energy recovery power; finally, the vehicle is controlled to recover energy according to the target energy recovery power, thereby improving the energy recovery of the vehicle, and the increased energy recovery power is used to increase the power of the electrical equipment, so as to quickly make the temperature of the monitored object meet the preset conditions, thereby reducing the energy consumption of the vehicle.

[0042] In some embodiments, the above-mentioned vehicle control method may further include: when the initial energy recovery power is greater than the initial total consumption power and the first candidate energy recovery power is less than the maximum allowable recovery power, determining that the vehicle meets the recovery energy improvement conditions, the initial total consumption power is the sum of the initial charging power and the initial working power, the first candidate energy recovery power is the sum of the initial charging power and the expected working power, and the target energy recovery power is the first candidate energy recovery power.

[0043] In this embodiment, the first candidate energy recovery power can be understood as an estimated energy recovery power, which is equivalent to adding a target difference power compared to the initial energy recovery power. The target difference power is the difference between the expected working power and the initial working power.

[0044] It should be understood that when the initial energy recovery power is greater than the initial total power consumption, it means that the calculated initial energy recovery power exceeds the sum of the initial working power and the initial charging power of the electrical equipment, and the working power of the electrical equipment can be appropriately increased. If the first candidate energy recovery power is less than the maximum allowable recovery power, it means that even if the initial working power of the electrical equipment is increased to the expected working power for operation, the value obtained by adding the initial charging power is less than the maximum allowable recovery power, which meets the conditions for increasing the recovery energy.

[0045] In this embodiment, part of the recovered target energy recovery power is used to charge the power battery at the initial charging power, that is, the target charging power of the power battery is still the initial charging power; the other part of the recovered target energy recovery power is used to operate the power-consuming equipment at the expected working power, that is, the target working power of the power-consuming equipment is the expected working power, achieving the purpose of increasing the power of the power-consuming equipment so that the current temperature of the monitored object quickly meets the preset conditions. And in this embodiment, the difference between the target energy recovery power and the initial energy recovery power is equal to the difference between the expected working power and the initial working power.

[0046] In this embodiment, the electrical device may be a heat dissipation device or a heating device.

[0047] Through the above method, when the current temperature of the monitored object does not meet the preset conditions, the power of the electrical equipment is increased when it is determined that the increased energy recovery meets the vehicle's recovery energy improvement conditions, thereby achieving an increase in energy recovery power. The increased recovery energy is used to increase the power of the electrical equipment and is not used for charging and discharging the power battery, which extends the battery life, reduces the battery's energy conversion, and improves the utilization efficiency of energy recovery.

[0048] In some embodiments, the electrical equipment includes a heat dissipation device, and the above-mentioned determination of the expected operating power of the electrical equipment of the vehicle may include: determining the difference between the current temperature of the monitored object and the preset operating temperature; determining the power coefficient of the electrical equipment based on the size of the difference, and the difference and the power coefficient are positively correlated; determining the expected operating power of the electrical equipment of the vehicle based on the power coefficient and the initial operating power of the electrical equipment.

[0049] In this embodiment, the monitored object may be any one of a drive motor, a power battery, and a power electronic unit.

[0050] In this embodiment, the preset working temperature and the above-mentioned expected temperature have the same physical meaning.

[0051] The power coefficient can be understood as the increased power coefficient, and the sum of the increased power coefficient and the number 1 is used as the power growth coefficient, such as the power coefficient shown in the following table:

[0052] In the above table, as the difference increases, the power coefficient increases, that is, the difference and the power coefficient are positively correlated. Further, the product of the power growth coefficient and the initial working power is used as the expected working power. For example, the expected working power can be determined by referring to the following formula: expected working power = initial working power X (1 + power coefficient), where 1 + power coefficient is the power growth coefficient.

[0053] It is understandable that when the current temperature of the monitored object differs greatly from the preset operating temperature, for the normal operation of the vehicle, it is hoped that the monitored object can be cooled down as quickly as possible, so that the target energy recovery power can be increased while the vehicle meets the recovery energy improvement conditions, and the increased recovery energy improves the working power of the electrical equipment; in addition, different power coefficients are set according to the difference between the current temperature of the monitored object and the preset operating temperature to determine the expected working power. The greater the difference, the greater the set power coefficient, so that the monitored object can quickly meet the preset conditions after the electrical equipment is running at high power.

[0054] In some embodiments, the electrical equipment includes a heating device, and the above-mentioned determination of the expected operating power of the electrical equipment of the vehicle may include: determining the expected operating power of the electrical equipment of the vehicle based on the obtained preset power coefficient and the initial operating power of the electrical equipment.

[0055] From the above content, it can be seen that when the electrical equipment includes a heating device, the monitored object is the power battery.

[0056] In this embodiment, the product of the preset power coefficient and the initial working power of the electrical equipment may be used as the estimated working power. As an example, the preset power coefficient may be 1.05.

[0057] It should be understood that the temperature control of the power battery is relatively strict, and the lower the better. Therefore, a larger power coefficient cannot be set according to the greater the temperature difference. Therefore, an optimal power coefficient that does not affect the operation of the power battery can be set according to actual conditions, that is, a preset power coefficient, which is used to determine the expected working power of the heating equipment.

[0058] In some embodiments, the electrical equipment includes a heat dissipation device, and the above-mentioned vehicle control method may also include: when the difference between the initial energy recovery power and the expected working power is greater than the initial charging power, and the second candidate energy recovery power is less than the maximum allowable recovery power, determining that the vehicle meets the recovery energy improvement conditions, the second candidate energy recovery power is the sum of the initial charging power and the maximum allowable working power of the electrical equipment, and the target energy recovery power is the second candidate energy recovery power.

[0059] From the above, it can be seen that for heating equipment, the temperature control of the power battery is relatively strict, and the lower the better, so the power coefficient of the heating equipment cannot be determined according to the temperature difference. Therefore, this embodiment is limited to heat dissipation equipment.

[0060] It should be understood that if the difference between the initial energy recovery power and the expected working power is greater than the initial charging power, it means that there is surplus recovered energy that can be used to increase the working power of the heat dissipation equipment. Therefore, when determining the target energy recovery power, it is not necessary to refer to the power increase coefficient, but to directly calculate whether the maximum working power of the electrical equipment is less than the maximum allowable recovery power. At the same time, in order to meet the condition that the executed energy recovery power does not exceed the maximum allowable recovery power, when the sum of the initial charging power and the maximum allowable working power of the electrical equipment is less than the maximum allowable recovery power, the sum of the initial charging power and the maximum allowable working power of the electrical equipment is used as the target energy recovery power.

[0061] In this embodiment, the target operating power of the electric device is the maximum allowable operating power. The target charging power of the power battery is the initial charging power.

[0062] Through the above method, while meeting the requirement of energy recovery, it is possible to maximize the increase in power of electrical equipment to achieve the purpose of increasing energy recovery.

[0063] In some embodiments, the above-mentioned vehicle control method may also include: when the initial energy recovery power is less than or equal to the initial total consumption power, determining that the vehicle meets the conditions for maintaining the initial energy recovery power; when the initial energy recovery power is greater than the expected working power, reducing the initial charging power to obtain the target charging power of the power battery; and determining the expected working power as the target working power of the electrical equipment, and the target charging power is the difference between the initial energy recovery power and the expected working power.

[0064] It is worth noting that when the initial energy recovery power is less than or equal to the initial total power consumption, it indicates that the vehicle cannot support further increase of the initial energy recovery power. However, in order to reduce multiple energy conversions during battery charging and discharging and improve the utilization efficiency of recovered energy, more of the recovered energy in the initial energy recovery power can be allocated to electrical equipment to increase the power of the electrical equipment.

[0065] Specifically, since the initial energy recovery power is greater than the expected working power, the expected working power can be directly allocated to the power-consuming equipment from the recovered energy, that is, the target working power is the expected working power; and the charging power of the power battery needs to be reduced, that is, the target charging power is the difference between the initial energy recovery power and the expected working power, that is, the reduction in the initial charging power is equal to the increase in the initial working power.

[0066] In this embodiment, the electrical device may be a heat dissipation device or a heating device.

[0067] In some embodiments, when the initial energy recovery power is less than or equal to the expected operating power of the electrical equipment, the initial energy recovery power is maintained and used as the target energy recovery power to achieve energy recovery, and all recovered energy is used as the target operating efficiency of the electrical equipment. It should be understood that there is no need to charge the power battery at this time, that is, the target charging power of the power battery is 0, so as to avoid multiple energy conversions during the battery charging and discharging process and improve the efficiency of the recovered energy.

[0068] In some embodiments, after exiting the energy recovery mode, the monitored object is heated or cooled according to the original control strategy. The strategy can be set according to actual conditions, for example, reducing the power operation of the electrical equipment to reduce the power battery consumption. In addition, other strategies can also be set, which are not described in detail in this embodiment.

[0069] Figure 3 is another flow chart of a vehicle control method according to an exemplary embodiment of the present disclosure. Figure 3 First, after determining that the vehicle is in energy recovery mode, the vehicle controller collects information. Take the vehicle controller collecting the following information as an example: the temperature T1 of the drive motor, the temperature T2 of the power battery, the temperature T3 of the power electronic unit, the maximum allowable recovery power P1 of the drive motor, the initial charging power P2 of the power battery, the initial working power P3 of the refrigeration and air conditioning, the initial working power P4 of the cooling fan, the initial working power P5 of the electric heater, the initial working power P6 of the electrical equipment, the initial energy recovery power P7, and the initial vehicle accessory power P6 has the same physical meaning as the initial working power of the above-mentioned electrical equipment. Among them, it should be understood that the refrigeration and air conditioning, the cooling fan and the electric heater are electrical equipment in different modes. And in the cooling mode, P5 is zero, and in the heating mode, P3 and P4 are zero. The mode of the vehicle can be determined based on whether P3, P4 and P5 are zero. And in the cooling mode, P6=P3+P4, and in the heating mode, P6=P5. The sum of P3+P4 is referred to as P6 below. 1 , further explaining and illustrating the embodiments of the present disclosure.

[0070] After collecting the information, in the cooling mode, the electric heating power is 0, and it is determined whether the current temperature of the drive motor, power battery and power electronic unit does not meet the corresponding preset conditions. If so, the estimated working power P6 of the vehicle's electrical equipment is determined. 1 new As an example, when any of the following conditions a, b, and c is true, it is determined that the corresponding preset condition is not satisfied.

[0071] Condition a: the temperature T1 of the drive motor is higher than a first preset temperature threshold of the drive motor; Condition b: the temperature T2 of the power battery is higher than a first preset temperature threshold of the power battery; Condition c: the temperature T3 of the power electronic unit is higher than a first preset temperature threshold of the power electronic unit.

[0072] Next, since it is the cooling mode, the estimated working power P6 of the vehicle's electrical equipment in the cooling mode is determined according to the above-mentioned implementation method. 1 new .

[0073] At P7 is greater than P6 1 +P2, and P7+P6 1 new - P6 1 If it is less than P1, it is determined that the vehicle meets the recovery energy improvement conditions. And the target energy recovery power becomes P7 new =P2+P6 1 new , that is, the drive motor is based on P7 new Perform energy recovery, the increased recovery energy is P6 1 new - P6 1 , the target charging power is P2, the target working power is P6 1 new .

[0074] In P7 and P6 1 new The difference between them is greater than P2, and P7+P6 1 new1 If it is less than P1, it is determined that the vehicle meets the recovery energy improvement conditions. And the target energy recovery power becomes P7 new =P2+P6 1 new1 , P6 1 new1 = P2+P3max+P4max, P3max is the maximum allowable working power of the refrigeration air conditioner, P4max is the maximum allowable working power of the cooling fan, the target charging power is P2, and the target working power is P6 1 new1 .

[0075] P7 is smaller than P6 1 +P2, it is determined that the vehicle meets the conditions for maintaining the initial energy recovery power, P7 remains unchanged, that is, the target energy recovery power is P7, and if P7 is greater than P6 1 new , then P6 1 newAs the target working power, the charging power of the power battery is reduced at the same time, that is, the target charging power becomes P7-P6 1 new .

[0076] When P7 is less than or equal to P6, the target energy recovery power is P7, and P7 is used as the power of the electrical equipment, that is, the target working power of the electrical equipment is P7, the target charging power of the power battery is 0, and charging is not performed.

[0077] When the vehicle exits energy recovery, the following strategies are executed to determine the following conditions: Condition d: The current temperature of the drive motor is lower than the preset temperature t1; Condition e: The current temperature of the power battery is lower than the preset temperature t2; Condition f: the current temperature of the power electronic unit is lower than the preset temperature t3; When the above conditions d, e and f are all met, the refrigeration air conditioner and the cooling fan are operated at zero power. When any one of the above conditions d, e and f is not met, the original control strategy is executed. The original control strategy can refer to the above embodiment.

[0078] After collecting the information, in the heating mode, the cooling air conditioner and cooling fan power is 0, and it is determined whether the current temperature of the power battery does not meet the corresponding preset conditions. If so, the estimated working power P5 of the vehicle's electrical equipment is determined. new , since it is heating mode, continuing the above example, P5 new = P5 × 1.05.

[0079] When P7 is greater than P2+P5, and P7+P5 new -When P5 is less than P1, it is determined that the vehicle meets the recovery energy improvement conditions. And the target energy recovery power becomes P7 new =P2+P5 new , that is, the drive motor is based on P7 new Perform energy recovery, the increased recovery energy is P5 new -P5, target charging power is P2, target working power is P5 new .

[0080] When P7 is less than P2+P5, it is determined that the vehicle meets the conditions for maintaining the initial energy recovery power, and P7 remains unchanged, that is, the target energy recovery power is P7. If P7 is greater than P5 new , then P5 new As the target working power, the charging power of the power battery is reduced at the same time, that is, the target charging power becomes P7-P5 new .

[0081] When P7 is less than or equal to P5, the target energy recovery power is P7, and P7 is used as the power of the electrical equipment, that is, the target working power of the electrical equipment is P5.

[0082] When the vehicle exits energy recovery, the original control strategy is executed, and the original control strategy can refer to the above embodiment.

[0083] Based on the same concept, the present disclosure provides a vehicle control device. Figure 4 FIG. 1 is a block diagram of a vehicle control device according to an exemplary embodiment. Figure 4 , the vehicle control device 400 comprises: A first determination module 401 is used to determine an estimated working power of an electric device of the vehicle when the vehicle is in an energy recovery mode and the current temperature of a monitored object of the vehicle does not meet a preset condition, wherein the estimated working power is greater than an initial working power of the electric device; An acquisition module 402 is used to acquire an initial charging power of a power battery of the vehicle, an initial energy recovery power of the vehicle, and a maximum allowable recovery power of a driving motor of the vehicle; A second determining module 403 is configured to increase the initial energy recovery power of the vehicle to a target energy recovery power when it is determined that the vehicle satisfies a recovery energy improvement condition based on at least the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power, and the maximum allowable recovery power, and the increased energy recovery power is used to increase the power of the electrical equipment; The first control module 404 is used to control the vehicle to perform energy recovery according to the target energy recovery power.

[0084] Optionally, the vehicle control device 400 further includes: A third determination module is used to determine that the vehicle meets the recovery energy improvement condition when the initial energy recovery power is greater than the initial total consumption power and the first candidate energy recovery power is less than the maximum allowable recovery power; Among them, the initial total power consumption is the sum of the initial charging power and the initial working power, the first candidate energy recovery power is the sum of the initial charging power and the expected working power, and the target energy recovery power is the first candidate energy recovery power.

[0085] Optionally, the electrical device includes a heat dissipation device, and the first determining module 401 includes: A first determination submodule, used to determine the difference between the current temperature of the monitored object and a preset operating temperature; A second determination submodule is used to determine the power coefficient of the electrical equipment according to the size of the difference, and the difference and the power coefficient are positively correlated; The third determination submodule is used to determine the expected operating power according to the power coefficient and the initial operating power.

[0086] Optionally, the electrical equipment includes a heat dissipation device, and the vehicle control device 400 further includes: a fourth determination module, configured to determine that the vehicle satisfies a recovery energy improvement condition when a difference between the initial energy recovery power and the estimated operating power is greater than the initial charging power and the second candidate energy recovery power is less than the maximum allowable recovery power; The second candidate energy recovery power is the sum of the initial charging power and the maximum allowable operating power of the electrical equipment, and the target energy recovery power is the second candidate energy recovery power.

[0087] Optionally, the vehicle control device 400 further includes: a fifth determining module, configured to determine that the vehicle satisfies a condition for maintaining the initial energy recovery power when the initial energy recovery power is less than or equal to the initial total power consumption; a power reduction module, configured to reduce the initial charging power to obtain a target charging power of the power battery when the initial energy recovery power is greater than the estimated operating power; and The sixth determination module is used to determine the expected working power as the target working power of the electrical equipment, and the target charging power is the difference between the initial energy recovery power and the expected working power.

[0088] Optionally, the vehicle control device 400 further includes: A second control module, configured to control the operation of the electrical equipment according to a target operating power of the electrical equipment, wherein the target operating power is the maximum allowable recovery power or the estimated operating power; The third control module is used to charge the power battery according to the target charging power of the power battery, where the target charging power is the initial charging power or a charging power obtained by reducing the initial charging power.

[0089] Optionally, the electrical equipment includes a heating device, the monitored object includes the power battery, and the first determining module 401 further includes: The fourth determination submodule is used to determine the expected operating power of the electrical equipment of the vehicle according to the acquired preset power coefficient and the initial operating power of the electrical equipment.

[0090] Among them, the implementation of each module in the above-mentioned vehicle control device 400 can refer to the above-mentioned method embodiment, and this embodiment will not be repeated here.

[0091] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the vehicle control method provided by the present disclosure are implemented.

[0092] The present disclosure also provides a vehicle, comprising the vehicle control device provided by the present disclosure.

[0093] Figure 5 5 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 500 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 500 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0094] Reference Figure 5 , the vehicle 500 may include various subsystems, for example, an infotainment system 510, a perception system 520, a decision control system 530, a drive system 540, and a computing platform 550. The vehicle 500 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 500 may be interconnected by wire or wireless means.

[0095] In some embodiments, the infotainment system 510 may include a communication system, an entertainment system, and a navigation system, among others.

[0096] The perception system 520 may include several sensors for sensing information about the environment around the vehicle 500. For example, the perception system 520 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0097] The decision control system 530 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0098] The drive system 540 may include components that provide powered motion for the vehicle 500. In one embodiment, the drive system 540 may include an engine, an energy source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination of one or more thereof. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0099] Some or all functions of the vehicle 500 are controlled by a computing platform 550. The computing platform 550 may include at least one first processor 551 and a memory 552, and the first processor 551 may execute instructions 553 stored in the memory 552.

[0100] The first processor 551 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0101] The memory 552 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0102] In addition to instructions 553 , memory 552 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 552 may be used by computing platform 550 .

[0103] In the embodiment of the present disclosure, the first processor 551 can execute instruction 553 to complete all or part of the steps of the above-mentioned vehicle control method.

[0104] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0105] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0106] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: When the vehicle is in an energy recovery mode and the current temperature of the monitored object of the vehicle does not meet a preset condition, determining an estimated operating power of an electrical device of the vehicle, the estimated operating power being greater than an initial operating power of the electrical device; Obtaining an initial charging power of a power battery of the vehicle, an initial energy recovery power of the vehicle, and a maximum allowable recovery power of a drive motor of the vehicle; When it is determined that the vehicle meets the recovery energy improvement condition at least based on the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power and the maximum allowable recovery power, the initial energy recovery power of the vehicle is increased to a target energy recovery power, and the increased energy recovery power is used to increase the power of the electrical equipment; The vehicle is controlled to perform energy recovery according to the target energy recovery power.

2. The method according to claim 1, characterized in that The method further comprises: When the initial energy recovery power is greater than the initial total consumed power and the first candidate energy recovery power is less than the maximum allowable recovery power, determining that the vehicle meets the recovery energy improvement condition; Among them, the initial total power consumption is the sum of the initial charging power and the initial working power, the first candidate energy recovery power is the sum of the initial charging power and the expected working power, and the target energy recovery power is the first candidate energy recovery power.

3. The method according to claim 1, characterized in that: The electrical equipment includes a heat dissipation device, and determining the estimated operating power of the electrical equipment of the vehicle includes: Determining the difference between the current temperature of the monitored object and a preset operating temperature; Determine the power coefficient of the electrical equipment according to the size of the difference, wherein the difference and the power coefficient are positively correlated; The expected operating power is determined according to the power coefficient and the initial operating power.

4. The method according to claim 2, characterized in that: The electrical equipment includes a heat dissipation device, and the method further includes: When the difference between the initial energy recovery power and the estimated operating power is greater than the initial charging power, and the second candidate energy recovery power is less than the maximum allowable recovery power, determining that the vehicle meets the recovery energy improvement condition; The second candidate energy recovery power is the sum of the initial charging power and the maximum allowable operating power of the electrical equipment, and the target energy recovery power is the second candidate energy recovery power.

5. The method according to claim 2, characterized in that: The method further comprises: In a case where the initial energy recovery power is less than or equal to the initial total consumed power, determining that the vehicle meets a condition for maintaining the initial energy recovery power; When the initial energy recovery power is greater than the estimated operating power, reducing the initial charging power to obtain a target charging power for the power battery; and The predicted operating power is determined as the target operating power of the electrical equipment, and the target charging power is the difference between the initial energy recovery power and the predicted operating power.

6. The method according to claim 2, 4 or 5, characterized in that: The method further comprises: Controlling the operation of the electrical equipment according to the target operating power of the electrical equipment, wherein the target operating power is the maximum allowable recovery power or the estimated operating power; The power battery is charged according to a target charging power of the power battery, where the target charging power is the initial charging power or a charging power obtained by reducing the initial charging power.

7. The method according to claim 1, characterized in that The electrical equipment includes a heating device, the monitored object includes the power battery, and determining the estimated working power of the electrical equipment of the vehicle includes: The estimated operating power of the electrical equipment of the vehicle is determined based on the acquired preset power coefficient and the initial operating power of the electrical equipment.

8. A vehicle control device, characterized in that: include: A first determination module is used to determine the expected working power of the electric equipment of the vehicle when the vehicle is in an energy recovery mode and the current temperature of the monitored object of the vehicle does not meet a preset condition, wherein the expected working power is greater than the initial working power of the electric equipment; An acquisition module, used to acquire an initial charging power of a power battery of the vehicle, an initial energy recovery power of the vehicle, and a maximum allowable recovery power of a drive motor of the vehicle; a second determination module, configured to increase the initial energy recovery power of the vehicle to a target energy recovery power when it is determined that the vehicle satisfies a recovery energy improvement condition based at least on the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power, and the maximum allowable recovery power, and the increased energy recovery power is used to increase the power of the electrical equipment; The first control module is used to control the vehicle to perform energy recovery according to the target energy recovery power.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A vehicle, characterized in that: Includes the vehicle control device as claimed in claim 8.

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