New energy commercial vehicle braking energy recovery and charging method and device

Abstract

The invention relates to a new energy commercial vehicle braking energy recycling and electricity supplementing method and device.The method comprises the steps that when a braking signal of a target vehicle is obtained, the braking strength of the target vehicle is determined according to the braking signal, and the braking strength is used for representing the strength of needed braking force; according to a preset mapping relation table of the braking strength and vehicle braking strategies, a target braking strategy corresponding to the braking strength is determined, and the target braking strategy comprises the braking output proportion of a hydraulic braking system and the braking output proportion of a motor regenerative braking system; and controlling the target vehicle to execute the target braking strategy. By adopting the method, the braking strength is determined according to the braking signal of the vehicle, and the braking output of the hydraulic braking system and the braking output of the motor regenerative braking system are respectively controlled according to the braking strength, so that the possibility of excessive intervention of hydraulic braking force is reduced; and the recovery efficiency of the vehicle braking energy and the charging efficiency of the storage battery are improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and in particular to a method and device for recovering power from braking energy of a new energy commercial vehicle. Background Art

[0002] As the world's requirements for environmental protection and energy efficiency continue to increase, how to efficiently recover and utilize braking energy during driving of electric vehicles such as new energy commercial vehicles has become an important research direction. Vehicle braking energy recovery technology not only helps to reduce vehicle energy consumption, but also prolongs the service life of the battery, reduces dependence on external power sources, and the recovered braking energy can replenish the battery on the vehicle, thereby improving the vehicle's economic performance and range.

[0003] The vehicle braking system in the related art is not reliable enough when the vehicle is decelerating, which may cause excessive intervention of the hydraulic braking force, thereby reducing the efficiency of braking energy recovery, that is, reducing the battery charging efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, on-board equipment, computer-readable storage medium and computer program product for braking energy recovery and charging of new energy commercial vehicles to address the technical problems of low braking energy recovery efficiency and low battery charging efficiency of the above-mentioned electric vehicles.

[0005] In a first aspect, the present application provides a method for recharging power by regenerating braking energy for a new energy commercial vehicle. The method is applicable to a vehicle braking system, wherein the vehicle braking system includes a hydraulic braking system, a motor regenerative braking system, and a battery. The method includes:

[0006] When a braking signal of a target vehicle is obtained, the braking strength of the target vehicle is determined according to the braking signal, and the braking strength is used to characterize the strength of the required braking force;

[0007] According to a preset mapping relationship table between braking intensity and vehicle braking strategy, a target braking strategy corresponding to the braking intensity is determined, wherein the target braking strategy includes a braking output ratio of a hydraulic braking system and a braking output ratio of a motor regenerative braking system;

[0008] The target vehicle is controlled to execute the target braking strategy to achieve braking energy recovery and battery charging of the target vehicle.

[0009] In one embodiment, determining the braking intensity of the target vehicle according to the braking signal includes:

[0010] Determine the braking force value of the target vehicle according to the braking signal, and determine the braking duration of the target vehicle according to the duration of the braking signal;

[0011] The braking intensity is determined based on the braking force value, braking duration and a preset adjustment coefficient, and the braking adjustment coefficient is determined based on the performance parameters of the target vehicle.

[0012] In one embodiment, after determining the braking intensity according to the braking force value, the braking duration, and the preset adjustment coefficient, the method includes:

[0013] Obtaining the humidity value of the target road section where the target vehicle is currently located, and determining a braking intensity correction coefficient according to the humidity value;

[0014] According to the braking intensity correction coefficient and the braking intensity, an updated braking intensity is obtained;

[0015] According to the preset mapping relationship table between braking intensity and vehicle braking strategy, a target braking strategy corresponding to the braking intensity is determined, including:

[0016] The target braking strategy is determined according to the mapping relationship table between braking intensity and vehicle braking strategy and the updated braking intensity.

[0017] In one embodiment, the target road section is a rolling area of ​​wheels of the target vehicle. Before obtaining the humidity value of the target road section where the target vehicle is currently located, the method further includes:

[0018] The rolling area is divided into a plurality of adjacent rolling sub-areas, and the road surface humidity value of each rolling sub-area is obtained respectively;

[0019] The humidity value of the target road section is determined based on the road humidity value of each rolling sub-area.

[0020] In one embodiment, determining the humidity value of the target road section according to the road surface humidity value of each rolling sub-area includes:

[0021] Determine the road surface humidity value of the rolling area corresponding to each wheel according to the road surface humidity value of each rolling sub-area corresponding to each wheel;

[0022] The road humidity value of the target road section is determined according to the road humidity value of the rolling area corresponding to each wheel and the preset humidity influence weight corresponding to each wheel.

[0023] In one embodiment, determining a target braking strategy according to a mapping relationship table between braking intensity and vehicle braking strategy and an updated braking intensity includes:

[0024] When the updated braking intensity is not less than a preset first braking intensity threshold, determining the target braking strategy to control the hydraulic braking system to brake the target vehicle;

[0025] When the updated braking intensity is not greater than a preset second braking intensity threshold, determining the target braking strategy is to control the motor regenerative braking system to brake the target vehicle, and the second braking intensity threshold is less than the first braking intensity threshold;

[0026] When the updated braking intensity is greater than the second braking intensity threshold and less than the first braking intensity threshold, the target braking strategy is determined to determine the braking output proportion of the hydraulic braking system and the braking output proportion of the motor regenerative braking system according to the updated braking intensity.

[0027] In a second aspect, the present application also provides a braking energy recovery and charging device for a new energy commercial vehicle, which is applicable to a vehicle braking system, wherein the vehicle braking system includes a hydraulic braking system, a motor regenerative braking system and a battery, and the device includes:

[0028] A braking intensity determination module is used to determine the braking intensity of the target vehicle according to the braking signal when the braking signal of the target vehicle is obtained, and the braking intensity is used to characterize the strength of the required braking force;

[0029] A braking strategy determination module, used to determine a target braking strategy corresponding to the braking intensity according to a preset mapping relationship table between braking intensity and vehicle braking strategy, wherein the target braking strategy includes a braking output ratio of a hydraulic braking system and a braking output ratio of a motor regenerative braking system;

[0030] The braking strategy execution module is used to control the target vehicle to execute the target braking strategy to achieve braking energy recovery and battery charging of the target vehicle.

[0031] In a third aspect, the present application further provides a vehicle-mounted device, the vehicle-mounted device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0032] When a braking signal of a target vehicle is obtained, the braking strength of the target vehicle is determined according to the braking signal, and the braking strength is used to characterize the strength of the required braking force;

[0033] According to a preset mapping relationship table between braking intensity and vehicle braking strategy, a target braking strategy corresponding to the braking intensity is determined, wherein the target braking strategy includes a braking output ratio of a hydraulic braking system and a braking output ratio of a motor regenerative braking system;

[0034] The target vehicle is controlled to execute the target braking strategy to achieve braking energy recovery and battery charging of the target vehicle.

[0035] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0036] When a braking signal of a target vehicle is obtained, the braking strength of the target vehicle is determined according to the braking signal, and the braking strength is used to characterize the strength of the required braking force;

[0037] According to a preset mapping relationship table between braking intensity and vehicle braking strategy, a target braking strategy corresponding to the braking intensity is determined, wherein the target braking strategy includes a braking output ratio of a hydraulic braking system and a braking output ratio of a motor regenerative braking system;

[0038] The target vehicle is controlled to execute the target braking strategy to achieve braking energy recovery and battery charging of the target vehicle.

[0039] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0040] When a braking signal of a target vehicle is obtained, the braking strength of the target vehicle is determined according to the braking signal, and the braking strength is used to characterize the strength of the required braking force;

[0041] According to a preset mapping relationship table between braking intensity and vehicle braking strategy, a target braking strategy corresponding to the braking intensity is determined, wherein the target braking strategy includes a braking output ratio of a hydraulic braking system and a braking output ratio of a motor regenerative braking system;

[0042] The target vehicle is controlled to execute the target braking strategy to achieve braking energy recovery and battery charging of the target vehicle.

[0043] The above-mentioned new energy commercial vehicle braking energy recovery and power replenishment method, device, vehicle-mounted equipment, storage medium and computer program product are applicable to vehicle braking systems, and the vehicle braking system includes a hydraulic braking system, a motor regenerative braking system and a battery. The method includes: when the braking signal of the target vehicle is obtained, the braking strength of the target vehicle is determined according to the braking signal, and the braking strength is used to characterize the strength of the required braking force; according to the preset mapping relationship table of braking strength and vehicle braking strategy, the target braking strategy corresponding to the braking strength is determined, and the target braking strategy includes the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system; the target vehicle is controlled to execute the target braking strategy to achieve the braking energy recovery and battery power replenishment of the target vehicle. The present application adopts the above-mentioned method to determine the braking strength according to the braking signal of the vehicle, so as to find and determine the corresponding target braking strategy in the preset mapping relationship table of braking strength and vehicle braking strategy according to the braking strength, and control the braking output of the hydraulic braking system and the braking output of the motor regenerative braking system respectively according to the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system in the target braking strategy, thereby reducing the possibility of excessive intervention of the hydraulic braking force, thereby improving the recovery efficiency of the braking energy and the efficiency of battery power replenishment. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a diagram of the application environment of a method for recovering power from braking energy of a new energy commercial vehicle in one embodiment;

[0045] Figure 2 A flowchart of a method for recovering power from braking energy of a new energy commercial vehicle in one embodiment;

[0046] Figure 3 A flowchart for determining braking intensity in one embodiment;

[0047] Figure 4 A flowchart of determining an updated braking intensity according to a humidity value of a target road section in one embodiment;

[0048] Figure 5 A flow chart of determining a humidity value of a target road section in one embodiment;

[0049] Figure 6 A flow chart of determining the humidity value of a target road section according to the road humidity value of a rolling area corresponding to each wheel in an embodiment;

[0050] Figure 7 A flowchart of determining a target braking strategy according to an updated braking intensity in one embodiment;

[0051] Figure 8 It is a structural block diagram of a braking energy recovery and charging device for a new energy commercial vehicle in one embodiment;

[0052] Fig. 9 FIG. 4 is a diagram showing the internal structure of a vehicle-mounted device in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] Energy recovery technology for new energy commercial vehicles plays an important role in modern vehicle control technology, especially in improving the economic performance and driving range of vehicles. With the increasing global requirements for environmental protection and energy efficiency, how to efficiently recover and utilize energy during driving has become an important research direction for new energy commercial vehicles. Energy recovery technology not only helps to reduce vehicle energy consumption, but also prolongs the service life of the battery. The recovered braking energy can replenish the battery on the vehicle, thereby reducing dependence on external power sources and improving the sustainability and economy of the vehicle.

[0055] In the related art, the braking system of the vehicle is not reliable enough when the vehicle is decelerating, which may cause excessive intervention of the hydraulic braking force, thereby reducing the efficiency of braking energy recovery and the efficiency of battery charging.

[0056] In view of the above technical problems, the present application provides a method for recovering power from braking energy of new energy commercial vehicles, which can be applied to Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 is a vehicle-mounted device, and the vehicle-mounted device includes a vehicle-mounted control unit, a sensor, a vehicle-mounted computer and a vehicle-mounted communication module, etc. The vehicle-mounted control unit is responsible for the vehicle's braking system control, energy recovery management, vehicle status monitoring, etc., including an engine control unit, a braking control unit and an energy management unit, etc.; the sensor is used to collect real-time data of the vehicle and the environment, such as vehicle speed, brake pressure, temperature, etc. The vehicle of this application is a new energy commercial vehicle or a hybrid electric vehicle, etc., and the sensor includes but is not limited to a speed sensor, a brake pressure sensor, a temperature sensor, etc.; the vehicle-mounted computer is used to process data from the sensor and perform complex calculations and decisions, such as braking force distribution and energy recovery strategies, etc.; the vehicle-mounted communication module is responsible for the communication between the vehicle and the external network (cloud server, other vehicles), including a Bluetooth module, a Wi-Fi module, etc. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers. The server is used to store and manage the vehicle's historical data, real-time data, etc., and provide data analysis, prediction and optimization services.

[0057] In one embodiment, Figure 2 As shown, this method is applied to Figure 1 The terminal in the example is used for explanation. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method is applicable to a vehicle braking system of a new energy commercial vehicle or a hybrid vehicle, and the vehicle braking system includes a hydraulic braking system, a motor regenerative braking system and a battery. The method includes the following steps:

[0058] Step 202, when the braking signal of the target vehicle is obtained, the braking intensity of the target vehicle is determined according to the braking signal, and the braking intensity is used to characterize the strength of the required braking force.

[0059] The target vehicle is a new energy commercial vehicle or hybrid vehicle that is in motion. The brake signal is a signal obtained from the vehicle's brake system to indicate the occurrence of a braking operation. The source of the brake signal can be the driver stepping on the brake pedal, the autonomous driving system or other sensors. For example, when the driver steps on the brake pedal, the sensor on the brake pedal detects this action and generates a brake signal; in an autonomous driving vehicle, the brake signal may be generated by the autonomous driving control unit based on the vehicle's sensor data and autonomous driving algorithms; other sensors on the vehicle (for example, speed sensors, environmental sensors, etc.) may also generate brake signals, especially in emergency braking or autonomous driving situations.

[0060] Braking intensity refers to the strength of the braking force required during the braking process. It is usually expressed by a numerical value, which is related to the travel of the brake pedal, etc. The greater the braking intensity, the greater the braking force that the braking system needs to provide.

[0061] Exemplarily, after the on-board control unit of the target vehicle obtains the braking signal of the driver stepping on the brake pedal, the braking signal is filtered and normalized before preprocessing, and then the braking signal is analyzed according to a preset analysis method to obtain the braking intensity of the target vehicle.

[0062] Step 204, determining a target braking strategy corresponding to the braking intensity according to a preset mapping relationship table between braking intensity and vehicle braking strategy, wherein the target braking strategy includes a braking output ratio of the hydraulic braking system and a braking output ratio of the motor regenerative braking system.

[0063] The mapping relationship table between the preset braking intensity and the vehicle braking strategy is obtained based on a large number of vehicle braking experiments. Different braking intensities correspond to different vehicle braking strategies. The sum of the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system is 100%. Under different braking intensities, the braking output ratio of the two changes dynamically to avoid over-utilization of the hydraulic braking system and thus waste of braking energy.

[0064] Motor regenerative braking refers to the process of converting the drive motor of an electric vehicle into a generator during braking, thereby converting the vehicle's kinetic energy into electrical energy and storing it in the battery; when the vehicle slows down or brakes, the rotor of the drive motor continues to rotate due to inertia. At this time, the motor can work as a generator to generate electrical energy. Through the control circuit, this part of the electrical energy can be stored in the battery instead of being converted into heat energy and dissipated like traditional mechanical braking. Hydraulic braking refers to the process of transmitting braking force through the hydraulic system, causing the brake friction pad to contact the brake disc or brake drum, and slowing down or stopping the vehicle through friction; when the driver steps on the brake pedal, the hydraulic system transfers hydraulic oil to the brake, causing the brake to generate friction, thereby consuming the vehicle's kinetic energy.

[0065] For example, when the braking intensity is low, it mainly relies on motor regenerative braking, that is, the braking output ratio of the motor regenerative braking system can be appropriately increased, so as to recover the braking energy to the greatest extent and store it in the battery, thereby improving energy utilization and extending battery life; when the braking intensity is high, the braking output ratio of the hydraulic braking system is appropriately increased, so as to provide sufficient braking force to ensure safe braking of the vehicle; when the braking intensity is neither low nor high, the braking output ratio of the motor regenerative braking system and the braking output ratio of the hydraulic braking system can be dynamically adjusted to achieve dynamic balance of vehicle braking.

[0066] Step 206, controlling the target vehicle to execute the target braking strategy to achieve braking energy recovery and battery charging of the target vehicle.

[0067] Among them, controlling the target vehicle to execute the target braking strategy means controlling the hydraulic braking system and the motor regenerative braking system to output braking force in proportion to meet the braking intensity requirements according to the determined braking strategy, thereby improving the braking energy recovery efficiency of the target vehicle and the battery charging efficiency.

[0068] Exemplarily, the control method may be to receive the target braking strategy through an on-board control unit of the target vehicle, and control the actuators of the hydraulic braking system and the motor regenerative braking system (e.g., brake pump, motor) to output corresponding braking force; or, to transmit the target braking strategy to each actuator unit through the CAN bus or other communication network of the target vehicle to achieve the distribution and control of the braking force.

[0069] In the above-mentioned method for recovering and replenishing power by braking energy of new energy commercial vehicles, the braking intensity is determined according to the braking signal of the vehicle, so as to find and determine the corresponding target braking strategy in the mapping relationship table of preset braking intensity and vehicle braking strategy according to the braking intensity, and the braking output of the hydraulic braking system and the braking output of the motor regenerative braking system are controlled respectively according to the braking output proportion of the hydraulic braking system and the braking output proportion of the motor regenerative braking system in the target braking strategy, thereby reducing the possibility of excessive intervention of the hydraulic braking force and improving the recovery efficiency of the braking energy; in addition, by dynamically adjusting the ratio of the motor regenerative braking and the friction braking of the hydraulic braking system, the dynamic balance of the braking system can be achieved, and the wear of the vehicle braking system can be reduced, and its service life can be extended, and it is helpful to improve the braking energy recovery efficiency of the target vehicle and the charging efficiency of the battery.

[0070] In one embodiment, Figure 3 As shown, determining the braking intensity of the target vehicle according to the braking signal includes:

[0071] Step 302, determining the braking force value of the target vehicle according to the braking signal, and determining the braking duration of the target vehicle according to the duration of the braking signal.

[0072] The braking force value is the actual braking force applied to the wheels of the target vehicle as determined by the braking signal, which is usually obtained by converting and amplifying the force of the driver stepping on the brake pedal through the design and working mechanism of the vehicle braking system, and the force of the driver stepping on the brake pedal can be obtained through the pressure sensor on the brake pedal. The braking duration is the duration determined by the duration of the braking signal.

[0073] Step 304, determining the braking intensity according to the braking force value, the braking duration and a preset adjustment coefficient, wherein the braking adjustment coefficient is determined according to the performance parameters of the target vehicle.

[0074] Among them, the performance parameters of the target vehicle include the model, weight distribution and center of gravity of the target vehicle, and the adjustment coefficient is mainly determined according to the model, weight distribution and center of gravity of the target vehicle. Specifically, different models can be selected for braking tests, and the tests can be carried out under standard test conditions. The braking pressure, braking time, vehicle mass, effective area of ​​the braking device and actual braking intensity during each test are recorded, and then the adjustment coefficient is determined according to the braking pressure, braking time, vehicle mass, effective area of ​​the braking device and actual braking intensity obtained in each test.

[0075] For example, the calculation formula of the braking strength can refer to the following formula: ;

[0076] Where K is the adjustment coefficient, and its value range is [0.8, 1.2]; a is the braking acceleration; t is the braking time of the target vehicle, which can be the time required for the target vehicle to stop completely from the beginning of braking. Since the braking acceleration a can be obtained according to the formula F / M, where F is the braking force and M is the weight of the target vehicle. Then the following formula for calculating the braking intensity can be further obtained: ;

[0077] Wherein, Z is the braking intensity; K is the adjustment coefficient, which ranges from [0.8 to 1.2]; P is the braking pressure; S is the effective contact area between the braking device and the brake disc or brake drum; M is the weight of the target vehicle; t is the braking duration of the target vehicle, which can be the time required for the target vehicle to stop completely from the start of braking.

[0078] In this embodiment, the braking intensity Z can be determined according to the braking force value, weight, adjustment coefficient and braking duration of the target vehicle, and can also be determined according to the adjustment coefficient, weight, braking pressure, effective contact area between the braking device and the brake disc or brake drum, and braking duration of the target vehicle. This helps to improve the accuracy and convenience of determining the direct-action intensity Z, thereby helping to ensure the accuracy of the subsequent dynamic distribution of the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system, thereby further improving the recovery efficiency during subsequent braking energy recovery.

[0079] In one embodiment, Figure 4 As shown, after determining the braking intensity according to the braking force value, the braking duration and the preset adjustment coefficient, the method includes:

[0080] Step 402, obtaining the humidity value of the target road section where the target vehicle is currently located, and determining the braking intensity correction coefficient according to the humidity value.

[0081] Among them, the target road section is the road section when the target vehicle braking signal is obtained. The humidity value of the target road section is used to characterize the degree of moisture of the target road section. Since the friction coefficient of the wet road surface is low, the braking distance will increase significantly. In order to make up for the difference between the actual braking effect and the theoretical calculation, it is necessary to perform precision correction on the braking intensity calculated above. Usually, it is necessary to increase the braking intensity, that is, the braking intensity correction coefficient can be set larger; while the friction coefficient of the dry road surface is high, and the braking distance is relatively short. On the dry road surface, the braking effect is better, so it is necessary to reduce the braking intensity, that is, the braking intensity correction coefficient can be set smaller. The value range of the braking intensity correction coefficient in this embodiment is [0.8, 1.2], and the braking intensity correction coefficient corresponding to the humidity value can be determined according to the mapping relationship table of the preset humidity value and the braking intensity correction coefficient. The mapping relationship table of the humidity value and the braking intensity correction coefficient can be obtained based on a large number of vehicle braking experiments of the same type as the target vehicle.

[0082] Specifically, the dryness of the road surface can be achieved through a variety of methods and devices, which can help the driver or the autonomous driving system understand the slippery state of the road surface in real time, thereby adjusting the driving behavior or braking strategy.

[0083] Exemplarily, in this embodiment, taking the on-board camera and image processing as an example, a on-board camera is installed directly in front of each wheel of the target vehicle to capture the image of the target road section in real time; when the braking signal of the target vehicle is obtained, the time when the braking signal is generated can be determined according to the distance between the on-board camera and the adjacent wheel and the speed of the target vehicle; then the target road surface image is determined according to the generation time; then the image of the target road section is analyzed by a preset image processing algorithm to determine the slippery state and humidity value of the target road section; then the corresponding braking intensity correction coefficient is determined according to the mapping relationship table of preset humidity values ​​and braking intensity correction coefficients, wherein the mapping relationship table of preset humidity values ​​and braking intensity correction coefficients is determined based on a large number of experimental data of different vehicles on roads with different dryness levels.

[0084] Step 404, obtaining updated braking intensity according to the braking intensity correction coefficient and the braking intensity.

[0085] Exemplarily, the result of multiplying the braking intensity correction coefficient by the braking intensity is used as the updated braking intensity.

[0086] Step 406, determining a target braking strategy according to the mapping relationship table between braking intensity and vehicle braking strategy and the updated braking intensity.

[0087] Specifically, after obtaining the updated braking intensity, the target braking strategy corresponding to the updated braking intensity is searched and determined in the mapping relationship table between the braking intensity and the vehicle braking strategy.

[0088] In this embodiment, when a braking signal is obtained, the braking intensity is updated according to the wetness of the road section where the target vehicle is located at the time, which helps to further ensure the accuracy of the subsequent determination of the target braking strategy, that is, further improve the accuracy of the subsequent dynamic allocation of the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system, thereby helping to further improve the recovery efficiency of the subsequent braking energy recovery; and helps to ensure the safety and stability of the target vehicle during driving.

[0089] In one embodiment, Figure 5 As shown, the target road section is the rolling area of ​​the wheels of the target vehicle. Before obtaining the humidity value of the target road section where the target vehicle is currently located, the method further includes:

[0090] Step 502: divide the rolling area into a plurality of adjacent rolling sub-areas, and obtain the road surface humidity value of each rolling sub-area respectively.

[0091] Among them, taking into account that during the driving process of the target vehicle, the four wheels are in actual contact with the road surface. When a large area of ​​the road surface is wet and slippery, there is still a possibility that the area passed by the wheels is a locally dry area, or, when a large area of ​​the road surface is dry, there is still a possibility that the area passed by the wheels is a wet and slippery area. Therefore, it is necessary to narrow the discussion on the target section to ensure the accuracy and reliability of the subsequent determination of the updated braking intensity. The target section in this embodiment takes the crushing area of ​​each wheel when the braking signal is obtained as an example, and the crushing area of ​​each wheel is a rectangle.

[0092] Exemplarily, the rolling area corresponding to each wheel is divided into a plurality of small rectangular areas with equal length and width in neat arrays in the horizontal and vertical directions, namely, rolling sub-areas; then, images of each rolling sub-area when the braking signal is generated are obtained; and then, the images of each rolling sub-area are analyzed by a preset image processing algorithm to determine the road surface humidity value of each rolling sub-area. Specifically, if the degree of dryness and wetness in the rolling sub-area is inconsistent, weights can be set according to the area of ​​the dry and wet areas to determine the road surface humidity value of the rolling sub-area.

[0093] Step 504, determining the humidity value of the target road section according to the road surface humidity values ​​of each rolling sub-area.

[0094] Exemplarily, the humidity value of the rolling area can be determined based on the sum of the humidity values ​​of each rolling sub-area.

[0095] In this embodiment, the rolling area is divided into multiple rolling sub-areas, and the road humidity value of each rolling sub-area is obtained respectively. Then, the humidity value of the target section is determined based on the road humidity value of each rolling sub-area. This helps to improve the accuracy of determining the humidity conditions of the target section, and further helps to improve the accuracy and reliability of the subsequent determination of the updated braking intensity.

[0096] In one embodiment, Figure 6 As shown, according to the road surface humidity value of each rolling sub-area, the humidity value of the target road section is determined, including:

[0097] Step 602: Determine the road surface humidity value of the rolling area corresponding to each wheel according to the road surface humidity value of each rolling sub-area corresponding to each wheel.

[0098] Specifically, the road surface humidity values ​​of all rolling sub-areas corresponding to a single wheel are added together to obtain the road surface humidity value of the rolling area corresponding to the wheel.

[0099] Step 604: Determine the road humidity value of the target road section according to the road humidity value of the rolling area corresponding to each wheel and the preset humidity influence weight corresponding to each wheel.

[0100] Among them, considering that when the vehicle braking system is working, although the four wheels are braked at the same time, since the center of gravity of some new energy commercial vehicles or hybrid vehicles is usually biased towards the front of the vehicle body, the front wheels bear most of the braking load, that is, when the vehicle braking system is braking, it mainly needs to brake the two front wheels. Therefore, the road surface humidity value of the rolling area corresponding to the two front wheels has a greater impact on the overall humidity value of the target road section, that is, the preset humidity influence weight corresponding to the two front wheels needs to be set to be greater than the preset humidity influence weight corresponding to the two rear wheels. Of course, in some special cases, for example, when the center of gravity of some new energy commercial vehicles or hybrid vehicles is biased towards the rear of the vehicle body, the preset humidity influence weight corresponding to the two rear wheels needs to be set to be greater than the preset humidity influence weight corresponding to the two front wheels. The preset humidity influence weight can be determined based on experimental data. For example, during the actual test process, braking tests can be performed on roads with different wetness levels, and the braking effect data and humidity values ​​of the front and rear wheels can be recorded to determine the humidity influence weights of the front and rear wheels.

[0101] For example, assuming that the front wheels bear most of the braking load, the preset humidity influence weight of the front wheels is 70%, and the preset humidity influence weight of the rear wheels is 30%, then the road humidity value of the target road section is the sum of the road humidity values ​​of the rolling areas corresponding to the two front wheels * 70%, and the sum of the road humidity values ​​of the rolling areas corresponding to the two rear wheels * 30%.

[0102] In this embodiment, further optimizing the road surface humidity value data of the target section according to the preset humidity influence weight helps to further improve the accuracy and reliability of determining the road surface humidity conditions of the target section, thereby improving the accuracy and reliability of subsequent determination of the updated braking intensity.

[0103] In one embodiment, Figure 7 As shown, according to the mapping relationship table between braking intensity and vehicle braking strategy and the updated braking intensity, the target braking strategy is determined, including:

[0104] Step 702, determine whether the updated braking intensity is not less than the preset first braking threshold. If the updated braking intensity is not less than the preset first braking threshold, execute step 704; otherwise, if the updated braking intensity is less than the preset first braking threshold, execute step 706.

[0105] Step 704 , determining the target braking strategy is to control the hydraulic braking system to brake the target vehicle.

[0106] Step 706, determining whether the updated braking intensity is not greater than a preset second braking threshold value, if the updated braking intensity is not greater than the preset second braking threshold value, executing step 708; otherwise, if the updated braking intensity is greater than the preset second braking threshold value, executing step 710;

[0107] Step 708 , determining that the target braking strategy is to control the motor regenerative braking system to brake the target vehicle.

[0108] Step 710 , determining the target braking strategy is to determine the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system respectively according to the updated braking intensity.

[0109] The preset second braking threshold is smaller than the preset first braking threshold.

[0110] Exemplarily, taking the preset first braking threshold of 0.7 and the preset second braking threshold of 0.1 as an example, when the updated braking intensity is less than 0.1, it indicates that the braking intensity is low. At this time, the motor regenerative braking system can provide the force required for braking the entire vehicle alone, and the energy recovery effect is optimal; when the updated braking intensity is greater than 0.7, it indicates that the braking intensity is high. At this time, it indicates that the target vehicle needs to perform emergency braking. In order to ensure braking safety, the braking force is completely provided by the hydraulic braking system, that is, the motor regenerative braking force no longer participates in braking to ensure the safety and reliability of the vehicle braking system; when the updated braking intensity is not less than 0.1 and not greater than 0.7, the braking force is provided jointly by the motor regenerative braking system and the hydraulic braking system to balance energy recovery and braking safety. For example, when the updated braking intensity is 0.5, the braking output of the corresponding hydraulic braking system accounts for 70%, and the output of the corresponding motor regenerative braking system accounts for 30%.

[0111] In this embodiment, by dynamically adjusting the ratio of the braking output of the motor regenerative braking system and the braking output of the hydraulic braking system according to the specific braking intensity, the energy recovery efficiency is maximized, the braking effect is optimized, and it helps to ensure the safety and reliability of the target vehicle in various braking scenarios.

[0112] The braking energy recovery and charging method for new energy commercial vehicles of the present application determines the braking intensity according to the braking signal of the vehicle, searches and determines the corresponding target braking strategy in a preset mapping relationship table of braking intensity and vehicle braking strategy according to the braking intensity, and controls the braking output of the hydraulic braking system and the braking output of the motor regenerative braking system respectively according to the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system in the target braking strategy, thereby reducing the possibility of excessive intervention of the hydraulic braking force and thus improving the efficiency of braking energy recovery; and after determining the braking intensity according to the braking signal, in order to further improve the accuracy and reliability of the braking intensity, the braking output of the hydraulic braking system and the braking output of the motor regenerative braking system are also determined according to the braking output ratio of the target vehicle. The humidity value of the target road section where the target vehicle is currently located is determined by the humidity value of the wheel's rolling area and the preset humidity influence weight corresponding to each wheel, so as to determine the braking correction coefficient according to the humidity value, and finally determine the updated braking intensity, i.e., the final braking intensity, based on the braking correction coefficient and the braking intensity, so as to ensure the accuracy and reliability of the subsequent dynamic allocation of the braking output of the motor regenerative braking system and the braking output of the hydraulic braking system, thereby improving the efficiency of subsequent braking energy recovery; in addition, through the dynamic balance of the vehicle's braking system, the wear of the vehicle's braking system can also be reduced and its service life can be extended; and it helps to improve the braking energy recovery efficiency of the target vehicle and the battery charging efficiency.

[0113] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0114] Based on the same inventive concept, the embodiment of the present application also provides a new energy commercial vehicle braking energy recovery and power replenishment device for realizing the above-mentioned new energy commercial vehicle braking energy recovery and power replenishment method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more embodiments of the new energy commercial vehicle braking energy recovery and power replenishment device provided below can refer to the limitations of the new energy commercial vehicle braking energy recovery and power replenishment method above, and will not be repeated here.

[0115] In one embodiment, Figure 8 As shown, a braking energy recovery and charging device for a new energy commercial vehicle is provided, comprising: a road humidity determination module 802, a braking intensity determination module 804, a braking strategy determination module 806 and a braking strategy execution module 808, wherein:

[0116] The braking intensity determination module 804 is used to determine the braking intensity of the target vehicle according to the braking signal when the braking signal of the target vehicle is obtained, and the braking intensity is used to represent the strength of the required braking force;

[0117] A braking strategy determination module 806 is used to determine a target braking strategy corresponding to the braking intensity according to a preset mapping relationship table between braking intensity and vehicle braking strategy, wherein the target braking strategy includes a braking output ratio of a hydraulic braking system and a braking output ratio of a motor regenerative braking system;

[0118] The braking strategy execution module 808 is used to control the target vehicle to execute the target braking strategy to achieve braking energy recovery and battery charging of the target vehicle.

[0119] In one embodiment, the braking intensity determination module 804 is also used to determine the braking force value of the target vehicle based on the braking signal, and determine the braking duration of the target vehicle based on the duration of the braking signal; the braking intensity is determined based on the braking force value, the braking duration and a preset adjustment coefficient, and the braking adjustment coefficient is determined based on the performance parameters of the target vehicle.

[0120] In one embodiment, the braking strategy determination module 806 is also used to obtain the humidity value of the target road section where the target vehicle is currently located, and determine the braking intensity correction coefficient based on the humidity value; obtain the updated braking intensity based on the braking intensity correction coefficient and the braking intensity; determine the target braking strategy based on the mapping relationship table between the braking intensity and the vehicle braking strategy and the updated braking intensity.

[0121] In one embodiment, the road surface humidity determination module 802 is used to divide the rolling area into multiple adjacent rolling sub-areas, and obtain the road surface humidity value of each rolling sub-area respectively; and determine the humidity value of the target road section according to the road surface humidity value of each rolling sub-area.

[0122] In one embodiment, the road surface humidity determination module 802 is also used to determine the road surface humidity value of the rolling area corresponding to each wheel based on the road surface humidity value of each rolling sub-area corresponding to each wheel; and determine the road surface humidity value of the target section based on the road surface humidity value of the rolling area corresponding to each wheel and the preset humidity influence weight corresponding to each wheel.

[0123] In one embodiment, the braking strategy determination module 806 is also used to determine that the target braking strategy is to control the hydraulic braking system to brake the target vehicle when the updated braking intensity is not less than a preset first braking intensity threshold; to determine that the target braking strategy is to control the motor regenerative braking system to brake the target vehicle when the updated braking intensity is not greater than a preset second braking intensity threshold, and the second braking intensity threshold is less than the first braking intensity threshold; when the updated braking intensity is greater than the second braking intensity threshold and less than the first braking intensity threshold, to determine the target braking strategy is to determine the braking output proportion of the hydraulic braking system and the braking output proportion of the motor regenerative braking system according to the updated braking intensity.

[0124] Each module in the above-mentioned new energy commercial vehicle braking energy recovery and charging device can be fully or partially implemented by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0125] In one embodiment, a vehicle-mounted device is provided. The vehicle-mounted device may be a server, and its internal structure diagram may be as follows: Fig. 9 As shown. The vehicle-mounted device includes a processor, a memory and a network interface connected via a system bus. Among them, the processor of the vehicle-mounted device is used to provide computing and control capabilities. The memory of the vehicle-mounted device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the vehicle-mounted device is used to store the status data, performance data, real-time data of the vehicle-mounted device on the target vehicle, etc. The network interface of the vehicle-mounted device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for recovering power from braking energy of a new energy commercial vehicle is implemented.

[0126] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0127] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0128] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0129] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0130] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0131] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0132] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0133] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for recharging power by braking energy of new energy commercial vehicles, characterized in that: The method is applicable to a vehicle braking system, wherein the vehicle braking system comprises a hydraulic braking system, a motor regenerative braking system and a battery, and the method comprises: When a braking signal of a target vehicle is obtained, a braking intensity of the target vehicle is determined according to the braking signal, wherein the braking intensity is used to characterize the strength of the required braking force; According to a preset mapping relationship table between braking intensity and vehicle braking strategy, determining a target braking strategy corresponding to the braking intensity, wherein the target braking strategy includes a braking output ratio of the hydraulic braking system and a braking output ratio of the motor regenerative braking system; The target vehicle is controlled to execute the target braking strategy to achieve braking energy recovery and battery charging of the target vehicle.

2. The method according to claim 1, characterized in that Determining the braking intensity of the target vehicle according to the braking signal includes: Determining a braking force value of the target vehicle according to a braking signal, and determining a braking duration of the target vehicle according to a duration of the braking signal; The braking intensity is determined according to the braking force value, the braking duration and a preset adjustment coefficient, and the braking adjustment coefficient is determined according to the performance parameters of the target vehicle.

3. The method according to claim 2, characterized in that After determining the braking intensity according to the braking force value, the braking duration and the preset adjustment coefficient, the method includes: Acquiring a humidity value of a target road section where the target vehicle is currently located, and determining a braking intensity correction coefficient according to the humidity value; Obtaining an updated braking intensity according to the braking intensity correction coefficient and the braking intensity; The step of determining a target braking strategy corresponding to the braking intensity according to a preset mapping relationship table between braking intensity and vehicle braking strategy includes: The target braking strategy is determined according to the mapping relationship table between the braking intensity and the vehicle braking strategy and the updated braking intensity.

4. The method according to claim 3, characterized in that The target road section is a rolling area of ​​the wheels of the target vehicle. Before obtaining the humidity value of the target road section where the target vehicle is currently located, the method further includes: Dividing the rolling area into a plurality of adjacent rolling sub-areas, and respectively obtaining the road surface humidity value of each rolling sub-area; The humidity value of the target road section is determined according to the road surface humidity value of each rolling sub-area.

5. The method according to claim 4, characterized in that Determining the humidity value of the target road section according to the road surface humidity value of each rolling sub-area includes: Determining the road surface humidity value of the rolling area corresponding to each wheel according to the road surface humidity value of each rolling sub-area corresponding to each wheel; The road humidity value of the target road section is determined according to the road humidity value of the rolling area corresponding to each wheel and the preset humidity influence weight corresponding to each wheel.

6. The method according to claim 3, characterized in that The determining the target braking strategy according to the mapping relationship table between the braking intensity and the vehicle braking strategy and the updated braking intensity includes: In a case where the updated braking intensity is not less than a preset first braking intensity threshold, determining that the target braking strategy is to control the hydraulic braking system to brake the target vehicle; In a case where the updated braking intensity is not greater than a preset second braking intensity threshold, determining that the target braking strategy is to control the motor regenerative braking system to brake the target vehicle, and the second braking intensity threshold is less than the first braking intensity threshold; When the updated braking intensity is greater than the second braking intensity threshold and less than the first braking intensity threshold, the target braking strategy is determined as determining the braking output proportion of the hydraulic braking system and the braking output proportion of the motor regenerative braking system respectively according to the updated braking intensity.

7. A braking energy recovery and charging device for new energy commercial vehicles, characterized in that: The device is applicable to a vehicle braking system, wherein the vehicle braking system comprises a hydraulic braking system, a motor regenerative braking system and a battery, and the device comprises: A braking intensity determination module, used to determine the braking intensity of the target vehicle according to the braking signal when a braking signal of the target vehicle is acquired, wherein the braking intensity is used to characterize the strength of the required braking force; A braking strategy determination module, used to determine a target braking strategy corresponding to the braking intensity according to a preset mapping relationship table between braking intensity and vehicle braking strategy, wherein the target braking strategy includes a braking output ratio of the hydraulic braking system and a braking output ratio of the motor regenerative braking system; The braking strategy execution module is used to control the target vehicle to execute the target braking strategy to achieve braking energy recovery and battery charging of the target vehicle.

8. A vehicle-mounted device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

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 6 are implemented.

10. A computer program product, comprising a computer program, 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 6 are implemented.

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