Electric vehicle inching energy recovery control method for congestion scene of shopping mall parking building

Abstract

The application discloses a kind of electric vehicle inching energy recovery control methods for shopping mall parking building congestion scene, comprising the following steps: obtaining vehicle state information and environmental information, judge whether to enter shopping mall parking building congestion inching scene and activate mode;Set up inching safety follow car speed range, calculate dynamic energy recovery level according to speed deviation, steering wheel angle and road slope;When speed is higher than the upper limit of range, control motor output negative torque to regenerate brake and limit torque change rate, when speed is lower than the lower limit of range, output positive torque to inch drive;After driving off scene, automatically exit.The application is aimed at the characteristics of shopping mall parking building low speed, high frequency start-stop, many bends and many ramps, realizes bidirectional control and energy recovery under inching condition, significantly improves energy utilization efficiency.

Description

Technical Field

[0001] This invention belongs to the field of new energy vehicle energy management technology, specifically relating to a method, system, and electric vehicle for controlling energy recovery during electric vehicle crawling in congested parking garage scenarios in shopping malls. Background Technology

[0002] With the rapid development of the new energy vehicle industry and the continuous expansion of urban commercial complexes, shopping mall parking garages have become important nodes in urban transportation networks. Severe congestion and slow traffic frequently occur at the entrances and internal passageways of shopping mall parking garages, especially on weekends, holidays, and during shopping mall promotional events. Vehicles frequently start and stop at extremely low speeds on ramps, spiral ramps, and narrow passages. This low-speed crawling condition is prolonged and has a high frequency of start-stop operations, making it one of the most energy-intensive usage scenarios for electric vehicles. Traditional crawling control strategies rely on the motor to output a constant positive torque (simulating the idling speed of a gasoline vehicle) without energy recovery. This results in a significant amount of kinetic energy being converted into braking heat loss when going downhill, while frequent start-stop operations also increase energy consumption. Therefore, there is an urgent need for an energy recovery control method for electric vehicles in congested shopping mall parking garage scenarios. Summary of the Invention

[0003] The purpose of this invention is to provide a method for controlling the energy recovery of electric vehicles in congested parking garages, aiming to solve the problem that existing technologies cannot recover energy when following other vehicles in congested parking garages.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A method for controlling energy recovery during crawling in electric vehicles in congested parking garage scenarios in shopping malls includes the following steps:

[0006] Step S1: Obtain vehicle status information and environmental information, determine whether the vehicle has entered the preset shopping mall parking garage congestion crawling scenario, and activate the shopping mall crawling energy recovery mode when it is determined to have entered.

[0007] Step S2: In the shopping mall creep energy recovery mode, set the creep safe following speed range, and calculate the dynamic energy recovery level based on the deviation between the current vehicle speed and the creep safe following speed range, the steering wheel angle, and the road slope information in the parking garage.

[0008] Step S3: Based on the creep safety following speed range and dynamic energy recovery level, when the current vehicle speed is higher than the upper limit of the creep safety following speed range, control the drive motor to output negative torque for regenerative braking, and limit the rate of change of motor torque to ensure smooth vehicle travel within the speed range and recover energy during the output of negative torque; when the current vehicle speed is lower than the lower limit of the creep safety following speed range, control the drive motor to output positive torque for creep driving.

[0009] Step S4: When it is determined that the vehicle has left the congested crawling scenario of the shopping mall parking garage, the vehicle automatically exits the shopping mall crawling energy recovery mode and returns to the normal driving mode.

[0010] Furthermore, in step S1, the conditions for determining a congested, creeping scenario when a vehicle enters the shopping mall parking garage include:

[0011] Condition A: The vehicle is located within the pre-defined fenced area of ​​the shopping mall parking garage;

[0012] Condition B: The average vehicle speed is consistently below the first set threshold, and the duration of this low-speed state exceeds the first time threshold.

[0013] Condition C: The change in the vehicle's longitudinal acceleration is consistently less than a set value, indicating that the vehicle is in a creeping state with frequent starts and stops;

[0014] Condition D: The vehicle sensors detect that the density of surrounding vehicles is higher than a set density threshold, and the relative speed between vehicles is low.

[0015] Condition E: The vehicle is in forward gear, and the operation signals of the accelerator pedal and brake pedal both exhibit small amplitude and high frequency fluctuation characteristics.

[0016] Furthermore, the vehicle status information includes at least: vehicle speed, accelerator pedal opening, brake pedal opening, gear position signal, steering wheel angle, longitudinal acceleration, and lateral acceleration;

[0017] The environmental information includes at least: vehicle location, parking lot internal map data, and real-time traffic congestion index.

[0018] Further, in step S2, the specific method for calculating the dynamic energy recovery level includes: determining a speed deviation factor based on the difference between the current vehicle speed and the upper limit of the creep safe following speed range; determining a steering inhibition factor based on the absolute value of the steering wheel angle; determining a slope compensation factor based on the slope information of the road inside the parking garage; determining a slope compensation factor based on the steeper downhill slope; determining a slope compensation factor of zero for uphill or flat roads; multiplying the speed deviation factor, steering inhibition factor, and slope compensation factor together, and then multiplying by the maximum regenerative braking torque limit allowed by the motor system at the current vehicle speed to obtain the dynamic energy recovery level.

[0019] Furthermore, the creeping safety following speed range is 3-6 km / h.

[0020] Furthermore, before controlling the drive motor to output negative torque for regenerative braking, the rate of change of the requested regenerative braking torque is limited to smooth the process of establishing and exiting negative torque.

[0021] Furthermore, in step S4, the conditions for determining that a vehicle has left the congested crawling scenario of the shopping mall parking garage include any of the following: Condition A: The vehicle location information shows that it has moved out of the preset shopping mall parking garage fence area; Condition B: The average vehicle speed is continuously higher than the second set threshold and the duration exceeds the second time threshold.

[0022] Condition C: The gear is switched to a non-forward gear.

[0023] An electric vehicle creep energy recovery control system for implementing the method in congested shopping mall parking scenarios includes:

[0024] The scene recognition and mode activation module is used to obtain vehicle status information and environmental information, determine whether the vehicle has entered the preset shopping mall parking garage congestion creep scene, and activate the shopping mall creep energy recovery mode when it is determined to have entered.

[0025] The dynamic energy recovery calculation module is used to calculate the dynamic energy recovery level in the shopping mall creep energy recovery mode based on the set creep safe following speed range, the deviation of the current vehicle speed from the creep safe following speed range, the steering wheel angle, and the road slope information in the parking garage.

[0026] The regenerative braking control module is used to control the drive motor to output negative or positive torque according to the creep safety following speed range and the dynamic energy recovery level, so that the vehicle can drive smoothly within the speed range and recover energy.

[0027] The mode exit module is used to automatically exit the mall crawl energy recovery mode and return to the normal driving mode when the vehicle is determined to have left the mall parking garage congestion crawl scenario.

[0028] An electric vehicle includes the aforementioned electric vehicle creep energy recovery control system for congested scenarios in shopping mall parking garages.

[0029] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method.

[0030] The beneficial effects of this invention are as follows: This invention systematically solves the problem of energy waste in congested scenarios in shopping mall parking garages through a complete control logic of "scene recognition - vehicle speed range setting - multi-parameter dynamic recovery calculation - bidirectional torque control - rate of change limitation - mode exit". This invention addresses the characteristics of shopping mall parking garages—low speed, high-frequency start-stop, multiple curves, and multiple slopes—by achieving bidirectional control and energy recovery under creeping conditions, significantly improving energy utilization efficiency. This invention can reduce electricity consumption by more than 12% under typical congested conditions in shopping mall parking garages, demonstrating significant practical value and promising industrial application prospects. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

[0032] Figure 1 This is a flowchart illustrating the overall process of inventing a control method. Detailed Implementation

[0033] The present invention will be further described below with reference to specific embodiments and accompanying drawings. These embodiments are for illustrative purposes only and do not constitute a limitation on the scope of protection of the present invention.

[0034] See Figure 1 As shown in the figure, this embodiment provides a method for controlling the energy recovery of electric vehicles during crawling in congested parking garage scenarios, which includes the following steps:

[0035] Step S1: Scene Recognition and Pattern Activation

[0036] The system acquires vehicle status and environmental information to determine whether the vehicle has entered a pre-defined congested crawling scenario in a shopping mall parking garage. If entry is confirmed, the mall's crawling energy recovery mode is activated. The vehicle status information includes at least: vehicle speed, accelerator pedal opening, brake pedal opening, gear position signal, steering wheel angle, longitudinal acceleration, and lateral acceleration. The environmental information includes at least: vehicle location, parking garage internal map data, and real-time traffic congestion index.

[0037] In this embodiment, the criteria for determining whether a vehicle has entered a pre-defined congested crawling scenario in a shopping mall parking garage include the following conditions A to E. When all conditions are met simultaneously, the vehicle is determined to have entered the scenario:

[0038] Condition A: The vehicle is located within the pre-defined fenced area of ​​the shopping mall parking garage;

[0039] Condition B: The average vehicle speed is consistently below the first set threshold, and the duration of this low-speed state exceeds the first time threshold.

[0040] Condition C: The change in the vehicle's longitudinal acceleration is consistently less than a set value, indicating that the vehicle is in a creeping state with frequent starts and stops;

[0041] Condition D: The vehicle sensors detect that the density of surrounding vehicles is higher than a set density threshold, and the relative speed between vehicles is low.

[0042] Condition E: The vehicle is in forward gear, and the operation signals of the accelerator pedal and brake pedal both exhibit small amplitude and high frequency fluctuation characteristics.

[0043] Step S2: Calculation of Dynamic Energy Recovery Level

[0044] In the shopping mall creep energy recovery mode, a safe following speed range is set. In this embodiment, this range is preferably 3-6 km / h. This range is determined based on the minimum and maximum speeds required for safe following under typical parking garage congestion conditions.

[0045] The dynamic energy recovery level is calculated based on the deviation between the current vehicle speed and the safe following speed range, the steering wheel angle, and the road slope information within the parking garage. In this embodiment, the specific method for calculating the dynamic energy recovery level includes: determining a speed deviation factor based on the difference between the current vehicle speed and the upper limit of the safe following speed range (the larger the difference, the larger the speed deviation factor); determining a steering inhibition factor based on the absolute value of the steering wheel angle (the larger the absolute value of the steering wheel angle, the smaller the steering inhibition factor); determining a slope compensation factor based on the road slope information within the parking garage (the steeper the downhill slope, the larger the slope compensation factor; the slope compensation factor is zero for uphill or flat roads); multiplying the speed deviation factor, steering inhibition factor, and slope compensation factor together, and then multiplying by the maximum allowable regenerative braking torque limit of the motor system at the current vehicle speed, yields the dynamic energy recovery level.

[0046] Step S3: Regenerative Braking Control

[0047] Based on the creep safety following speed range and dynamic energy recovery level, when the current vehicle speed is higher than the upper limit of the creep safety following speed range, the drive motor is controlled to output negative torque for regenerative braking, and the rate of change of the motor torque is limited to ensure smooth vehicle travel within the speed range and recover energy during the output of negative torque. When the current vehicle speed is lower than the lower limit of the creep safety following speed range, the drive motor is controlled to output positive torque for creep driving. In this embodiment, before controlling the drive motor to output negative torque for regenerative braking, the rate of change of the requested regenerative braking torque is limited to smooth the establishment and exit of negative torque.

[0048] Step S4: Exit Mode

[0049] When the vehicle is determined to have left the congested crawling scenario in the shopping mall parking garage, it automatically exits the shopping mall crawling energy recovery mode and reverts to normal driving mode. In this embodiment, the shopping mall crawling energy recovery mode automatically exits when any of the following conditions are met:

[0050] Condition A: The vehicle location information shows that it has moved out of the preset parking garage fence area; Condition B: The average vehicle speed is continuously higher than the second set threshold and the duration exceeds the second time threshold;

[0051] Condition C: The gear is switched to a non-forward gear.

[0052] This embodiment systematically solves the problem of energy waste in congested shopping mall parking garage scenarios through a complete control logic of "scene recognition - vehicle speed range setting - multi-parameter dynamic recovery calculation - bidirectional torque control - rate of change limitation - mode exit". Compared with existing technologies, it can reduce power consumption by more than 12% under typical congested shopping mall parking garage conditions, demonstrating significant practical value and promising industrial application prospects.

[0053] This embodiment provides supplementary explanations for special circumstances:

[0054] 1. Driver Intervention: Throughout the entire control process, the driver's accelerator pedal and brake pedal signals always have the highest priority. When the brake pedal is depressed, the independent calculations of steps S2 and S3 are immediately paused, and the system switches to the brake energy recovery cooperative control mode. If the accelerator pedal is detected to be depressed, the motor torque command is immediately switched to positive drive torque, and energy recovery is reduced to zero.

[0055] 2. Restarting after a complete standstill: If the vehicle speed drops to near zero during energy recovery, the torque command will automatically switch from negative torque to a very small positive "creep preparation torque." This torque is insufficient to drive the vehicle forward, but it can eliminate transmission system backlash and prepare for subsequent starts. When the radar detects that the distance to the vehicle in front is beginning to increase, the preparation torque will be smoothly increased to the normal creep positive torque, achieving a shock-free start.

[0056] This embodiment provides an electric vehicle creep energy recovery control system for congested parking garage scenarios in shopping malls, which is used to implement the aforementioned method. The system includes:

[0057] The scene recognition and mode activation module is used to obtain vehicle status information and environmental information, determine whether the vehicle has entered the preset shopping mall parking garage congestion creep scene, and activate the shopping mall creep energy recovery mode when it is determined to have entered.

[0058] The dynamic energy recovery calculation module is used to calculate the dynamic energy recovery level in the shopping mall creep energy recovery mode based on the set creep safe following speed range, the deviation of the current vehicle speed from the creep safe following speed range, the steering wheel angle, and the road slope information in the parking garage.

[0059] The regenerative braking control module is used to control the drive motor to output negative or positive torque according to the creep safety following speed range and the dynamic energy recovery level, so that the vehicle can drive smoothly within the speed range and recover energy.

[0060] The mode exit module is used to automatically exit the mall crawl energy recovery mode and return to the normal driving mode when the vehicle is determined to have left the mall parking garage congestion crawl scenario.

[0061] The foregoing has shown and described the basic principles, main features, and advantages of the invention. Those skilled in the art should understand that the invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling energy recovery during electric vehicle crawling in congested parking garage scenarios in shopping malls, characterized in that, Includes the following steps: Step S1: Obtain vehicle status information and environmental information, determine whether the vehicle has entered the preset shopping mall parking garage congestion crawling scenario, and activate the shopping mall crawling energy recovery mode when it is determined to have entered. Step S2: In the shopping mall creep energy recovery mode, set the creep safe following speed range, and calculate the dynamic energy recovery level based on the deviation between the current vehicle speed and the creep safe following speed range, the steering wheel angle, and the road slope information in the parking garage. Step S3: Based on the creep safety following speed range and dynamic energy recovery level, when the current vehicle speed is higher than the upper limit of the creep safety following speed range, control the drive motor to output negative torque for regenerative braking, and limit the rate of change of motor torque to ensure smooth vehicle travel within the speed range and recover energy during the output of negative torque; when the current vehicle speed is lower than the lower limit of the creep safety following speed range, control the drive motor to output positive torque for creep driving. Step S4: When it is determined that the vehicle has left the congested crawling scenario of the shopping mall parking garage, the vehicle automatically exits the shopping mall crawling energy recovery mode and returns to the normal driving mode.

2. According to the method of claim 1, in step S1, the conditions for determining the congested crawling scenario when a vehicle enters the shopping mall parking garage include: Condition A: The vehicle is located within the pre-defined fenced area of ​​the shopping mall parking garage; Condition B: The average vehicle speed is consistently below the first set threshold, and the duration of this low-speed state exceeds the first time threshold. Condition C: The change in the vehicle's longitudinal acceleration is consistently less than a set value, indicating that the vehicle is in a creeping state with frequent starts and stops; Condition D: The vehicle sensors detect that the density of surrounding vehicles is higher than a set density threshold, and the relative speed between vehicles is low. Condition E: The vehicle is in forward gear, and the operation signals of the accelerator pedal and brake pedal both exhibit small amplitude and high frequency fluctuation characteristics.

3. The method according to claim 1, characterized in that, The vehicle status information includes at least: vehicle speed, accelerator pedal opening, brake pedal opening, gear position signal, steering wheel angle, longitudinal acceleration, and lateral acceleration; The environmental information includes at least: vehicle location, parking lot internal map data, and real-time traffic congestion index.

4. The method according to claim 1, characterized in that, In step S2, the specific method for calculating the dynamic energy recovery level includes: determining a speed deviation factor based on the difference between the current vehicle speed and the upper limit of the creep safe following speed range; the larger the difference, the larger the speed deviation factor; determining a steering inhibition factor based on the absolute value of the steering wheel angle; the larger the absolute value of the steering wheel angle, the smaller the steering inhibition factor; determining a slope compensation factor based on the slope information of the road inside the parking garage; the larger the downhill slope, the larger the slope compensation factor, and the slope compensation factor is zero when going uphill or on a flat road; multiplying the speed deviation factor, steering inhibition factor, and slope compensation factor together, and then multiplying by the maximum regenerative braking torque limit allowed by the motor system at the current vehicle speed, to obtain the dynamic energy recovery level.

5. The method according to claim 1, characterized in that, The creeping safety following speed range is 3-6 km / h.

6. The method according to claim 1, characterized in that, Before controlling the drive motor to output negative torque for regenerative braking, the rate of change of the requested regenerative braking torque is limited to smooth the process of establishing and exiting negative torque.

7. The method according to claim 1, characterized in that, In step S4, the conditions for determining that a vehicle has left the congested crawling scenario of the shopping mall parking garage include any of the following: Condition A: The vehicle location information shows that it has moved out of the preset shopping mall parking garage fence area; Condition B: The average vehicle speed is continuously higher than the second preset threshold and the duration exceeds the second time threshold. Condition C: The gear is switched to a non-forward gear.

8. An electric vehicle creep energy recovery control system for implementing the method of any one of claims 1-7 in a shopping mall parking garage congestion scenario, characterized in that, include: The scene recognition and mode activation module is used to obtain vehicle status information and environmental information, determine whether the vehicle has entered the preset shopping mall parking garage congestion creep scene, and activate the shopping mall creep energy recovery mode when it is determined to have entered. The dynamic energy recovery calculation module is used to calculate the dynamic energy recovery level in the shopping mall creep energy recovery mode based on the set creep safe following speed range, the deviation of the current vehicle speed from the creep safe following speed range, the steering wheel angle, and the road slope information in the parking garage. The regenerative braking control module is used to control the drive motor to output negative or positive torque according to the creep safety following speed range and the dynamic energy recovery level, so that the vehicle can drive smoothly within the speed range and recover energy. The mode exit module is used to automatically exit the mall crawl energy recovery mode and return to the normal driving mode when the vehicle is determined to have left the mall parking garage congestion crawl scenario.

9. An electric vehicle, characterized in that, This includes the electric vehicle creep energy recovery control system for congested parking garage scenarios in shopping malls, as described in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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