Coasting energy recovery control system and coasting energy recovery control method

Abstract

The present application relates to a coasting energy recovery control system, comprising: a coasting energy recovery execution module (1), configured to execute a coasting energy recovery function after receiving an input coasting energy recovery request; a road disturbance detection module (2), configured to determine whether a corresponding wheel is subjected to road disturbance based on a change trend of a wheel speed or wheel acceleration of a host vehicle during a period of deceleration of the host vehicle during coasting energy recovery; and a decision module (3), configured to output a decision signal to control the coasting energy recovery execution module (1) when the road disturbance detection module (2) determines that the corresponding wheel is subjected to road disturbance, wherein the decision signal controls the coasting energy recovery execution module (1) so that the coasting energy recovery execution module (1) executes the coasting energy recovery function for the corresponding wheel.

Description

Technical Field

[0001] The present application relates to the coordinated work of a vehicle's coasting energy recovery function and a vehicle's ABS function, and more specifically, to a coasting energy recovery control system and a coasting energy recovery control method. Background Art

[0002] Currently, many hybrid or electric vehicles are equipped with a single pedal module. That is, when the driver steps on the pedal, the vehicle accelerates according to the depth of the pedal stepped on by the driver, and when the driver releases the pedal, the vehicle decelerates through the motor to recover the sliding energy. When the vehicle is on certain roads, such as speed bumps or uneven roads, the wheels of the vehicle are sometimes suspended due to road factors, and the wheels lose ground adhesion. The negative torque generated by the motor recovery will quickly cause the wheels to have a large slip rate. At this time, the ABS function of the vehicle will be activated and the braking recovery function will be stopped. When the wheels regain ground adhesion, the motor's braking energy recovery is still suspended, which can easily make the driver lose the sense of deceleration. The above-mentioned loss of deceleration affects the driving safety and ride comfort of the vehicle. Summary of the invention

[0003] The purpose of the present application is to prevent or alleviate the problem of the driver losing the deceleration feeling during braking when a vehicle equipped with a coasting energy recovery function is driving on certain bumpy roads, such as speed bumps, thereby improving driving safety and riding comfort.

[0004] According to a first aspect of the present application, a coasting energy recovery control system is provided, comprising:

[0005] Coasting energy recovery control system, including:

[0006] A coasting energy recovery execution module, configured to execute a coasting energy recovery function after receiving an input coasting energy recovery request;

[0007] a road disturbance detection module configured to determine whether a corresponding wheel is subjected to road disturbance based on a change trend of a wheel speed or wheel acceleration of the host vehicle during deceleration of the host vehicle due to coasting energy recovery; and

[0008] The decision module is configured to output a decision signal to control the coasting energy recovery execution module when the road disturbance detection module determines that the corresponding wheel is subjected to road disturbance, wherein:

[0009] The decision signal controls the coasting energy recovery execution module so that the coasting energy recovery execution module executes a coasting energy recovery function for the corresponding wheel.

[0010] According to another aspect of the present application, a coasting energy recovery control method is provided, comprising:

[0011] Executing coasting energy recovery, that is, executing the coasting energy recovery function after receiving the input coasting recovery request;

[0012] Detecting road disturbances, i.e., determining whether corresponding wheels are subjected to road disturbances based on the changing trend of wheel speed or wheel acceleration of the host vehicle during the deceleration of the host vehicle due to coasting energy recovery; and

[0013] Outputting a decision signal, that is, when the corresponding wheel is disturbed by the road surface, outputting a decision signal to control the sliding energy recovery function for the corresponding wheel, wherein,

[0014] The coasting energy recovery function is controlled so that coasting energy recovery is performed for the corresponding wheel.

[0015] According to another aspect of the present application, a computer device is proposed, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of a gliding energy recovery control method as disclosed in any one of the embodiments of the present application when executing the program.

[0016] According to another aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the program is executed by a processor to implement the steps of the gliding energy recovery control method disclosed in any one of the embodiments of the present application.

[0017] According to another aspect of the present application, a vehicle braking system is provided, comprising a coasting energy recovery control system disclosed according to any one of the embodiments of the present application.

[0018] According to yet another aspect of the present application, a vehicle is provided, comprising a coasting energy recovery control system disclosed according to any one of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In addition, similar numbers in the figures are used to represent similar components, among which:

[0020] Figure 1 The structure block diagram of the coasting energy recovery control system disclosed in the present application is exemplarily shown; and

[0021] Figure 2 The step diagram of the coasting energy recovery control method disclosed in the present application is exemplarily shown. DETAILED DESCRIPTION

[0022] In vehicles equipped with the coasting energy recovery function, the coasting energy recovery control system interacts with the vehicle's ABS function, ESP function, etc. in some special road conditions. Specifically, in the case of hybrid or pure electric vehicles with the coasting energy recovery function, the single-pedal braking function is usually used. In the single-pedal braking function, when the driver releases the single pedal, the vehicle's coasting energy recovery system decelerates the vehicle at a certain deceleration, such as 0.1g to 0.25g. In certain road conditions, such as when the vehicle is decelerating by coasting energy recovery when passing over speed bumps or roads with similar disturbances, such as manhole covers, specific potholes, etc., the wheels of the vehicle often leave the road surface for a short time due to slight bumps on the road surface, such as disturbances or unevenness, which leads to too low road load on the wheel and thus unsatisfactory road adhesion. In this case, the slip rate of the corresponding wheel becomes higher, and the ABS function will trigger the anti-lock braking function and suppress the coasting energy recovery function when detecting the excessively high slip rate of the wheel to ensure the vehicle's motion stability.

[0023] However, if the vehicle only slows down briefly when passing over a speed bump or other similar disturbing road sections, the gliding energy recovery function is suppressed and the driver will suddenly feel acceleration when passing over the speed bump during the vehicle deceleration, which is inconsistent with the driver's psychological expectations.

[0024] Based on the above problems, the present application proposes a coasting energy recovery control system 10. Figure 1 It can be seen that the coasting energy recovery control system 10 integrates a detection module for road disturbance and a suppression module for adjusting or delaying the threshold of the ABS function triggering in the case of a disturbed road section, thereby avoiding the impact of these functional modules on the normal functions of other modules of the ABS module when they are integrated into the ABS module. Figure 1It can be seen that the coasting energy recovery control system 10 includes a coasting energy recovery execution module 1, a road disturbance detection module 2 and a decision module 3. Specifically, for example, when the driver releases the single pedal, the coasting energy recovery execution module 1 will brake the host vehicle at a certain deceleration. At this time, the road disturbance detection module 2 will be activated and judge whether the corresponding wheel of the host vehicle is disturbed by the road surface according to the current wheel speed or wheel acceleration change trend of the host vehicle. After the road disturbance detection module 2 detects that the corresponding wheel is on a road section with disturbance characteristics such as a speed bump, the decision module 3 makes a decision for the wheel disturbed by the road surface, so that the coasting energy recovery execution module can continue to perform the coasting energy recovery function for the corresponding wheel. Within the scope of the present application, the road disturbance detection module 2 can judge whether the wheel is on a road section with disturbance similar to a speed bump according to the change trend of the wheel speed or wheel acceleration. Specifically, the road disturbance detection module 2 can determine that the corresponding wheel is subject to road disturbance when the wheel speed or wheel acceleration oscillates in the form of a sine wave and the sine wave meets certain conditions. Specifically, the sine wave is divided into multiple, for example, 5, 6, 7 sections according to time, and the amplitude change of each section is greater than the previously specified disturbance threshold. In other words, in each section, the change of wheel acceleration or wheel speed reaches a predetermined disturbance threshold. The disturbance threshold can be pre-calibrated according to different vehicle models, different host vehicle speeds, and road disturbance conditions, for example.

[0025] In some embodiments of the present application, the division of the sine wave can be performed within one cycle or 3 / 4 cycle of the sine wave, and a separate disturbance threshold is assigned to each section. It can also be considered that the time spanned by each section does not exceed 1 / 4 cycle. For example, it can be considered to divide the sine wave into 4 sections within one cycle or 3 / 4 cycle, wherein the first section is set within 1 / 8 cycle; the second section is within 1 / 4 cycle; the third section is within 1 / 2 cycle; and the fourth section is within 3 / 4 cycle. Here, a separate disturbance threshold is pre-set for each section, and when the wheel speed or wheel acceleration of the wheel meets the corresponding separate disturbance threshold in each section, it is judged that the corresponding wheel is disturbed by the road surface.

[0026] In some embodiments of the present application, the sliding energy recovery control system may further include an ABS unit 5, which is connected to the decision module and the road disturbance detection module signal. The ABS unit 5 can receive the ABS module trigger signal output by the ABS module of the host vehicle to trigger the ABS function of the host vehicle and set a slip rate threshold (referred to as the slip rate threshold of the ABS module in this application) to determine whether to trigger the ABS function. Specifically, when the ABS unit 5 receives the ABS module trigger signal and the road disturbance detection module 2 detects that the corresponding wheel is subjected to road disturbance, it can generate a sliding slip rate threshold, which is higher than the slip rate threshold of the ABS module. In this case, the ABS unit 5 can also monitor whether the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold.

[0027] Further, the ABS unit 5 outputs an ABS unit trigger signal when the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold, and then the ABS unit trigger signal is received by the decision module, and the decision module 3 thereby inhibits the sliding energy recovery module from performing the sliding energy recovery function for the corresponding wheel. That is, in this case, the sliding energy recovery function is inhibited, and the ABS module of the host vehicle performs the ABS function because the conditions for triggering the ABS function have been met before, thereby ensuring the safety of the vehicle.

[0028] As can be seen from the above description, in the sliding energy recovery control system disclosed in the present application, when the corresponding wheel is subjected to the prescribed road disturbance, even if the ABS module of the host vehicle has been triggered to perform the ABS function, the decision module will still allow the sliding energy recovery module to perform the sliding energy recovery function for the corresponding wheel, which is to ensure that the driver does not lose the deceleration feeling under such road disturbance. At the same time, the ABS unit 5 in the sliding energy recovery control system will increase the slip rate threshold of the ABS module to form a sliding slip rate threshold, and monitor whether the actual slip rate of the wheel subjected to the road disturbance (i.e., the corresponding wheel) reaches the sliding slip rate threshold. Here, the sliding slip rate threshold is only used for the sliding energy recovery control system. That is to say, when the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold, the ABS unit 5 will "notify" the decision module in the form of outputting an ABS unit signal, so that the decision module will inhibit the execution of the sliding energy recovery function of the corresponding wheel. This means that, in this case, only the ABS module of the host vehicle is performing the function.

[0029] In some embodiments of the present application, the ABS unit 5 may also monitor in a delayed manner whether the actual slip rate of the wheel (i.e., the corresponding wheel) disturbed by the road surface reaches the slip rate threshold, or output the ABS unit trigger signal in a delayed manner. That is to say, the monitoring is started a certain time after the slip rate threshold is generated. Or after monitoring that the actual slip rate of the corresponding wheel reaches the slip rate threshold, the ABS unit trigger signal is not output immediately, but delayed for a period of time. And if the actual slip rate of the corresponding wheel still reaches the slip rate threshold at this time, the ABS unit 5 outputs the ABS unit trigger signal. It can be considered that the factors affecting the time of delayed monitoring or delayed triggering can include the speed of the host vehicle, tire stiffness, and suspension stiffness. Exemplarily, the delayed time can be pre-calibrated.

[0030] In some embodiments of the present application, the coasting energy recovery control system 10 may also include a stability judgment module 4, which can optionally judge the stability of the current host vehicle before the road disturbance detection module 2 is activated. For example, the stability judgment module 4 can retrieve information such as the longitudinal acceleration, lateral acceleration and yaw rate of the host vehicle of the ESP system, and set it to judge that the host vehicle is currently in a stable state when the above information is lower than a preset stability threshold. Under this premise, the road disturbance detection module 2 is activated. In other words, if the current host vehicle is not in a stable state, the ABS module 20 should be directly triggered as known in the prior art.

[0031] In the scope of this application, road disturbance should be understood as short-term road bumps or unevenness similar to speed bumps or manhole covers, and should not be understood as bad road areas such as sandy roads, Belgian roads, sea gate roads, gravel roads, etc.

[0032] Continue to refer Figure 2 , Figure 2 The steps of the coasting energy recovery control method disclosed in this application are shown as an example. Figure 2 It can be seen that the method includes the following steps: executing coasting energy recovery S1, that is, executing the coasting energy recovery function after receiving the input coasting energy recovery request, for example, after the single pedal is released; detecting road disturbance S2, that is, judging whether the corresponding wheel is disturbed by the road surface based on the change trend of the wheel speed or wheel acceleration of the host vehicle during the deceleration of the host vehicle due to coasting energy recovery; and outputting a decision signal S4, that is, when the corresponding wheel is disturbed by the road surface, outputting a decision signal to control the coasting energy recovery function for the corresponding wheel. Here, the coasting energy recovery function is controlled so that the coasting energy recovery is performed for the corresponding wheel.

[0033] Specifically, for example, when the driver releases the single pedal, a certain deceleration will brake the host vehicle. At this time, the corresponding wheel of the host vehicle is judged whether it is disturbed by the road surface according to the change of the wheel speed or wheel acceleration of the current wheel of the host vehicle. After detecting that the corresponding wheel is on a road section with disturbance characteristics such as a speed bump, a decision is made for the wheel that is disturbed by the road surface, so that the sliding energy recovery function is continued to be executed for the corresponding wheel. Within the scope of the present application, it is possible to judge whether the wheel is in a road section with disturbance characteristics similar to a speed bump according to the change trend of the wheel speed or wheel acceleration. Specifically, when the wheel speed or wheel acceleration of the wheel oscillates in the form of a sine wave and the sine wave meets certain conditions, it can be judged that the current corresponding wheel is disturbed by the road surface. Specifically, the sine wave is divided into multiple, for example, 5, 6, 7 sections according to time, and the amplitude change of each section is greater than the previously specified disturbance threshold. That is to say, in each section, the change of the wheel acceleration or wheel speed reaches the pre-specified disturbance threshold. The disturbance threshold can be pre-calibrated according to different vehicle models, different speeds of the host vehicle, and road disturbance conditions, for example.

[0034] In some embodiments of the present application, the division of the sine wave can be performed within one cycle or 3 / 4 cycle of the sine wave, and a separate disturbance threshold is assigned to each segment. It can also be considered that the time spanned by each segment does not exceed 1 / 4 cycle.

[0035] In some embodiments of the present application, the sliding energy recovery control method may further include the step of monitoring the slip rate S3. Specifically, the step of monitoring the slip rate includes receiving an ABS module trigger signal output by the ABS module of the host vehicle to trigger the ABS function of the host vehicle and setting a slip rate threshold (referred to as the slip rate threshold of the ABS module in the present application) to determine whether to trigger the ABS function. When the ABS module trigger signal is received and it is detected that the corresponding wheel is disturbed by the road surface, a sliding slip rate threshold can be generated, which is higher than the slip rate threshold of the ABS module. In this case, it is also possible to monitor whether the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold.

[0036] Further, when the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold, an ABS unit trigger signal is output, and then the sliding energy recovery function for the corresponding wheel is suppressed. That is, in this case, the sliding energy recovery function is suppressed, and the ABS module of the host vehicle executes the ABS function because the condition for triggering the ABS function has been reached before, thereby ensuring the safety of the vehicle.

[0037] From the above description, it can be seen that in the sliding energy recovery control method disclosed in the present application, when the corresponding wheel is subjected to the prescribed road disturbance, even if the ABS module of the host vehicle has been triggered to perform the ABS function, the method of the present application will still allow the sliding energy recovery function to be performed for the corresponding wheel, which is to ensure that the driver does not lose the deceleration feeling under such road disturbance. At the same time, the method will also increase the slip rate threshold of the ABS module to form a sliding slip rate threshold, and monitor whether the actual slip rate of the wheel subjected to the road disturbance (i.e., the corresponding wheel) reaches the sliding slip rate threshold. Here, the sliding slip rate threshold is only used in the scope of the method and will not affect the ABS module of the host vehicle. That is to say, when the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold, the execution of the sliding energy recovery function of the corresponding wheel will be suppressed in the form of outputting an ABS unit trigger signal. This means that, in this case, only the ABS module of the host vehicle is performing the function.

[0038] In some embodiments of the present application, it is also possible to monitor in a delayed manner whether the actual slip rate of the wheel (i.e., the corresponding wheel) that is disturbed by the road surface reaches the sliding slip rate threshold, or to output the ABS unit trigger signal in a delayed manner. That is to say, the monitoring is started a certain time after the sliding slip rate threshold is generated. Or after monitoring that the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold, the ABS unit trigger signal is not output immediately, but delayed for a period of time. And if the actual slip rate of the corresponding wheel still reaches the sliding slip rate threshold at this time, the ABS unit trigger signal is output. It can be considered that the factors that affect the time of delayed monitoring or delayed triggering can include the speed of the host vehicle, tire stiffness, and suspension stiffness. Exemplarily, the delayed time can be calibrated in advance.

[0039] In some embodiments of the present application, the coasting energy recovery control method may further include a stability judgment step S1', wherein the stability of the current host vehicle can be optionally judged before the step S2 of detecting road disturbances. For example, when making a stability judgment, information such as the longitudinal acceleration, lateral acceleration and yaw rate of the host vehicle of the ESP system may be retrieved, and it is set that when the above information is lower than a preset stability threshold, it is judged that the host vehicle is currently in a stable state. Under this premise, the step of detecting road disturbances is activated. In other words, if the current host vehicle is not in a stable state, the ABS module should be directly triggered as known in the prior art.

[0040] In the scope of this application, road disturbance should be understood as short-term road bumps or unevenness similar to speed bumps or manhole covers, and should not be understood as bad road areas such as sandy roads, Belgian roads, sea gate roads, gravel roads, etc.

[0041] On this basis, the present application also discloses a braking system, which includes a coasting energy recovery control system 10 disclosed according to any embodiment of the present application.

Claims

1. A coasting energy recovery control system (10), comprising: A coasting energy recovery execution module (1) is configured to execute a coasting energy recovery function after receiving an input coasting energy recovery request; A road disturbance detection module (2) is configured to determine whether a corresponding wheel is subjected to road disturbance based on a change trend of a wheel speed or wheel acceleration of the host vehicle during a period of deceleration of the host vehicle due to coasting energy recovery; The decision module (3) is configured to output a decision signal to control the coasting energy recovery execution module (1) when the road disturbance detection module (2) determines that the corresponding wheel is subjected to road disturbance, wherein: The decision signal controls the coasting energy recovery execution module (1) so that the coasting energy recovery execution module (1) executes a coasting energy recovery function for the corresponding wheel; and An ABS unit (5) is connected to the decision module (3) by signal, and is configured to generate a sliding slip rate threshold value higher than a sliding slip rate threshold value of the ABS module when an ABS module trigger signal is received and the road disturbance detection module (2) detects that the corresponding wheel is subjected to road disturbance, and monitor whether the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold value. The ABS unit (5) outputs an ABS unit trigger signal when the actual slip rate of the corresponding wheel reaches the slip rate threshold, and the decision module (3) inhibits the slip energy recovery module from performing a slip energy recovery function for the corresponding wheel when receiving the ABS unit trigger signal. The ABS unit (5) monitors the following conditions in a delayed manner, including: whether the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold, Alternatively, the ABS unit (5) outputs the ABS unit trigger signal in a delayed manner.

2. The coasting energy recovery control system (10) according to claim 1, characterized in that: The road disturbance detection module (2) determines that the corresponding wheel is subjected to road disturbance when the change trend of the wheel speed or wheel acceleration of the host vehicle meets the following conditions, including: The wheel speed or wheel acceleration oscillates in the form of a sine wave over time; and The sine wave is divided into a plurality of sections according to time, and the amplitude variation of each section is greater than a previously specified disturbance threshold.

3. The coasting energy recovery control system (10) according to claim 2, characterized in that: The division of the sine wave is performed within one period, and a separate disturbance threshold is allocated to each of the sections.

4. The coasting energy recovery control system (10) according to claim 1, characterized in that: The ABS unit (5) starts monitoring lazily taking into account information including: the speed, tire stiffness and suspension stiffness of the host vehicle.

5. The coasting energy recovery control system (10) according to claim 1, characterized in that: It also includes a stability judgment module (4) configured to judge the stability of the current movement of the host vehicle and activate the road disturbance detection module (2) only when the host vehicle is in a stable state.

6. The coasting energy recovery control system (10) according to claim 5, characterized in that: The stability judgment module (4) judges that the host vehicle is currently in a stable state by considering the following information, including: The lateral acceleration, longitudinal acceleration, and yaw rate of the host vehicle are less than a predetermined stability threshold.

7. The coasting energy recovery control system (10) according to claim 1, characterized in that: The road disturbance includes a speed bump.

8. A coasting energy recovery control method, comprising: Executing coasting energy recovery (S1), that is, executing the coasting energy recovery function after receiving the input coasting recovery request; Detecting road disturbance (S2), i.e., determining whether the corresponding wheel is subjected to road disturbance based on a change trend of a wheel speed or wheel acceleration of the host vehicle during deceleration of the host vehicle due to coasting energy recovery; Outputting a decision signal (S4), that is, when the corresponding wheel is disturbed by the road surface, outputting a decision signal to control the sliding energy recovery function for the corresponding wheel, wherein: controlling the coasting energy recovery function so that coasting energy recovery is performed for the corresponding wheel; and monitoring the slip rate (S3), wherein, when an ABS module trigger signal is received and the corresponding wheel is detected to be disturbed by the road surface, a sliding slip rate threshold value higher than the slip rate threshold value of the ABS module is generated, and monitoring whether the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold value is performed, When monitoring the slip rate, outputting an ABS unit trigger signal when the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold, and inhibiting the sliding energy recovery function for the corresponding wheel when receiving the ABS unit trigger signal, Wherein, whether the actual slip rate of the corresponding wheel reaches the sliding slip rate threshold is monitored in a delayed manner, or the ABS unit trigger signal is output in a delayed manner.

9. The coasting energy recovery control method according to claim 8, characterized in that: When the change trend of the wheel speed or wheel acceleration of the host vehicle satisfies the following conditions, it is determined that the corresponding wheel is subjected to road disturbance, including: The wheel speed or wheel acceleration oscillates in the form of a sine wave over time; and The sine wave is divided into a plurality of sections according to time, and the amplitude variation of each section is greater than a previously specified disturbance threshold.

10. The coasting energy recovery control method according to claim 9, characterized in that: The division of the sine wave is performed within one period, and a separate disturbance threshold is allocated to each of the sections.

11. The coasting energy recovery control method according to claim 8, characterized in that: Monitoring is started lazily taking into account information including: speed, coasting energy recovery intensity, tire stiffness, and suspension stiffness of the host vehicle.

12. The coasting energy recovery control method according to claim 8, characterized in that: It also includes a stability judgment step (S1'), in which the stability of the current movement of the host vehicle is judged, and the step of detecting road disturbance is activated only when the host vehicle is in a stable state.

13. The coasting energy recovery control method according to claim 12, characterized in that: The host vehicle is judged to be in a stable state by considering the following information, including: The lateral acceleration, longitudinal acceleration, and yaw rate of the host vehicle are less than a predetermined stability threshold.

14. The coasting energy recovery control method according to claim 8, characterized in that: The road disturbance includes a speed bump.

15. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the coasting energy recovery control method as described in any one of claims 8 to 14 are implemented.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the steps of the coasting energy recovery control method according to any one of claims 8 to 14.

17. A vehicle braking system comprising a coasting energy recovery control system (10) according to any one of claims 1 to 7.

18. A vehicle comprising the coasting energy recovery control system (10) according to any one of claims 1 to 7.

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