Regenerative braking control method, device, system and vehicle

Abstract

The application provides a vehicle coasting regenerative braking control method, comprising: obtaining driving information when the vehicle is coasting and maximum regenerative torque that can be currently provided by the vehicle; determining a regenerative torque adjustment factor when the vehicle is coasting based on the driving information when the vehicle is coasting, wherein the regenerative torque adjustment factor is greater than or equal to 0 and less than or equal to 1; determining a target regenerative torque when the vehicle is coasting by multiplying the maximum regenerative torque that can be currently provided by the vehicle and the regenerative torque adjustment factor when the vehicle is coasting, wherein the target regenerative torque prevents the wheels of the vehicle from locking. The method can maintain the stability of the vehicle body while having a certain power recovery during vehicle coasting. The application also provides a device, a system, a vehicle, a controller and a machine readable storage medium for comfortable braking parking of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more particularly to methods, apparatus and systems for regenerative braking control during vehicle coasting, as well as controllers, machine-readable storage media and vehicles. Background Technology

[0002] With increasing environmental awareness, the research and commercialization of new energy vehicles using electric motors are receiving more and more attention. In particular, during the coasting process of a new energy vehicle, it can recover inertial energy as power by setting the coasting regenerative torque of the motor according to the vehicle speed, and perform regenerative braking at this time.

[0003] To achieve a higher energy recovery coefficient, a larger regenerative torque is typically set. However, when driving on low-friction surfaces (such as icy or wet roads), the large regenerative torque can easily cause slippage, triggering the ABS (Anti-lock Braking System). Upon receiving the ABS trigger signal, the motor controller stops power recovery (i.e., stops generating regenerative torque) to allow the wheels to regain speed. Once the wheel speed reaches a certain level, the ABS disengages. Upon receiving the ABS disengagement signal, the motor controller restarts regenerative torque to further decelerate the vehicle. Because the vehicle is still traveling on a low-friction surface, the wheels will slip under the influence of regenerative torque, triggering the ABS again and causing the motor to stop power recovery. When the vehicle is coasting on a low-friction surface, the aforementioned cycle of "motor power recovery (generating regenerative torque) - wheel slippage - ABS triggering - power recovery stopping - ABS disengaging - regenerative torque restarting - wheel slippage - ABS triggering" occurs repeatedly. The alternation of regenerative torque and ABS control causes vehicle vibration during coasting on low-friction surfaces, significantly impacting the driving experience. If the power recovery of the motor is completely shut off when the ABS is triggered, although the vehicle body can be relatively stable while gliding, the vehicle decelerates very slowly and causes energy loss.

[0004] Therefore, it is necessary to provide improved technical solutions to overcome the technical problems existing in the prior art. Summary of the Invention

[0005] The purpose of this application is to provide a method and apparatus for regenerative braking control during vehicle coasting, so as to improve the stability of the vehicle during coasting while ensuring a certain amount of power recovery.

[0006] To achieve the above objectives, this application first provides a vehicle coasting regenerative braking control method, comprising: step S11: acquiring the vehicle's coasting driving information and the maximum regenerative torque that the vehicle can currently provide; step S12: determining the regenerative torque adjustment factor of the vehicle coasting based on the vehicle's coasting driving information; step S13: determining the target regenerative torque of the vehicle coasting by multiplying the maximum regenerative torque that the vehicle can currently provide by the regenerative torque adjustment factor of the vehicle coasting, wherein the target regenerative torque prevents the vehicle's wheels from locking up.

[0007] This application also provides a vehicle coasting regenerative braking control device, including a receiving module, a judging module, and a control module connected in communication. The receiving module is configured to acquire the vehicle's coasting driving information and the maximum regenerative torque currently available to the vehicle. The judging module is configured to determine a regenerative torque adjustment factor for the vehicle coasting based on the vehicle's coasting driving information, wherein the regenerative torque adjustment factor is greater than or equal to 0 and less than or equal to 1. The control module is configured to determine a target regenerative torque for the vehicle coasting by multiplying the maximum regenerative torque currently available to the vehicle by the regenerative torque adjustment factor for the vehicle coasting, the target regenerative torque preventing wheel lock-up.

[0008] This application also provides a controller, including: a processor; and a memory storing executable instructions thereon, which, when executed, cause the processor to perform the methods of the foregoing embodiments.

[0009] This application also provides a machine-readable storage medium having executable instructions stored thereon, which, when executed, cause a machine to perform the methods of the foregoing embodiments.

[0010] This application also provides a vehicle coasting regenerative braking control system, comprising the vehicle coasting regenerative braking control device of the foregoing embodiment, a signal detection unit for detecting the driving state of the vehicle during coasting, and a drive motor for generating driving force and acting as a generator to generate electrical energy while the vehicle is coasting. The receiving module of the control device is communicatively connected to the signal detection unit, and the control module of the control device is communicatively connected to the drive motor. The control device determines the regenerative torque of the vehicle during coasting based on the driving state information detected by the signal detection unit, and applies the regenerative torque to the drive motor during vehicle coasting.

[0011] According to this application, during the coasting process of a vehicle driven by inertia, the regenerative torque of the motor is adjusted accordingly by detecting the vehicle's slippage to prevent the vehicle's wheels from locking up, thereby improving vehicle stability and also providing a certain power recovery function.

[0012] To further understand the features and technical content of this application, please refer to the following detailed description and drawings of this application. However, the drawings are for reference and illustration only and are not intended to limit this application. Attached Figure Description

[0013] This application will be more fully understood by referring to the following detailed description of specific embodiments in conjunction with the accompanying drawings, in which the same reference numerals refer to the same elements. Wherein:

[0014] Figure 1 A flowchart of a vehicle coasting regenerative braking control method according to an embodiment of the present invention is shown.

[0015] Figure 2 A schematic diagram of a vehicle coasting regenerative braking control device according to an embodiment of the present invention is shown.

[0016] Figure 3 A schematic diagram of the architecture of a vehicle coasting regenerative braking control system according to an embodiment of the present invention is shown. Detailed Implementation

[0017] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or corresponding technical features.

[0018] Figure 1 A flowchart of a vehicle coasting regenerative braking control method 10 according to an embodiment of this application is shown. Figure 1 As shown, method 10 includes the following steps:

[0019] Step S11: Obtain the vehicle's driving information during coasting and the maximum regenerative torque that the vehicle can currently provide;

[0020] Step S12: Determine the regenerative torque adjustment factor of the vehicle during coasting based on the vehicle's coasting driving information, wherein the regenerative torque adjustment factor is greater than or equal to 0 and less than or equal to 1;

[0021] Step S13: Determine the target regenerative torque for the vehicle during coasting by multiplying the maximum regenerative torque currently available to the vehicle with the regenerative torque adjustment factor during coasting. The target regenerative torque prevents the vehicle's wheels from locking up.

[0022] According to the method of this embodiment, when the vehicle is gliding on a low-friction surface (such as an icy or snowy surface, or a rainy surface), the regenerative torque generated by the motor is always less than or equal to the maximum regenerative torque that the vehicle can currently provide. That is, the target regenerative torque applied to the vehicle wheels (i.e., the target regenerative braking torque) is less than the maximum regenerative torque in most cases (i.e., when the regenerative torque adjustment factor is less than 1), which effectively reduces the possibility of wheel lock-up caused by directly applying the maximum regenerative torque to the wheels. At the same time, the target regenerative torque is greater than 0 in most cases (i.e., when the regenerative torque adjustment factor is greater than 0), which means that the vehicle's motor can still perform a certain amount of power recovery under this condition, saving energy.

[0023] Those skilled in the art will know that the maximum regenerative torque currently available from the aforementioned vehicle can be read from the vehicle's motor controller, and will not be elaborated further.

[0024] Specifically, the vehicle's coasting information obtained in step S11 includes the vehicle's speed and wheel speed; determining the regenerative torque adjustment factor during vehicle coasting in step S12 includes: determining the slip ratio of each wheel of the vehicle based on the vehicle's speed and wheel speed during coasting; determining the wheel stability factor of each wheel based on the slip ratio of each wheel; and determining the regenerative torque adjustment factor during vehicle coasting as the minimum value among the wheel stability factors. In this process, the slip condition of each wheel of the vehicle is detected and the corresponding wheel stability factor is calculated. The regenerative torque adjustment factor being the minimum value among the wheel stability factors means that the final target regenerative torque value applied to the wheels according to this control method 10 can prevent the wheel with the largest slip ratio from locking up. Correspondingly, the probability of other wheels with relatively smaller slip ratios locking up under the action of this target regenerative torque is lower, thereby achieving the purpose of this application.

[0025] The determination of the wheel stability factor in step S12 may include: when the wheel slip ratio is less than or equal to a preset first slip ratio reference value S1 and greater than or equal to 0, the wheel stability factor is determined to be 1; when the wheel slip ratio is greater than the preset first slip ratio reference value S1 and less than a preset second slip ratio reference value S2, the wheel stability factor decreases as the wheel slip ratio increases; when the wheel slip ratio is greater than or equal to the preset second slip ratio reference value S2, the wheel stability factor is determined to be 0. The first slip ratio reference value S1 may be, for example, calibrated as a slip ratio threshold when the vehicle is in a relatively stable state, such as 0.1, based on the road surface and vehicle conditions; the second slip ratio reference value S2 may be, for example, calibrated as a slip ratio threshold when the wheel is completely locked, such as 0.3, based on the vehicle conditions.

[0026] When the slip ratio of the wheel is less than or equal to the preset first slip ratio reference value S1, the vehicle is relatively stable, and the stability factor of the wheel is determined to be 1. If the stability factor of each wheel is determined to be 1, it means that the vehicle is relatively stable at this time. If it may be driving on a high-friction surface, its regenerative torque adjustment factor is determined to be the minimum value among the stability factors of each wheel, that is, it is determined to be 1. This means that the maximum regenerative torque that the vehicle motor can provide can be directly applied to the vehicle without causing the wheels to lock up. If the stability factor values ​​of each wheel are different, the minimum value among the stability factors of each wheel is taken as the regenerative torque adjustment factor for calculating the target regenerative torque.

[0027] When the slip ratio of the wheel is greater than or equal to the preset second slip ratio reference value S2, it means that the wheel will lock up. The wheel stability factor is then determined to be 0. At this time, the minimum value among the wheel stability factors is 0. The vehicle regenerative torque adjustment factor is determined to be the minimum value among the wheel stability factors, that is, it is determined to be 0. This means that regenerative torque is no longer applied to restore the wheel speed.

[0028] When the wheel's slip ratio is greater than a preset first slip ratio reference value S1 and less than a preset second slip ratio reference value S2, within this slip ratio range, it indicates that the wheel is prone to locking up and the vehicle is unstable. In this case, the regenerative torque should be reduced as much as possible to restore the wheel's rotational speed until the wheel's slip ratio reaches a level sufficient to maintain vehicle stability. The wheel's stability factor decreases as the wheel's slip ratio increases, meaning that the higher the wheel's slip ratio, the more unstable the wheel's operation and the smaller its stability factor. Within this slip ratio range, the wheel's stability factor decreases smoothly as the wheel's slip ratio increases. As an example, within this slip ratio range, the wheel's stability factor and the wheel's slip ratio have a linear functional relationship.

[0029] Those skilled in the art will understand that, depending on the actual conditions of the vehicle, there may be other corresponding specific numerical calculation relationships or lookup table relationships between wheel slip ratio and wheel stability factor, which can be calibrated according to the vehicle's condition.

[0030] The control method 10 of this application also considers the influence of the vehicle's longitudinal acceleration on the regenerative torque to determine the regenerative torque adjustment factor. Therefore, the vehicle's coasting driving information obtained in step S11 also includes the vehicle's longitudinal acceleration. Determining the regenerative torque adjustment factor in step S12 includes: determining the vehicle's longitudinal stability factor based on the vehicle's longitudinal acceleration; the regenerative torque adjustment factor during vehicle coasting is determined to be the minimum value among the wheel stability factors and the longitudinal stability factor. Wherein, when the vehicle's longitudinal acceleration value is greater than or equal to a predetermined value... When the first longitudinal acceleration reference value Ax1 (e.g., 0.6g) is set, the deceleration in the vehicle's direction of travel is relatively large, causing vehicle instability. Therefore, the vehicle's longitudinal stability factor is determined to be 0 (i.e., the regenerative torque adjustment factor is determined to be the minimum value among the wheel stability factors and the longitudinal stability factor, i.e., 0, and no regenerative torque is applied to the vehicle). When the vehicle's longitudinal acceleration value is less than or equal to the pre-set second longitudinal acceleration reference value Ax2 (e.g., 0.3g), the deceleration in the vehicle's direction of travel is small, and the vehicle is stable. Therefore, the vehicle's longitudinal acceleration factor is determined to be... The stability factor is 1 (at this time, the longitudinal stability factor 1 is compared with the stability factors of each wheel, and the smallest one is determined as the regenerative torque adjustment factor for calculating the target regenerative torque); when the longitudinal acceleration value of the vehicle is less than the preset first longitudinal acceleration reference value Ax1 (e.g., 0.6g) and greater than the preset second longitudinal acceleration reference value Ax2 (e.g., 0.3g), it means that the vehicle tends to be unstable within this acceleration value range. At this time, the vehicle deceleration should be reduced by decreasing the regenerative torque to gradually restore the vehicle body to stability. Within this slip ratio range, it means that the longitudinal acceleration of the vehicle is relatively stable. The higher the speed, the more unstable the wheel's operation, resulting in a smaller longitudinal stability factor. The vehicle's longitudinal stability factor decreases smoothly as the vehicle's longitudinal acceleration increases. As an example, within this range of longitudinal acceleration values, there is a linear relationship between the vehicle's longitudinal stability factor and its longitudinal acceleration. However, those skilled in the art will understand that, depending on the actual situation of the vehicle, there may be other corresponding specific numerical calculation relationships or lookup table relationships between the vehicle's longitudinal stability factor and its longitudinal acceleration, which can be calibrated according to the vehicle's specific circumstances.

[0031] Those skilled in the art will understand that the aforementioned "longitudinal acceleration" is directional, while the "value of longitudinal acceleration" is its absolute value and does not have directional attributes. When a vehicle decelerates while coasting, the vehicle's deceleration is the value (or absolute value) of its longitudinal acceleration.

[0032] The control method 10 of this application also considers the influence of the vehicle's lateral acceleration on the regenerative torque to determine the regenerative torque adjustment factor. Therefore, the vehicle's coasting driving information obtained in step S11 also includes the vehicle's lateral acceleration. Determining the regenerative torque adjustment factor in step S12 includes: determining the vehicle's lateral stability factor based on the vehicle's lateral acceleration. The regenerative torque adjustment factor during vehicle coasting is determined to be the minimum value among the wheel stability factors and the lateral stability factor. Specifically, when the vehicle's lateral acceleration value is greater than or equal to a preset first lateral acceleration reference value Ay1 (e.g., 0.5g), the lateral acceleration is too large (e.g., too fast steering) and the vehicle body is unstable, so the vehicle's lateral stability factor is determined to be 0. When the vehicle's lateral acceleration value is less than or equal to a preset second lateral acceleration reference value Ay2 (e.g., 0.3g), the lateral acceleration is small and does not affect vehicle stability, so the vehicle's lateral stability factor is 1. When the lateral acceleration of the vehicle is less than a preset first lateral acceleration reference value Ay1 and greater than a preset second lateral acceleration reference value Ay2, it means that the vehicle is becoming unstable. The lateral stability factor of the vehicle decreases as the lateral acceleration increases, and the vehicle body needs to be stabilized by reducing the regenerative torque to decrease its lateral acceleration. As an example, within this range of lateral acceleration values, the lateral stability factor and the lateral acceleration value of the vehicle have a linear function relationship; however, those skilled in the art will understand that, depending on the actual situation of the vehicle, the lateral stability factor and the lateral acceleration value of the vehicle may have other corresponding specific numerical calculation relationships or lookup table relationships, which can be calibrated according to the vehicle's specific situation. Furthermore, while determining whether to adjust the regenerative torque based on the vehicle's lateral acceleration, the influence of vehicle speed is also considered. That is, the determination of the regenerative torque adjustment factor when the vehicle is coasting in step S12 also includes the following: when the vehicle speed is less than or equal to a preset first vehicle speed reference value V1 (e.g., 5 km / h), it means that the vehicle body is stable at low speeds, regardless of the magnitude of the vehicle's lateral acceleration. At this low speed, the lateral stability factor of the vehicle is determined to be 1. At this time, the minimum value among the stability factors of each wheel and the lateral stability factor of the vehicle is determined as the regenerative torque adjustment value for calculating the target regenerative torque.

[0033] When determining the regenerative torque adjustment factor, the slippage of each wheel of the vehicle and the longitudinal and / or lateral stability of the vehicle body are taken into account, which makes the adjustment of regenerative torque more precise and the vehicle's coasting stability higher.

[0034] Depending on the vehicle itself, the condition of the wheels and tires, and the road conditions, the vehicle may still trigger functions such as anti-lock braking system, traction control, drag torque control, or vehicle dynamic control to maintain vehicle stability during coasting. Step S11 of the control method 10 further includes determining whether the functions of anti-lock braking control, traction control, drag torque control, and vehicle dynamic control are triggered when the vehicle is coasting; Step S12 further includes that when at least one of the functions of anti-lock braking control, traction control, drag torque control, and vehicle dynamic control is triggered, it means that these functional modules for maintaining vehicle stability are activated due to the unstable state of the vehicle, and the stability function factor of the vehicle is determined to be 0. The regenerative torque adjustment factor is taken as the minimum value among the stability factors of each wheel and the stability function factor, i.e., 0, which means that regenerative torque is no longer applied, and the vehicle stability is maintained by the execution unit of the aforementioned functions, avoiding the situation where vehicle instability occurs due to the alternating action of anti-lock braking and other controls and regenerative control; when the functions of anti-lock braking control, traction control, drag torque control, and vehicle dynamic control are not triggered, the stability function factor of the vehicle is determined to be 1. At this time, the regenerative torque adjustment factor of the vehicle is determined to be the minimum value among the stability factors of each wheel and the stability function factor of the vehicle.

[0035] Understandably, the regenerative torque adjustment factor can simultaneously consider one or more of the aforementioned wheel stability factors, longitudinal stability factors, lateral stability factors, and stability function factors, and take the minimum value among them as the regenerative torque adjustment factor. By acquiring and processing multidimensional data characterizing vehicle stability, the regenerative torque can be adjusted more accurately and the vehicle body stability can be better maintained, which will not be elaborated further.

[0036] Furthermore, step S13 of the control method 10 also includes performing a first-order low-pass filter on the target regenerative torque to obtain an optimized target regenerative torque for vehicle coasting. This optimized target regenerative torque prevents wheel lock-up. The aforementioned optimized target regenerative torque allows for a smoother change in the actual applied regenerative torque, which is more conducive to vehicle stability.

[0037] Optionally, the target regenerative torque can be calculated every 20ms to adjust the regenerative torque in real time according to the vehicle's coasting condition. Understandably, other corresponding calculation cycles and control frequencies for adjusting the regenerative torque can also be set based on actual conditions such as the vehicle's own parameters.

[0038] Figure 2A schematic diagram of a vehicle coasting regenerative braking control device 100 according to an embodiment of the present invention is shown. The device 100 includes a receiving module 110, a judging module 120, and a control module 130 connected in communication. The receiving module 110 is configured to acquire the vehicle's coasting driving information and the maximum regenerative torque that the vehicle can currently provide. The judging module 120 is configured to determine a regenerative torque adjustment factor for the vehicle's coasting based on the vehicle's coasting driving information, wherein the regenerative torque adjustment factor is greater than or equal to 0 and less than or equal to 1. The control module 130 is configured to determine a target regenerative torque for the vehicle's coasting by multiplying the maximum regenerative torque that the vehicle can currently provide by the regenerative torque by the regenerative torque adjustment factor for the vehicle's coasting. The target regenerative torque prevents the vehicle's wheels from locking up. According to the device 100 of this embodiment, when the vehicle is coasting on a low-friction surface, the regenerative torque generated by the motor is always less than or equal to the maximum regenerative torque that the vehicle can currently provide. That is, the target regenerative torque (i.e., the target regenerative braking torque) applied to the vehicle wheels is less than the maximum regenerative torque in most cases (i.e., when the regenerative torque adjustment factor is less than 1), which effectively reduces the possibility of wheel lock-up due to directly applying the maximum regenerative torque to the wheels. At the same time, the target regenerative torque is greater than 0 in most cases (i.e., when the regenerative torque adjustment factor is greater than 0), which means that the vehicle's motor can still perform a certain amount of power recovery under this condition, saving energy.

[0039] Specifically, the receiving module 110 is further configured to acquire the vehicle's coasting information, including the vehicle speed and wheel speed; the judging module 120 is further configured to determine the slip ratio of each wheel of the vehicle based on the vehicle speed and wheel speed during coasting; determine the wheel stability factor of each wheel based on the slip ratio of each wheel; and determine the regenerative torque adjustment factor during coasting as the minimum value among the wheel stability factors. The receiving module 110 detects the slip of each wheel of the vehicle, and the judging module 120 calculates the corresponding wheel stability factors. The regenerative torque adjustment factor being the minimum value among the wheel stability factors means that the final target regenerative torque value applied to the wheels according to this control method 10 can prevent the wheel with the largest slip ratio from locking up. Correspondingly, the probability of other wheels with relatively smaller slip ratios locking up under the action of this target regenerative torque is lower, thereby achieving the purpose of this application.

[0040] Optionally, the receiving module 110 is further configured to acquire the longitudinal acceleration and / or lateral acceleration of the vehicle; the judging module 120 is further configured to determine the longitudinal stability factor and / or lateral stability factor of the vehicle based on the longitudinal acceleration and / or the lateral acceleration, and the regenerative torque adjustment factor during vehicle coasting is determined to be the minimum value among the wheel stability factors and the longitudinal stability factor, or the minimum value among the wheel stability factors, the longitudinal stability factor, and the lateral stability factor. When the judging module 120 determines the regenerative torque adjustment factor, it comprehensively considers the slippage of each wheel of the vehicle as well as the longitudinal and / or lateral stability of the vehicle, making the adjustment of the regenerative torque more precise and the vehicle's coasting stability higher.

[0041] Optionally, the receiving module 110 is further configured to acquire whether the anti-lock braking control, traction control, drag torque control, and vehicle dynamic control functions of the vehicle are triggered during coasting; the judging module 120 is further configured to determine that when at least one of the anti-lock braking control, traction control, drag torque control, and vehicle dynamic control functions of the vehicle is triggered, the regenerative torque adjustment factor of the vehicle is set to 0, so that the regenerative torque of the vehicle is withdrawn and handed over to the execution unit of the aforementioned functions to maintain the stability of the vehicle body, so as to avoid the vehicle body instability caused by the alternating action of anti-lock braking and other controls and regenerative control; when none of the anti-lock braking control, traction control, drag torque control, and vehicle dynamic control functions of the vehicle are triggered, the stability function factor of the vehicle is set to 1; the regenerative torque adjustment factor of the vehicle during coasting is determined to be the minimum value among the wheel stability factors and the vehicle stability function factor.

[0042] Understandably, the regenerative torque adjustment factor can simultaneously consider one or more of the aforementioned wheel stability factors, longitudinal stability factors, lateral stability factors, and stability function factors, and take the minimum value among them as the regenerative torque adjustment factor. By acquiring and processing multidimensional data characterizing vehicle stability, the regenerative torque can be adjusted more accurately and the vehicle body stability can be better maintained, which will not be elaborated further.

[0043] Optionally, the control module 130 is further configured to perform a first-order low-pass filter on the target regenerative torque to obtain an optimized target regenerative torque for vehicle coasting, which prevents the vehicle's wheels from locking up. The aforementioned optimized target regenerative torque allows for a smoother change in the actual applied regenerative torque, which is more conducive to vehicle stability.

[0044] The judgment module 120 can be configured as part of the vehicle's electronic stability system, and the control module 130 can be configured as part of the vehicle's overall controller (e.g., as a motor controller).

[0045] The vehicle coasting regenerative braking control device 100 of this embodiment can control the wheels of the vehicle to prevent them from locking up by detecting the vehicle's coasting condition and adjusting the regenerative torque of the motor during the coasting process of the vehicle's inertial travel. This improves the stability of the vehicle and also has a certain power recovery function.

[0046] This application also provides a method such as Figure 3 The vehicle coasting regenerative braking control system 1000 shown includes a vehicle coasting regenerative braking control device 100 as described above, a signal detection unit 200 for detecting the driving state of the vehicle during coasting, and a drive motor 300 for generating driving force and acting as a generator to generate electrical energy while the vehicle is coasting. The receiving module 110 of the control device 100 is communicatively connected to the signal detection unit 200, and the control module 130 of the control device 100 is communicatively connected to the drive motor 300. The control device 100 determines the regenerative torque for the vehicle during coasting based on the driving state information detected by the signal detection unit 200, and applies the regenerative torque to the drive motor 300 during vehicle coasting.

[0047] This application also provides a controller, including a processor and a memory, wherein the memory stores executable instructions, which, when executed, cause the processor to perform the method 10 of this application.

[0048] This application also provides a readable storage medium having executable instructions stored thereon, which, when executed, cause a machine to perform the method 10 of this application.

[0049] This application also provides a vehicle, which is an electric vehicle, a hybrid vehicle, a plug-in hybrid vehicle, or a fuel cell vehicle, comprising the vehicle coasting regenerative braking control system 1000 as described in claim 16.

[0050] Those skilled in the art will understand that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in connection with the aspects disclosed herein can be implemented as electronic hardware or a combination of hardware and software. The various illustrative components, blocks, modules, and circuits have been generally described above in terms of their functionality. Whether such functionality is implemented as hardware or a combination of hardware and software will depend on the specific application and the design constraints imposed on the overall system.

[0051] Those skilled in the art can implement the described functionality in different ways for specific applications; however, such implementation decisions should not be construed as causing a departure from the scope of this application.

[0052] The above specific embodiments are for illustrative purposes only and are not intended to limit the scope of this application. Various changes and modifications can be made by those skilled in the art without departing from the scope of this application; therefore, all equivalent technical solutions also fall within the scope of this application, and the patent protection scope of this application should be defined by the claims.

Claims

1. A method for controlling regenerative braking during vehicle coasting, characterized in that, The method includes: Step (S11): Obtain the vehicle's driving information during coasting and the maximum regenerative torque that the vehicle can currently provide; Step (S12): Determine the regenerative torque adjustment factor of the vehicle during coasting based on the driving information of the vehicle during coasting, wherein the regenerative torque adjustment factor is greater than or equal to 0 and less than or equal to 1; Step (S13): Determine the target regenerative torque for the vehicle during coasting by multiplying the maximum regenerative torque currently available from the vehicle by the regenerative torque adjustment factor during coasting. The target regenerative torque prevents the vehicle's wheels from locking up. in, The driving information of the vehicle during coasting obtained in step (S11) includes the vehicle speed, wheel speed and longitudinal acceleration. The step (S12) of determining the regenerative torque adjustment factor during vehicle coasting includes: determining the slip ratio of each wheel of the vehicle based on the vehicle speed and wheel speed during coasting; determining the wheel stability factor of each wheel based on the slip ratio of each wheel; the regenerative torque adjustment factor during vehicle coasting is determined to be the minimum value among the wheel stability factors; the longitudinal stability factor of the vehicle is determined based on the longitudinal acceleration of the vehicle, and the regenerative torque adjustment factor during vehicle coasting is determined to be the minimum value among the wheel stability factors and the longitudinal stability factor; wherein, When the longitudinal acceleration value of the vehicle is greater than or equal to the preset first longitudinal acceleration reference value (Ax1), the longitudinal stability factor of the vehicle is determined to be 0. When the longitudinal acceleration value of the vehicle is less than the preset first longitudinal acceleration reference value (Ax1) and greater than the preset second longitudinal acceleration reference value (Ax2), the longitudinal stability factor of the vehicle decreases as the longitudinal acceleration value of the vehicle increases. When the longitudinal acceleration of the vehicle is less than or equal to the preset second longitudinal acceleration reference value (Ax2), the longitudinal stability factor of the vehicle is determined to be 1; or, The driving information of the vehicle during coasting obtained in step (S11) includes the vehicle speed, wheel speed and lateral acceleration. The step (S12) of determining the regenerative torque adjustment factor during vehicle coasting includes: determining the slip ratio of each wheel of the vehicle based on the vehicle speed and wheel speed during coasting; determining the wheel stability factor of each wheel based on the slip ratio of each wheel; the regenerative torque adjustment factor during vehicle coasting is determined to be the minimum value among the wheel stability factors; the lateral stability factor of the vehicle is determined based on the lateral acceleration of the vehicle; and the regenerative torque adjustment factor during vehicle coasting is determined to be the minimum value among the wheel stability factors and the lateral stability factor. When the lateral acceleration value of the vehicle is greater than or equal to the preset first lateral acceleration reference value (Ay1), the lateral stability factor of the vehicle is determined to be 0. When the lateral acceleration value of the vehicle is less than the preset first lateral acceleration reference value (Ay1) and greater than the preset second lateral acceleration reference value (Ay2), the lateral stability factor of the vehicle decreases as the lateral acceleration value of the vehicle increases. When the lateral acceleration value of the vehicle is less than or equal to the preset second lateral acceleration reference value (Ay2), the lateral stability factor of the vehicle is determined to be 1; or when the lateral acceleration value of the vehicle is less than or equal to the preset second lateral acceleration reference value (Ay2) and the vehicle speed is less than or equal to the preset first vehicle speed reference value (V1), the lateral stability factor of the vehicle is determined to be 1.

2. The vehicle coasting regenerative braking control method as described in claim 1, characterized in that: When the slip ratio of the wheel is less than or equal to a preset first slip ratio reference value (S1) and greater than or equal to 0, the wheel stability factor is determined to be 1; When the slip ratio of the wheel is greater than a preset first slip ratio reference value (S1) and less than a preset second slip ratio reference value (S2), the stability factor of the wheel decreases as the slip ratio of the wheel increases. When the slip ratio of the wheel is greater than or equal to the preset second slip ratio reference value (S2), the wheel stability factor is determined to be 0.

3. The vehicle coasting regenerative braking control method as described in claim 1, characterized in that, The driving information obtained in step (S11) when the vehicle is coasting includes one or more of the following: wheel speed of each wheel, vehicle speed, longitudinal acceleration, lateral acceleration, and the activation status of the stability function module. The stability function module includes anti-lock braking control, traction control, drag torque control, or vehicle dynamic control function module. The step (S12) of determining the regenerative torque adjustment factor during vehicle coasting includes: determining the stability factor of each wheel of the vehicle based on the wheel speed and vehicle speed of each wheel; determining the longitudinal stability factor of the vehicle based on the longitudinal acceleration; determining the lateral stability factor of the vehicle based on the lateral acceleration; and determining the stability function factor of the vehicle based on the activation state of the stability function module. The regenerative torque adjustment factor is determined to be the minimum value among the wheel stability factors, the longitudinal stability factor, and the stability function factor; or, the regenerative torque adjustment factor is determined to be the minimum value among the wheel stability factors, the lateral stability factor, and the stability function factor.

4. The vehicle coasting regenerative braking control method as described in any one of claims 1 to 3, characterized in that, Step (S13) further includes performing a first-order low-pass filter on the target regenerative torque to obtain an optimized target regenerative torque for the vehicle during coasting, wherein the optimized target regenerative torque prevents the vehicle's wheels from locking up.

5. The vehicle coasting regenerative braking control method as described in any one of claims 1 to 3, characterized in that, The target regenerative torque is calculated every 20ms.

6. A vehicle coasting regenerative braking control device, characterized in that, The device includes a receiving module (110), a judging module (120), and a control module (130) connected in communication, wherein, The receiving module (110) is configured to acquire the vehicle's driving information during coasting and the maximum regenerative torque that the vehicle can currently provide; The judgment module (120) is configured to determine the regenerative torque adjustment factor of the vehicle during coasting based on the driving information of the vehicle during coasting, wherein the regenerative torque adjustment factor is greater than or equal to 0 and less than or equal to 1; The control module (130) is configured to determine a target regenerative torque for coasting by multiplying the maximum regenerative torque currently available to the vehicle by a regenerative torque adjustment factor for coasting, the target regenerative torque preventing wheel lock-up of the vehicle; in, The receiving module (110) is further configured to acquire the vehicle's coasting information, including the vehicle's speed, wheel speed, and longitudinal acceleration; the judging module (120) is further configured to determine the slip ratio of each wheel of the vehicle based on the vehicle's speed and wheel speed during coasting; determine the wheel stability factor of each wheel based on the slip ratio of each wheel; determine the regenerative torque adjustment factor of the vehicle during coasting as the minimum value among the wheel stability factors; determine the longitudinal stability factor of the vehicle based on the vehicle's longitudinal acceleration; and determine the regenerative torque adjustment factor of the vehicle during coasting as the minimum value among the wheel stability factors and the longitudinal stability factor; wherein, When the longitudinal acceleration value of the vehicle is greater than or equal to the preset first longitudinal acceleration reference value (Ax1), the longitudinal stability factor of the vehicle is determined to be 0. When the longitudinal acceleration value of the vehicle is less than the preset first longitudinal acceleration reference value (Ax1) and greater than the preset second longitudinal acceleration reference value (Ax2), the longitudinal stability factor of the vehicle decreases as the longitudinal acceleration value of the vehicle increases. When the longitudinal acceleration of the vehicle is less than or equal to the preset second longitudinal acceleration reference value (Ax2), the longitudinal stability factor of the vehicle is determined to be 1; or, The receiving module (110) is further configured to acquire the vehicle's coasting information, including the vehicle's speed, wheel speed, and lateral acceleration; the judging module (120) is further configured to determine the slip ratio of each wheel of the vehicle based on the vehicle's speed and wheel speed during coasting; determine the wheel stability factor of each wheel based on the slip ratio of each wheel; determine the regenerative torque adjustment factor of the vehicle during coasting as the minimum value among the wheel stability factors; determine the lateral stability factor of the vehicle based on the vehicle's lateral acceleration; and determine the regenerative torque adjustment factor of the vehicle during coasting as the minimum value among the wheel stability factors and the lateral stability factor; wherein, When the lateral acceleration value of the vehicle is greater than or equal to the preset first lateral acceleration reference value (Ay1), the lateral stability factor of the vehicle is determined to be 0. When the lateral acceleration value of the vehicle is less than the preset first lateral acceleration reference value (Ay1) and greater than the preset second lateral acceleration reference value (Ay2), the lateral stability factor of the vehicle decreases as the lateral acceleration value of the vehicle increases. When the lateral acceleration value of the vehicle is less than or equal to the preset second lateral acceleration reference value (Ay2), the lateral stability factor of the vehicle is determined to be 1; or when the lateral acceleration value of the vehicle is less than or equal to the preset second lateral acceleration reference value (Ay2) and the vehicle speed is less than or equal to the preset first vehicle speed reference value (V1), the lateral stability factor of the vehicle is determined to be 1.

7. The vehicle coasting regenerative braking control device as described in claim 6, characterized in that, The receiving module (110) is configured to acquire the wheel speed, vehicle speed, longitudinal acceleration, lateral acceleration, and the activation state of the stability function module of each wheel when the vehicle is coasting. The stability function module includes anti-lock braking control, traction control, drag torque control, or vehicle dynamic control function module. The judgment module (120) is configured to determine the stability factor of each wheel of the vehicle based on the wheel speed and vehicle speed of each wheel of the vehicle obtained by the receiving module (110), determine the longitudinal stability factor of the vehicle based on the longitudinal acceleration, determine the lateral stability factor of the vehicle based on the lateral acceleration, determine the stability function factor of the vehicle based on the activation state of the stability function module, and determine the regenerative torque adjustment factor as the minimum value among the wheel stability factors, the longitudinal stability factor, and the stability function factor; or, the regenerative torque adjustment factor as the minimum value among the wheel stability factors, the lateral stability factor, and the stability function factor.

8. The vehicle coasting regenerative braking control device as described in any one of claims 6 or 7, characterized in that, The control module (130) is further configured to perform a first-order low-pass filter on the target regenerative torque to obtain an optimized target regenerative torque for the vehicle during coasting, the optimized target regenerative torque preventing the vehicle's wheels from locking up.

9. The vehicle coasting regenerative braking control device as described in any one of claims 6 or 7, characterized in that, The determination module (120) is configured as part of the vehicle's electronic stability system, and the control module (130) is configured as part of the vehicle's vehicle controller.

10. A controller, characterized in that, include, processor; as well as A memory having executable instructions stored thereon, which, when executed, cause the processor to perform the method of any one of claims 1 to 5.

11. A machine-readable storage medium, characterized in that, It stores executable instructions that, when executed, cause the machine to perform the method of any one of claims 1 to 5.

12. A vehicle coasting regenerative braking control system, characterized in that, include, The vehicle coasting regenerative braking control device (100) according to any one of claims 6 to 9. A signal detection unit (200) is used to detect the driving state of the vehicle when it is coasting, and includes a sensor unit; A drive motor (300) is used to generate driving force and to function as a generator to produce electrical energy while the vehicle is coasting. The receiving module (110) of the control device (100) is communicatively connected to the signal detection unit (200), and the control module (130) of the control device (100) is communicatively connected to the drive motor (300). The control device (100) determines the regenerative torque of the vehicle during coasting based on the driving status information detected by the signal detection unit (200), and applies the regenerative torque of the vehicle during coasting to the drive motor (300) during the vehicle coasting.

13. A vehicle, characterized in that, The vehicle is an electric vehicle, a hybrid vehicle, a plug-in hybrid vehicle, or a fuel cell vehicle, and includes the vehicle coasting regenerative braking control system (1000) as described in claim 12.

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