Method and device for recovering vehicle braking energy

Abstract

The application provides a vehicle braking energy recovery method and device, the method comprises the following steps: obtaining driving information of a second vehicle and road information within a preset distance, wherein the distance between the first vehicle and the second vehicle is less than a preset threshold; determining a target torque according to the driving speed, the driving information of the second vehicle and the road information within the preset distance; obtaining the state of an accelerator pedal, the state of a brake pedal and the state of vehicle control; determining a driving intention according to the state of the accelerator pedal, the state of the brake pedal and the state of vehicle control; determining a whole vehicle demand torque according to the target torque and the driving intention; and controlling the motor of the vehicle to brake and recover energy according to the whole vehicle demand torque. The vehicle braking energy recovery method and device provided by the application can improve the recovery rate of braking energy.

Description

[0001] This application is a divisional application of the original application with the application number 201610988900.0 and the original filing date of November 9, 2016, and the entire contents of the original application are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to energy recovery technology, and in particular, to a vehicle braking energy recovery method and device. BACKGROUND

[0003] At present, air pollution is serious, and haze occurs frequently, and environmental protection problems have attracted widespread attention, therefore, the development of electric vehicles (EV) has been valued by various countries. However, the driving range is the biggest problem hindering the promotion of EV.

[0004] In the prior art, the driving range problem is usually solved by improving the energy utilization rate of EV, specifically, brake energy recovery can be used to improve the energy utilization rate of EV. Figure 1 The system framework diagram of the vehicle braking energy recovery in the prior art is shown in FIG. 1, the braking energy recovery and control decision of the existing EV are obtained by recognizing the operation of the accelerator pedal, brake pedal and clutch pedal opening, obtaining the brake signal, throttle signal and clutch signal, and then according to the maximum allowed charging current, battery state of charge signal (SOC), the vehicle controller calculates the brake torque command according to the motor speed, and controls the motor to perform energy feedback. Figure 1

[0005] However, the existing brake energy recovery method is to passively recover the brake energy according to the operation of the pedal by the driver and the state of the battery and motor, so that the recovery rate of the brake energy is low. SUMMARY

[0006] The embodiments of the present application provide a vehicle braking energy recovery method and device to improve the recovery rate of brake energy.

[0007] In a first aspect, the embodiments of the present application provide a vehicle braking energy recovery method, which comprises:

[0008] The first vehicle obtains the driving information of the second vehicle and the road information within a preset distance, wherein the distance between the first vehicle and the second vehicle is less than a preset threshold;

[0009] The first vehicle determines a target torque according to the driving speed, the driving information of the second vehicle and the road information within the preset distance;

[0010] ​The first vehicle obtains a state of an accelerator pedal, a state of a brake pedal, and a state of vehicle control, and determines a driving intention according to the state of the accelerator pedal, the state of the brake pedal, and the state of vehicle control;

[0011] The first vehicle determines a whole vehicle demand torque according to the target torque and the driving intention;

[0012] The first vehicle controls the motor of the vehicle to brake energy recovery according to the whole vehicle demand torque.

[0013] The vehicle brake energy recovery method provided by the first aspect above, since the first vehicle obtains the driving speed of itself, the driving information of the second vehicle, and the road information within the preset distance after obtaining the driving speed of itself, the driving information of the second vehicle, and the road information within the preset distance, determines the target torque according to the information, obtains the state of the accelerator pedal, the state of the brake pedal, and the state of vehicle control, determines the driving intention according to the state of the accelerator pedal, the state of the brake pedal, and the state of vehicle control, finally determines the whole vehicle demand torque according to the target torque and the driving intention, and then performs torque distribution control to achieve the purpose of brake energy recovery. Since the brake energy recovery is performed according to the driving speed, the driving information of the second vehicle, and the road information within the preset distance, that is, the information of the first vehicle itself and the relevant information outside the vehicle are considered at the same time, the phenomenon that the brake energy recovery is passively performed according to the operation of the driver on the pedal and the state of the battery and the motor in the prior art is avoided, thereby improving the recovery rate of the brake energy.

[0014] In a possible design, the first vehicle determines the target torque according to the driving speed, the driving information of the second vehicle, and the road information within the preset distance, including:

[0015] The first vehicle calculates the target deceleration of the first vehicle according to the driving speed, the driving information of the second vehicle, and the road information within the preset distance;

[0016] The first vehicle obtains the slope of the driving road where the first vehicle is located;

[0017] The first vehicle determines the target torque according to the slope of the driving road where the first vehicle is located and the target deceleration.

[0018] In a possible design, the road information within the preset distance includes: the color of the signal light within the preset distance, and the distance between the first vehicle and the signal light;

[0019] The first vehicle calculates the target deceleration of the first vehicle according to the driving speed, the driving information of the second vehicle, and the road information within the preset distance, including:

[0020] If there is no second vehicle running and the color state of the signal light in the preset distance is red or yellow, the target deceleration is calculated according to the distance between the first vehicle and the signal light, the width of the signal light intersection road and the running speed.

[0021] In a possible design, the preset distance road information comprises the color of the signal light in the preset distance, the distance between the first vehicle and the signal light and the width of the signal light intersection road.

[0022] The first vehicle calculates the target deceleration of the first vehicle according to the running speed, the running information of the second vehicle and the preset distance road information, comprising:

[0023] If there is no second vehicle running and the color state of the signal light in the preset distance is red or yellow, the target deceleration is calculated according to the distance between the first vehicle and the signal light, the width of the signal light intersection road and the running speed.

[0024] In the above possible design, when no second vehicle running is detected in the preset distance, but the color state of the signal light in the preset distance is detected as red or yellow, the running speed v0=0 is the control target when the first vehicle runs to the distance from the signal light to the width L of the intersection where the signal light is located in the preset distance. Road According to the kinematics principle, the target deceleration a trg can be calculated according to the following formula:

[0025]

[0026] Wherein, L Light is the distance between the first vehicle and the signal light.

[0027] In a possible design, the preset distance road information comprises the highest speed limit in the preset distance and the color of the signal light.

[0028] The first vehicle calculates the target deceleration of the first vehicle according to the running speed, the running information of the second vehicle and the preset distance road information, comprising:

[0029] If there is no second vehicle running, the color of the signal light is green and the running speed is greater than the highest speed limit, the target deceleration is calculated according to the highest speed limit and the running speed.

[0030] In a possible design, the preset distance road information comprises the highest speed limit in the preset distance and the road type.

[0031] The first vehicle calculates the target deceleration of the first vehicle according to the running speed, the running information of the second vehicle and the preset distance road information, comprising:

[0032] If there is no second vehicle running, the road type is highway and the running speed is greater than the maximum speed limit, the target deceleration is calculated according to the maximum speed limit and the running speed.

[0033] In the above possible design, when no second vehicle running is detected within the preset distance, but the road type within the preset distance is highway and the running speed is greater than the maximum speed limit v MaxPem within the preset distance, the running speed v0 is equal to v Vmax when the first vehicle travels to the preset distance L MaxPem from the current position of the vehicle, and the target deceleration a trg can be calculated according to the following formula:

[0034]

[0035] In a possible design, the road information within the preset distance includes: the maximum speed limit within the preset distance, the average speed of the vehicle running in the same direction as the first vehicle, and the color of the signal light;

[0036] The first vehicle calculates the target deceleration of the first vehicle according to the running speed, the running information of the second vehicle and the road information within the preset distance, including:

[0037] If there is no second vehicle running, the color of the signal light is green, and the running speed is less than the maximum speed limit, the target deceleration is calculated according to the running speed and the average speed.

[0038] In the above possible design, when no second vehicle running is detected within the preset distance, but the color of the signal light within the preset distance is green and the running speed is less than the maximum speed limit v MaxPem , at this time, the target deceleration a trg can be calculated according to the following formula:

[0039]

[0040] In a possible design, the running information of the second vehicle includes: the speed of the second vehicle, the distance between the second vehicle and the first vehicle; the road information within the preset distance includes the safety distance between the two vehicles;

[0041] The first vehicle calculates the target deceleration of the first vehicle according to the running speed, the running information of the second vehicle and the road information within the preset distance, including:

[0042] If there is a second vehicle running, the target deceleration is calculated according to the vehicle speed of the second vehicle, the running speed, the distance between the second vehicle and the first vehicle, and the safety distance between the two vehicles.

[0043] The vehicle brake energy recovery method provided by each possible design can calculate the target deceleration in different ways in different cases, so that the calculation method of the target deceleration is more flexible.

[0044] In a possible design, the first vehicle determines the target torque according to the slope of the running road where the first vehicle is located and the target deceleration, including:

[0045] The target torque is calculated according to the following formula:

[0046]

[0047] Wherein, G is the weight of the first vehicle; f is the rolling resistance coefficient; C D is the wind resistance coefficient; A is the windward area of the first vehicle; v0 is the real-time vehicle speed of the first vehicle; i is the slope of the running road of the first vehicle; δ is the rotational mass conversion coefficient; m is the mass of the first vehicle; a trg is the target deceleration; r is the wheel radius of the first vehicle; i g is the transmission ratio of the transmission of the first vehicle; i0 is the main reduction ratio; η is the mechanical transmission efficiency; T trg is the target torque.

[0048] In a possible design, before the first vehicle determines the whole vehicle demand torque according to the target torque and the driving intention, the method further includes:

[0049] The first vehicle obtains the motor speed of the first vehicle;

[0050] The first vehicle determines the whole vehicle demand torque according to the target torque and the driving intention, including:

[0051] The first vehicle calculates the driving demand torque according to the driving intention and the motor speed;

[0052] The first vehicle determines the whole vehicle demand torque according to the target torque, the driving intention and the driving demand torque.

[0053] The vehicle braking energy recovery method provided by the possible designs can calculate the driving demand torque according to the driving intention, the pedal opening degree signal of the first vehicle, the motor speed and the motor external characteristic curve, and then determine the whole vehicle demand torque, so that the braking energy recovery is performed according to the information of the first vehicle itself and the related information outside the vehicle, and also according to the habit of the driver and other influencing factors, and thus the control of the regenerative braking can be considered from the overall economy

[0054] In a possible design, before the first vehicle controls the motor of the vehicle to perform the braking energy recovery according to the whole vehicle demand torque, the method further includes:

[0055] The first vehicle obtains the maximum motor output torque in the first vehicle, the minimum motor output torque in the first vehicle, the rated speed of the motor in the first vehicle, the real-time allowable charging power of the battery in the first vehicle and the real-time allowable discharging power of the battery in the first vehicle;

[0056] The first vehicle controls the motor of the vehicle to perform the braking energy recovery according to the whole vehicle demand torque, including:

[0057] The first vehicle determines the motor torque of the first vehicle according to the maximum motor output torque in the first vehicle, the minimum motor output torque in the first vehicle, the rated speed of the motor in the first vehicle, the real-time allowable charging power of the battery in the first vehicle, the real-time allowable discharging power of the battery in the first vehicle and the whole vehicle demand torque;

[0058] The first vehicle controls the motor in the first vehicle according to the motor torque to perform the braking energy recovery.

[0059] In the above design, after the first vehicle determines the whole vehicle demand torque, the first vehicle controls the motor of the vehicle to perform the braking energy recovery according to the whole vehicle demand torque.

[0060] The vehicle braking energy recovery method provided by the possible designs can use the electric braking to meet the whole vehicle demand torque within the maximum or minimum motor output torque in the first vehicle and the real-time allowable charging and discharging power of the battery in the first vehicle according to the whole vehicle demand torque, and then use the mechanical braking for the part exceeding the whole vehicle demand torque, so that more energy can be recovered.

[0061] In a second aspect, an embodiment of the present application provides a vehicle braking energy recovery device, including:

[0062] An obtaining module is configured to obtain driving information of a second vehicle and road information within a preset distance, wherein the distance between the first vehicle and the second vehicle is less than a preset threshold;

[0063] determining a target torque according to the driving speed, the driving information of the second vehicle, and road information within a preset distance;

[0064] The acquisition module is further configured to acquire a state of an accelerator pedal, a state of a brake pedal, and a state of vehicle control;

[0065] The determining module is further configured to determine a driving intention according to the state of the accelerator pedal, the state of the brake pedal, and the state of vehicle control;

[0066] The determining module is further configured to determine a whole-vehicle demand torque according to the target torque and the driving intention;

[0067] The control module is configured to control a motor of the vehicle to perform brake energy recovery according to the whole-vehicle demand torque.

[0068] In a possible design, the determining module includes:

[0069] The calculating unit is configured to calculate a target deceleration of the first vehicle according to the driving speed, the driving information of the second vehicle, and the road information within the preset distance;

[0070] The acquisition unit is configured to acquire a slope of a driving road on which the first vehicle is located;

[0071] The determining unit is configured to determine the target torque according to the slope of the driving road on which the first vehicle is located and the target deceleration.

[0072] In a possible design, the road information within the preset distance includes a color of a signal lamp within the preset distance, and a distance between the first vehicle and the signal lamp.

[0073] The calculating unit is further configured to calculate the target deceleration according to the distance between the first vehicle and the signal lamp and the driving speed, if there is no second vehicle driving and a color state of the signal lamp within the preset distance is red or yellow.

[0074] In a possible design, the road information within the preset distance includes a color of a signal lamp within the preset distance, a distance between the first vehicle and the signal lamp, and a width of a road at a signal lamp intersection.

[0075] The calculating unit is further configured to calculate the target deceleration according to the distance between the first vehicle and the signal lamp, the width of the road at the signal lamp intersection, and the driving speed, if there is no second vehicle driving and a color state of the signal lamp within the preset distance is red or yellow.

[0076] In a possible design, the road information within the preset distance includes a highest speed limit within the preset distance and a color of a signal lamp.

[0077] The computing unit is further configured to calculate the target deceleration according to the highest speed limit and the driving speed if there is no second vehicle driving, the color of the signal light is green, and the driving speed is greater than the highest speed limit.

[0078] In a possible design, the road information within the preset distance includes: a highest speed limit within the preset distance and a road type;

[0079] The computing unit is further configured to calculate the target deceleration according to the highest speed limit and the driving speed if there is no second vehicle driving, the road type is an expressway, and the driving speed is greater than the highest speed limit.

[0080] In a possible design, the road information within the preset distance includes: a highest speed limit within the preset distance, an average vehicle speed of a vehicle driving in the same direction as the first vehicle, and a color of a signal light;

[0081] The computing unit is further configured to calculate the target deceleration according to the driving speed and the average vehicle speed if there is no second vehicle driving, the color of the signal light is green, and the driving speed is less than the highest speed limit.

[0082] In a possible design, the driving information of the second vehicle includes: a vehicle speed of the second vehicle and a distance between the second vehicle and the first vehicle; and the road information within the preset distance includes a safety distance between the two vehicles.

[0083] The computing unit is further configured to calculate the target deceleration according to the vehicle speed of the second vehicle, the driving speed, the distance between the second vehicle and the first vehicle, and the safety distance between the two vehicles if there is a second vehicle driving.

[0084] In a possible design, the determining module is further configured to calculate the target torque according to the following formula:

[0085]

[0086] wherein G is the weight of the first vehicle; f is a rolling resistance coefficient; C D is a wind resistance coefficient; A is the windward area of the first vehicle; v0 is the real-time vehicle speed at which the first vehicle drives; i is the slope of the road on which the first vehicle drives; δ is a rotational mass conversion coefficient; m is the mass of the first vehicle; a trg is the target deceleration; r is the wheel radius of the first vehicle; i g is the transmission ratio of the first vehicle; i0 is the main reduction ratio; η is the mechanical transmission efficiency; T trg is the target torque.

[0087] In a possible design, the acquisition module is further configured to acquire the motor speed of the first vehicle.

[0088] The determination module is specifically configured to:

[0089] calculate the driving demand torque according to the driving intention and the motor speed;

[0090] determine the whole-vehicle demand torque according to the target torque, the driving intention and the driving demand torque.

[0091] In a possible design, the acquisition module is further configured to acquire the maximum motor output torque in the first vehicle, the minimum motor output torque in the first vehicle, the rated speed of the motor in the first vehicle, the real-time allowable charging power of the battery in the first vehicle and the real-time allowable discharging power of the battery in the first vehicle.

[0092] The control module comprises:

[0093] A determination unit is configured to determine the motor torque of the first vehicle according to the maximum motor output torque in the first vehicle, the minimum motor output torque in the first vehicle, the rated speed of the motor in the first vehicle, the real-time allowable charging power of the battery in the first vehicle, the real-time allowable discharging power of the battery in the first vehicle and the whole-vehicle demand torque.

[0094] A control unit is configured to control the motor in the first vehicle according to the motor torque, so as to recover the braking energy.

[0095] The vehicle braking energy recovery apparatus provided by the second aspect and the possible designs of the second aspect has the beneficial effects of the vehicle braking energy recovery apparatus provided by the first aspect and the possible designs of the first aspect, which will not be described here again.

[0096] In a third aspect, an embodiment of the present application provides a vehicle, comprising:

[0097] A processor is configured to acquire driving information of a second vehicle and road information within a preset distance;

[0098] The processor is further configured to determine a target torque according to the driving speed, the driving information of the second vehicle and the road information within the preset distance;

[0099] The processor is further configured to acquire a state of an accelerator pedal, a state of a brake pedal and a state of vehicle control;

[0100] The processor is further configured to determine a driving intention according to the state of the accelerator pedal, the state of the brake pedal and the state of vehicle control;

[0101] The processor is further configured to determine a whole vehicle demand torque according to the target torque and the driving intention;

[0102] The processor is further configured to control the motor of the vehicle to brake energy recovery according to the whole vehicle demand torque.

[0103] In a possible design, the processor is further configured to calculate the target deceleration of the first vehicle according to the driving speed, driving information of a second vehicle, and road information within a preset distance;

[0104] The processor is further configured to obtain a slope of a driving road where the first vehicle is located;

[0105] The processor is further configured to determine the target torque according to the slope of the driving road where the first vehicle is located and the target deceleration.

[0106] In a possible design, the road information within the preset distance includes a color of a signal light within the preset distance, and a distance between the first vehicle and the signal light.

[0107] The processor is further configured to calculate the target deceleration according to the distance between the first vehicle and the signal light and the driving speed, if there is no second vehicle driving and the color of the signal light within the preset distance is red or yellow.

[0108] In a possible design, the road information within the preset distance includes a color of a signal light within the preset distance, a distance between the first vehicle and the signal light, and a width of a road at a signal light intersection.

[0109] The processor is further configured to calculate the target deceleration according to the distance between the first vehicle and the signal light, the width of the road at the signal light intersection, and the driving speed, if there is no second vehicle driving and the color of the signal light within the preset distance is red or yellow.

[0110] In a possible design, the road information within the preset distance includes a highest speed limit within the preset distance and a color of a signal light.

[0111] The processor is further configured to calculate the target deceleration according to the highest speed limit and the driving speed, if there is no second vehicle driving, the color of the signal light is green, and the driving speed is greater than the highest speed limit.

[0112] In a possible design, the road information within the preset distance includes a highest speed limit within the preset distance and a road type.

[0113] The processor is further configured to calculate the target deceleration according to the highest speed limit and the driving speed, if there is no second vehicle driving, the road type is an expressway, and the driving speed is greater than the highest speed limit.

[0114] In a possible design, the road information within the preset distance includes a maximum speed limit within the preset distance, an average speed of a vehicle traveling in the same direction as the first vehicle, and a color of a signal light;

[0115] The processor is further configured to calculate the target deceleration according to the driving speed and the average speed of the vehicle if there is no second vehicle traveling, the color of the signal light is green, and the driving speed is less than the maximum speed limit.

[0116] In a possible design, the driving information of the second vehicle includes a speed of the second vehicle and a distance between the second vehicle and the first vehicle; and the road information within the preset distance includes a safety distance between the two vehicles.

[0117] The processor is further configured to calculate the target deceleration according to the speed of the second vehicle, the driving speed, the distance between the second vehicle and the first vehicle, and the safety distance between the two vehicles if there is a second vehicle traveling.

[0118] In a possible design, the processor is further configured to calculate the target torque according to the following formula:

[0119]

[0120] wherein G is a weight of the first vehicle, f is a rolling resistance coefficient, C D is an air resistance coefficient, A is a windward area of the first vehicle, v0 is a real-time driving speed of the first vehicle, i is a slope of a road on which the first vehicle travels, δ is a rotational mass conversion coefficient, m is a mass of the first vehicle, a trg is the target deceleration, r is a wheel radius of the first vehicle, i g is a transmission ratio of the first vehicle, i0 is a main reduction ratio, η is a mechanical transmission efficiency, T trg is the target torque.

[0121] In a possible design, the processor is further configured to obtain a motor speed of the first vehicle.

[0122] The processor is further configured to calculate a driving demand torque according to the driving intention and the motor speed.

[0123] The processor is further configured to determine the whole-vehicle demand torque according to the target torque, the driving intention, and the driving demand torque.

[0124] In a possible design, the processor is further configured to acquire a maximum torque outputtable by the motor in the first vehicle, a minimum torque outputtable by the motor in the first vehicle, a rated rotating speed of the motor in the first vehicle, a real-time allowable charging power of the battery in the first vehicle, and a real-time allowable discharging power of the battery in the first vehicle.

[0125] The processor is further configured to determine the motor torque of the first vehicle according to the maximum torque outputtable by the motor in the first vehicle, the minimum torque outputtable by the motor in the first vehicle, the rated rotating speed of the motor in the first vehicle, the real-time allowable charging power of the battery in the first vehicle, the real-time allowable discharging power of the battery in the first vehicle, and the demand torque of the vehicle.

[0126] The processor is further configured to control the motor in the first vehicle according to the motor torque, so as to recover brake energy.

[0127] The vehicle provided by the third aspect and possible designs of the third aspect has the beneficial effects of the vehicle provided by the first aspect and possible designs of the first aspect, which will not be described herein again. BRIEF DESCRIPTION OF DRAWINGS

[0128] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0129] Figure 1 A system framework diagram of the vehicle brake energy recovery in the prior art;

[0130] Figure 2 A system architecture schematic diagram of the vehicle brake energy recovery method of the present application;

[0131] Figure 3 A flow schematic diagram of the vehicle brake energy recovery method embodiment one of the present application;

[0132] Figure 4 A flow schematic diagram of the first vehicle determining the target torque;

[0133] Figure 5 A calculation scene schematic diagram of different target decelerations;

[0134] Figure 6 A flow schematic diagram of the first vehicle determining the demand torque of the vehicle;

[0135] Figure 7aA mapping relationship diagram of the motor external characteristic curve and the motor speed when driving torque;

[0136] Figure 7b A mapping relationship diagram of the motor external characteristic curve and the motor speed when feedback torque;

[0137] Figure 8 A flowchart of a first vehicle controlling a motor of the vehicle to brake energy recovery is shown in the figure;

[0138] Figure 9 A structure schematic diagram of a vehicle braking energy recovery device provided by the embodiment of the present application is shown in the figure;

[0139] Figure 10 A structure schematic diagram of a vehicle braking energy recovery device provided by the embodiment of the present application is shown in the figure;

[0140] Figure 11 A structure schematic diagram of a vehicle provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0141] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0142] Figure 2 A system architecture schematic diagram of the vehicle braking energy recovery method of the present application is shown in the figure, Figure 2 The embodiment of the present application is applicable to a vehicle networking system, and the system comprises a perception unit, a calculation unit, a driver intention recognition unit and an execution unit.

[0143] The perception unit includes a self-perception system module and a vehicle networking module. The self-perception system module can obtain the driving speed of the first vehicle, the environment in which the first vehicle is located, and the related information of the road within the preset distance through the radar, camera and various sensors in the advanced driver assistant system (ADAS). The vehicle networking module can include a vehicle-to-vehicle (V2V) module and a vehicle-to-infrastructure (V2I) module, which are used to obtain the driving information of the second vehicle. The second vehicle is a vehicle in the driving direction of the first vehicle and the distance between the first vehicle and the second vehicle is less than a first preset threshold. Since the self-perception system module and the vehicle networking module are introduced to obtain the related information of the first vehicle itself or the related information outside the vehicle, the phenomenon of sudden acceleration or sudden deceleration can be avoided, thereby effectively balancing the relationship between high brake energy recovery rate and driving comfort.

[0144] The driving intention recognition unit is configured to recognize the driving intention of the driver according to the state of the accelerator pedal, the state of the brake pedal and the state of the vehicle control.

[0145] The calculation unit includes a target deceleration calculation unit, a target torque calculation unit and a driving intention arbitration and torque distribution control unit. The target deceleration calculation unit is configured to calculate the target deceleration according to the driving speed obtained by the perception unit, the driving information of the second vehicle and the road information within the preset distance. The real-time target torque calculation unit is configured to determine the target torque according to the target deceleration calculated by the target deceleration calculation unit. The driving intention arbitration and torque distribution control unit is configured to calculate the real-time driver demand torque according to the driving intention recognized by the driving intention recognition unit and the pedal opening degree, the motor speed and the motor external characteristic curve of the first vehicle, and to perform driving intention comprehensive arbitration and determine the whole vehicle demand torque according to the state of the vehicle control, the target torque determined by the target torque calculation unit, the driver demand torque, the driving intention and the road information within the preset distance.

[0146] The execution unit includes an electric drive system, a power battery system and a main mechanical braking system. The execution unit is configured to perform torque distribution according to the maximum torque outputtable by the motor in the first vehicle, the minimum torque outputtable by the motor in the first vehicle, the rated speed of the motor in the first vehicle, the real-time allowable charging power of the battery in the first vehicle, the real-time allowable discharging power of the battery in the first vehicle and the whole vehicle demand torque, and to control the motor and the main mechanical braking system to work. The maximum torque outputtable by the motor and the minimum torque outputtable by the motor represent the driving torque limit value and the braking feedback torque limit value of the current state of the motor, respectively.

[0147] The vehicle braking energy recovery method in this embodiment of the invention comprehensively considers two important information inputs: the electric drive system, battery system, pedal status, and control status inside the vehicle, as well as road information within a preset distance outside the first vehicle and driving information of the second vehicle. This allows for final regenerative braking control and drive control. In this way, regenerative braking is optimized not only when the driver performs a corresponding braking operation, but also when there is no intention to brake, regenerative braking can be intelligently performed according to environmental conditions, thereby improving the braking energy recovery rate. At the same time, it can avoid rapid acceleration or deceleration, minimize the use of mechanical braking, and achieve optimal control of the driving range.

[0148] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0149] Figure 3 This is a flowchart illustrating a first embodiment of the vehicle braking energy recovery method of the present invention. The present invention provides a vehicle braking energy recovery method, which can be executed by any device for performing vehicle braking energy recovery, and this device can be implemented through software and / or hardware. In this embodiment, the device can be integrated into a first vehicle.

[0150] In the above Figure 2 Based on the system architecture shown, such as Figure 3 As shown, the method in this embodiment may include:

[0151] Step 301: The first vehicle obtains the driving information of the second vehicle and the road information within the preset distance, wherein the distance between the first vehicle and the second vehicle is less than a preset threshold.

[0152] In this embodiment, the driving speed v0 of the first vehicle can be obtained by a sensor, the driving information of the second vehicle can be identified by radar, and the road information within a preset distance can be obtained by a camera. Of course, the driving speed v0, the driving information of the second vehicle, and the road information within the preset distance can also be obtained by other means. This embodiment does not limit the specific methods of obtaining the driving speed v0, the driving information of the second vehicle, and the road information within the preset distance.

[0153] In addition, the preset threshold can be selected according to the actual situation or experience, such as 200m or 2-10km, etc. This embodiment does not limit the specific value of the preset threshold.

[0154] Step 302: The first vehicle determines the target torque based on its driving speed, the driving information of the second vehicle, and the road information within the preset distance.

[0155] In this embodiment, after the first vehicle obtains the driving speed, the driving information of the second vehicle, and the road information within the preset distance, it will determine the target torque of the first vehicle based on the driving speed, the driving information of the second vehicle, and the road information within the preset distance.

[0156] Optionally, see Figure 4 The flowchart shown above illustrates the process of determining the target torque for the first vehicle. Step 302 specifically includes: The method includes:

[0157] Step 3021: The first vehicle calculates the target deceleration of the first vehicle based on its driving speed, the driving information of the second vehicle, and the road information within the preset distance.

[0158] Step 3022: The first vehicle obtains the slope of the road on which the first vehicle is traveling.

[0159] Step 3023: The first vehicle determines the target torque based on the slope of the road on which the first vehicle is traveling and the target deceleration.

[0160] Specifically, when determining the target torque, the first vehicle first needs to calculate the target deceleration of the first vehicle, and then use the calculated target deceleration and the slope of the road on which the first vehicle is traveling to determine the target torque.

[0161] Optionally, depending on the driving information of the second vehicle and the road information within the preset distance, the first vehicle may calculate the target deceleration in the following ways:

[0162] The first type: Figure 5 Schematic diagrams of calculation scenarios for deceleration of different targets, such as... Figure 5 As shown, if the road information within the preset route includes the color of the traffic lights within the preset route and the distance between the first vehicle and the traffic lights, then the first vehicle calculates the target deceleration of the first vehicle based on its driving speed, the driving information of the second vehicle, and the road information within the preset route. This includes calculating the target deceleration based on the distance between the first vehicle and the traffic lights and its driving speed if there is no second vehicle driving and the color of the traffic lights within the preset route is red or yellow.

[0163] Specifically, the vehicle's speed v0 can be obtained through a speed sensor, the color status of traffic lights within a preset distance can be identified through a camera, and the distance L between the vehicle and the traffic lights can be obtained through radar. Light Of course, the driving speed v0, the color status of the traffic lights, and L can also be obtained through other methods. Light For driving speed v0, signal light color status and L Light The specific method of obtaining the information is not limited in this embodiment.

[0164] If no second vehicle is detected within a preset distance L1, but the traffic light is detected to be red or yellow within a preset distance L2, then according to kinematic principles, the distance L between the first vehicle and the traffic light can be adjusted. Light Calculate the target deceleration a from the driving speed v0. trg Where the target deceleration a trg A value greater than 0 indicates acceleration; if the target deceleration a... trg A value less than 0 indicates deceleration.

[0165] In addition, the preset distance L1 can be less than or equal to the preset distance L2. The preset distance L1 and the preset distance L2 can be set according to the actual situation or experience. For example, the preset distance L1 can be 200m and the preset distance L2 can be 800m. This embodiment does not limit the specific values ​​of the preset distance L1 and the preset distance L2.

[0166] The second option: Continue to refer to... Figure 5 As shown, if the road information within the preset route includes the color of the traffic lights within the preset route, the distance between the first vehicle and the traffic light, and the width of the road at the traffic light intersection, then the first vehicle calculates its target deceleration based on its driving speed, the driving information of the second vehicle, and the road information within the preset route. This includes calculating the target deceleration based on the distance between the first vehicle and the traffic light, the width of the road at the traffic light intersection, and the driving speed if there is no second vehicle traveling and the color of the traffic light within the preset route is red or yellow.

[0167] Specifically, the width L of the intersection where the traffic lights are located within a preset distance can be identified by a camera. Road The driving speed v0, the color status of the traffic lights within the preset distance, and the distance L between the first vehicle and the traffic lights are all factors to consider. Light The method of obtaining it is similar to that in the first case, and will not be repeated here.

[0168] If no second vehicle is detected within a preset distance L1, but the traffic light is detected to be red or yellow within a preset distance L2, then L is taken as the distance the first vehicle has traveled to the traffic light. Road When v0 = 0, the control target is defined as follows: According to the principles of kinematics, the target deceleration a trg The calculation can be performed according to formula (1):

[0169]

[0170] Where, when the target deceleration a trg A value greater than 0 indicates acceleration; when the target decelerates a... trg A value less than 0 indicates deceleration.

[0171] The third option: Continue to refer to... Figure 5 As shown, if the road information within the preset route includes the maximum speed limit and the color of the traffic lights within the preset route, then the first vehicle calculates the target deceleration of the first vehicle based on its driving speed, the driving information of the second vehicle, and the road information within the preset route. This includes calculating the target deceleration based on the maximum speed limit and the driving speed if there is no second vehicle driving, the color of the traffic light is green, and the driving speed is greater than the maximum speed limit.

[0172] Specifically, the camera can identify the maximum speed limit (v) within a preset route. MaxPem The methods for obtaining the driving speed v0 and the color status of the traffic lights within the preset distance are similar to those in the above cases, and will not be repeated here.

[0173] If no second vehicle is detected within a preset distance L1, but the traffic light is green within a preset distance L2, then according to kinematic principles, the maximum speed limit v within the preset distance can be adjusted. MaxPem Calculate the target deceleration a from the driving speed v0. trg Where the target deceleration a trg A value greater than 0 indicates acceleration; if the target deceleration a... trg A value less than 0 indicates deceleration.

[0174] The fourth method: Continue to refer to Figure 5 As shown, if the road information within the preset route includes the maximum speed limit and road type within the preset route, then the first vehicle calculates the target deceleration of the first vehicle based on its driving speed, the driving information of the second vehicle, and the road information within the preset route, including: if the second vehicle is not driving, the road type is a highway, and the driving speed is greater than the maximum speed limit, then the target deceleration is calculated based on the maximum speed limit and the driving speed.

[0175] Specifically, the camera can identify the road type within a preset route, as well as the driving speed v0 and the maximum speed limit v within the preset route. MaxPem The method of obtaining it is similar to the methods of obtaining it in the above situations, and will not be repeated here.

[0176] If no second vehicle is detected within a preset distance L1, but the road type within a preset distance L2 is a highway and the speed exceeds the maximum speed limit, the distance from the current position of the first vehicle to the current vehicle is set as L. Vmax When v0 = v MaxPem To control the target, according to the principles of kinematics, the target deceleration a trg The calculation can be performed according to formula (2):

[0177]

[0178] If the target deceleration a trg is greater than 0, it is acceleration; if the target deceleration a trg is less than 0, it is deceleration.

[0179] In addition, L Vmax may be set according to actual conditions or experience, for example, it can be set to 300 m, etc. For the specific value of L Vmax , the present embodiment does not make any limitation.

[0180] Fifth: continuing to refer to Figure 5 , if the road information within the preset distance includes the maximum speed limit within the preset distance, the average speed of the vehicle traveling in the same direction as the first vehicle, and the color of the signal light, the first vehicle calculates the target deceleration of the first vehicle according to the driving speed, the driving information of the second vehicle, and the road information within the preset distance, including if there is no second vehicle driving, the color of the signal light is green, and the driving speed is less than the maximum speed limit, then the target deceleration of the first vehicle is calculated according to the driving speed and the average speed.

[0181] Specifically, the speed of each vehicle traveling in the same direction as the first vehicle within the preset distance L3 can be identified by radar, and after identifying the speed of each vehicle, the average speed of all vehicles traveling in the same direction as the first vehicle can be calculated. The driving speed v0, the color state of the signal light within the preset distance, and the maximum speed limit v MaxPem can be obtained in a similar manner as in the above cases, which will not be described here.

[0182] When no second vehicle is detected within the preset distance L1, but the color of the signal light within the preset distance L2 is green and the driving speed is less than the maximum speed limit, at this time, the target deceleration a trg can be calculated according to formula (3):

[0183]

[0184] where v i is the speed of the i-th vehicle traveling in the same direction as the first vehicle within the preset distance L3, when the target deceleration a trg is greater than 0, it is acceleration; when the target deceleration a trg is less than 0, it is deceleration.

[0185] Sixth: continuing to refer to Figure 5As shown, if the running information of the second vehicle includes the speed of the second vehicle and the distance between the second vehicle and the first vehicle, and the road information within the preset distance includes the safety distance between the two vehicles, the first vehicle calculates the target deceleration of the first vehicle according to the running speed, the running information of the second vehicle and the road information within the preset distance, including if there is a running second vehicle, the target deceleration is calculated according to the speed of the second vehicle, the running speed, the distance between the second vehicle and the first vehicle and the safety distance between the two vehicles.

[0186] Specifically, the speed v1 of the second vehicle and the distance L between the second vehicle and the first vehicle can be recognized by radar, and the safety distance L between the two vehicles can be calculated by the speed v1 of the second vehicle and the running speed v0. Safe In the specific implementation process, the safety distance L between the two vehicles can be calculated by L Safe = Max(Min(v1, v0)*2, 5). Safe The running speed v0 is obtained in a manner similar to the above-mentioned cases, which will not be described here.

[0187] When a running second vehicle is detected within the preset distance L1, the distance between the first vehicle and the second vehicle is taken as the safety distance L Safe between the two vehicles. When v0 = v1 is the control target, according to the kinematics principle, the target deceleration a trg of the first vehicle can be calculated according to formula (4):

[0188]

[0189] Wherein, when the target deceleration a trg is greater than 0, it is acceleration, and when the target deceleration a trg is less than 0, it is deceleration.

[0190] After the first vehicle calculates its target deceleration, the target torque will be determined according to the slope of the running road where the first vehicle is located and the target deceleration. In the specific implementation process, the target torque calculation unit can determine the target deceleration a trg determined by any of the above-mentioned ways, and the slope i of the road obtained by the acceleration sensor, combined with the vehicle dynamics model, to calculate the target torque T trg :

[0191]

[0192] Wherein, G is the weight of the first vehicle; f is the rolling resistance coefficient; C Dis the wind resistance coefficient; A is the frontal area of the first vehicle; v0 is the real-time vehicle speed at which the first vehicle travels; i is the slope of the road on which the first vehicle travels; δ is the rotational mass conversion coefficient; m is the mass of the first vehicle; a trg is the target deceleration; r is the wheel radius of the first vehicle; i g is the transmission gear ratio of the first vehicle; i0 is the main reduction ratio; η is the mechanical transmission efficiency; T trg is the target torque.

[0193] When T trg is greater than 0, it is the target driving torque, and when T trg is less than 0, it is the target braking torque.

[0194] In this embodiment, the target torque is calculated by introducing a vehicle dynamics model, so that the purpose of braking energy recovery from the global economy can be achieved.

[0195] Step 303, the first vehicle obtains the state of the accelerator pedal, the state of the brake pedal, and the state of the vehicle control, and determines the driving intention according to the state of the accelerator pedal, the state of the brake pedal, and the state of the vehicle control.

[0196] In this embodiment, the range of the accelerator pedal signal of the first vehicle is 0-1, and the range of the brake pedal signal is also 0-1, and the state of the vehicle control includes manual driving and automatic driving. The driving intention recognition unit of the first vehicle will recognize the driving or braking intention in the manual driving state according to the obtained state of the accelerator pedal, the state of the brake pedal, and the state of the vehicle control, and output the effective pedal opening.

[0197] In actual application, the recognition of the driving intention of the driver can be completed by the following steps:

[0198] S1: Determine whether the state of the vehicle control is manual driving.

[0199] If it is manual driving, step S2 is performed, otherwise, it is determined that the first vehicle is automatically driven.

[0200] S2: Determine whether the brake pedal signal is greater than zero.

[0201] If the brake pedal signal is greater than zero, it is the braking intention in the manual driving state at this time, and the brake pedal signal is valid. Otherwise, step S3 is performed.

[0202] S3: Determine whether the accelerator pedal signal is greater than zero.

[0203] If the accelerator pedal signal is greater than zero, it is the driving intention in the manual driving state at this time, and the driving pedal signal is valid. Otherwise, it is the intention of the first vehicle to slide in the manual driving state.

[0204] Step 304, the first vehicle determines the whole vehicle demand torque according to the target torque and the driving intention.

[0205] In this embodiment, after determining the target torque and the driving intention, the first vehicle determines the whole vehicle demand torque according to the target torque and the driving intention.

[0206] Optionally, referring to Figure 6 the flowchart of the first vehicle determining the whole vehicle demand torque, before determining the whole vehicle demand torque according to the target torque and the driving intention, the first vehicle also acquires the pedal opening degree signal and the motor speed of the first vehicle, and step 304 can specifically include:

[0207] Step 3041, the first vehicle calculates the driving demand torque according to the driving intention and the motor speed.

[0208] Step 3042, the first vehicle determines the whole vehicle demand torque according to the target torque, the driving intention and the driving demand torque.

[0209] Specifically, when calculating the driving demand torque according to the driving intention, the pedal opening degree signal and the motor speed of the first vehicle and the motor external characteristic curve, the calculation can be performed by the following method:

[0210] (1) Figure 7a For the mapping relationship diagram of the motor external characteristic curve and the motor speed when the driving torque, as shown in Figure 7a When the driving intention is the driving intention, the maximum driving torque T allowed by the current speed can be acquired according to the motor speed. D After acquiring the maximum driving torque T D , the driving demand torque T D can be obtained according to T Drv * pedal opening degree signal, wherein the pedal opening degree signal is the accelerator pedal signal, and the driving demand torque T Drv is the driving demand driving torque T Drv .

[0211] (2) Figure 7b For the mapping relationship diagram of the motor external characteristic curve and the motor speed when the feedback torque, as shown in Figure 7b When the driving intention is the braking intention, the maximum feedback torque T allowed by the current speed can be acquired according to the motor speed. R After acquiring the maximum feedback torque T R , the driving demand torque T R can be obtained according to T Brk * pedal opening degree signal, wherein the pedal opening degree signal is the brake pedal signal, and the driving demand torque T Brk is the driving demand braking torque T Brk .

[0212] After calculating the required driving torque, the first vehicle will adjust its torque based on the vehicle's handling characteristics and the target torque T. trg Driving demand torque T Drv or T Brk The driver's driving intention, and the maximum speed limit v of the road where the first vehicle is located within the preset route. MaxPem The system integrates driving intent with the color and status of traffic lights within the preset route to determine the required torque T for the entire vehicle. Req .

[0213] It should be noted that, due to the target torque T of the first vehicle trg It is based on the target deceleration a trg Therefore, the total vehicle torque requirement T is certain. Req It will decrease with the target's deceleration a trg It varies depending on the specific requirements. In the actual implementation process, the required torque T of the entire vehicle... Req The determination method can include the following situations:

[0214] The first method: If there is no second vehicle traveling, and the traffic light is red or yellow within the preset distance, calculate the target deceleration based on the distance between the first vehicle and the traffic light and its speed, and then calculate the target torque T according to formula (5). trg At this point, the vehicle requires a torque T. Req That is, the target torque T trg .

[0215] The second method: If there is no second vehicle traveling, and the traffic light is red or yellow within the preset distance, calculate the target deceleration based on the distance between the first vehicle and the traffic light, the width of the road at the traffic light intersection, and the driving speed. Then, calculate the target torque T according to formula (5). trg At this point, the vehicle requires a torque T. Req That is, the target torque T trg .

[0216] The third scenario: If there is no second vehicle moving, the traffic light is green, and the speed is greater than the maximum speed limit, calculate the target deceleration based on the maximum speed limit and the driving speed, and then calculate the target torque T according to formula (5). trg At this point, the vehicle requires a torque T. Req That is, the target torque T trg .

[0217] Fourth: If there is no second vehicle in motion, the road type is a highway, and the speed exceeds the maximum speed limit, calculate the target deceleration based on the maximum speed limit and the driving speed, and then calculate the target torque T according to formula (5). trg At this point, the vehicle requires a torque T.Req That is, the target torque T trg .

[0218] Fifth: If there is no second vehicle moving, the traffic light is green, and the speed is less than the maximum speed limit, then determine whether the vehicle control is in automatic driving mode. If it is in automatic driving mode, calculate the target deceleration based on the driving speed and average speed, and calculate the target torque T according to formula (5). trg After that, at this point, the total torque required by the vehicle is T. Req That is, the target torque T trg If the vehicle is in manual driving mode, it is necessary to determine whether the driver's driving intention is to brake.

[0219] If the driver's driving intention is to brake, then the required torque T of the whole vehicle is calculated according to formula (6). Req :

[0220] T Req =Min(T) trg ,-T Brk (6)

[0221] If the driver's driving intention is to drive, then the required torque T of the whole vehicle is calculated according to formula (7). Req :

[0222] T Req =Min(T) trg ,T Drv (7)

[0223] If the driver's intention is to coast, then the vehicle requires a torque T. Req That is, the calculated target torque T trg .

[0224] The sixth method: If there is a second vehicle in motion, calculate the target deceleration based on the speed of the second vehicle, the driving speed, the distance between the second vehicle and the first vehicle, and the safe distance between the two vehicles. Then, calculate the target torque T according to formula (5). trg At this point, the vehicle requires a torque T. Req That is, the target torque T trg .

[0225] Therefore, in this embodiment, when the first vehicle is in different driving states, such as autonomous driving, semi-autonomous driving and coasting, the required torque of the whole vehicle can be determined in different ways, making the determination of the required torque of the whole vehicle more flexible.

[0226] Step 305: The first vehicle controls the vehicle's motor to recover braking energy according to the torque required by the whole vehicle.

[0227] In the embodiment, after determining the whole vehicle demand torque, the first vehicle performs torque distribution control to achieve the purpose of brake energy recovery.

[0228] Optionally, referring to Figure 8 , the flowchart of the first vehicle controlling the motor of the vehicle to perform brake energy recovery is shown. As Figure 8 shown, before the first vehicle controls the motor of the vehicle to perform brake energy recovery according to the whole vehicle demand torque, the maximum output torque T MUp of the motor in the first vehicle, the minimum output torque T MDw of the motor in the first vehicle, the rated speed n0 of the motor in the first vehicle, the real-time allowable charging power P Chg of the battery in the first vehicle, and the real-time allowable discharging power P DisC of the battery in the first vehicle need to be obtained. Then, the step 305 can specifically include:

[0229] Step 3051, the first vehicle determines the motor torque of the first vehicle according to the maximum output torque T MUp of the motor in the first vehicle, the minimum output torque T MDw of the motor in the first vehicle, the rated speed n0 of the motor in the first vehicle, the real-time allowable charging power P Chg of the battery in the first vehicle, the real-time allowable discharging power P DisC of the battery in the first vehicle, and the whole vehicle demand torque T Req .

[0230] Step 3052, the first vehicle controls the motor in the first vehicle according to the motor torque to perform brake energy recovery.

[0231] Specifically, when the whole vehicle demand torque T Req is greater than zero, the whole vehicle demand torque is a driving torque, at this time, the motor torque is Min(T MUp , T Req , T DisC ), wherein T DisC =9550*P DisC / n0.

[0232] When the whole vehicle demand torque T Req is less than or equal to zero, the whole vehicle demand torque is a braking torque, at this time, the motor torque is Max(T MDw , T Req , T Chg ), wherein T Chg =9550*P Chg / n0, and the mechanical braking torque is T Req -Max(T MDw , T Req , TChg )。

[0233] The first vehicle controls the motor of the vehicle to recover braking energy according to the whole vehicle demand torque after determining the whole vehicle demand torque.

[0234] In addition, since the motor in the first vehicle can output the maximum or minimum torque according to the whole vehicle demand torque, and the battery in the first vehicle can use electric braking to meet the whole vehicle demand torque within the real-time allowed charging and discharging power, and the mechanical braking is used for the part exceeding the whole vehicle demand torque, more energy can be recovered.

[0235] The vehicle braking energy recovery method provided by the embodiment of the application comprises the following steps: obtaining a driving speed, driving information of a second vehicle, and road information within a preset distance; determining a target torque according to the driving speed, the driving information of the second vehicle, and the road information within the preset distance; obtaining a state of an accelerator pedal, a state of a brake pedal, and a state of vehicle control; determining a driving intention according to the state of the accelerator pedal, the state of the brake pedal, and the state of vehicle control; determining a whole vehicle demand torque according to the target torque and the driving intention; and controlling a motor of the vehicle to recover braking energy according to the whole vehicle demand torque. Since the braking energy is recovered according to the driving speed, the driving information of the second vehicle, and the road information within the preset distance, that is, the information of the first vehicle itself and the relevant information outside the vehicle are considered at the same time, the phenomenon that the braking energy is passively recovered according to the operation of the pedals by the driver and the states of the battery and the motor in the prior art is avoided, and thus the recovery rate of the braking energy is improved.

[0236] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the foregoing storage medium includes a read-only memory (ROM), a random access memory (RAM), a magnetic disc or an optical disc and various storage media that can store program codes.

[0237] Figure 9 The structure diagram of the vehicle braking energy recovery device embodiment provided by the embodiment of the application is shown in FIG. 1. The recovery device can be a separate vehicle, and can also be a device integrated in the vehicle. The device can be implemented in the form of software, hardware or a combination of software and hardware. As shown in FIG. 1, the recovery device comprises: Figure 9 a driving speed acquisition unit 101, a driving information acquisition unit 102, a road information acquisition unit 103, a target torque determination unit 104, an accelerator pedal state acquisition unit 105, a brake pedal state acquisition unit 106, a vehicle control state acquisition unit 107, a whole vehicle demand torque determination unit 108, and a motor control unit 109.

[0238] The acquisition module 11 is configured to acquire driving information of a second vehicle and road information within a preset distance, wherein the second vehicle is a vehicle in a driving direction of the first vehicle and a distance between the first vehicle and the second vehicle is less than a preset threshold;

[0239] The determination module 12 is configured to determine a target torque according to the driving speed, the driving information of the second vehicle and the road information within the preset distance.

[0240] The acquisition module 11 is further configured to acquire a state of an accelerator pedal, a state of a brake pedal and a state of vehicle control.

[0241] The determination module 12 is further configured to determine a driving intention according to the state of the accelerator pedal, the state of the brake pedal and the state of vehicle control.

[0242] The determination module 12 is further configured to determine a whole-vehicle required torque according to the target torque and the driving intention.

[0243] The control module 13 is configured to control a motor of the vehicle to perform brake energy recovery according to the whole-vehicle required torque.

[0244] Optionally, the acquisition module 11, the determination module 12 and the control module 13 can be processors in the vehicle.

[0245] The vehicle brake energy recovery device provided by the embodiment of the application can execute the method embodiment, and has similar implementation principles and technical effects, which will not be described here.

[0246] Figure 10 The vehicle brake energy recovery device embodiment two provided by the embodiment of the application is a structural schematic diagram. On the basis of the above-mentioned embodiment, the determination module 12 specifically includes:

[0247] The calculation unit 121 is configured to calculate a target deceleration of the first vehicle according to the driving speed, the driving information of the second vehicle and the road information within the preset distance.

[0248] The acquisition unit 122 is configured to acquire a slope of a driving road on which the first vehicle is located.

[0249] The determination unit 123 is configured to determine the target torque according to the slope of the driving road on which the first vehicle is located and the target deceleration.

[0250] Optionally, the road information within the preset distance includes a color of a signal lamp within the preset distance and a distance between the first vehicle and the signal lamp.

[0251] The computing unit 121 is further configured to calculate the target deceleration according to the distance between the first vehicle and the signal light and the driving speed if there is no second vehicle driving and the color of the signal light in the preset distance is red or yellow.

[0252] Optionally, the road information in the preset distance includes the color of the signal light in the preset distance, the distance between the first vehicle and the signal light, and the width of the road at the signal light intersection.

[0253] The computing unit 121 is further configured to calculate the target deceleration according to the distance between the first vehicle and the signal light, the width of the road at the signal light intersection, and the driving speed if there is no second vehicle driving and the color of the signal light in the preset distance is red or yellow.

[0254] Optionally, the road information in the preset distance includes the highest speed limit in the preset distance and the color of the signal light.

[0255] The computing unit 121 is further configured to calculate the target deceleration according to the highest speed limit and the driving speed if there is no second vehicle driving, the color of the signal light is green, and the driving speed is greater than the highest speed limit.

[0256] Optionally, the road information in the preset distance includes the highest speed limit in the preset distance and the type of the road.

[0257] The computing unit 121 is further configured to calculate the target deceleration according to the highest speed limit and the driving speed if there is no second vehicle driving, the type of the road is a highway, and the driving speed is greater than the highest speed limit.

[0258] Optionally, the road information in the preset distance includes the highest speed limit in the preset distance, the average speed of the vehicle driving in the same direction as the first vehicle, and the color of the signal light.

[0259] The computing unit 121 is further configured to calculate the target deceleration according to the driving speed and the average speed if there is no second vehicle driving, the color of the signal light is green, and the driving speed is less than the highest speed limit.

[0260] Optionally, the driving information of the second vehicle includes the speed of the second vehicle and the distance between the second vehicle and the first vehicle; and the road information in the preset distance includes the safe distance between the two vehicles.

[0261] The computing unit 121 is further configured to calculate the target deceleration according to a speed of a second vehicle, the driving speed, a distance between the second vehicle and the first vehicle, and a safety distance between the two vehicles, if the second vehicle is driving.

[0262] Optionally, the determining module is further configured to calculate the target torque according to the following formula:

[0263]

[0264] wherein G is a weight of the first vehicle; f is a rolling resistance coefficient; C D is a wind resistance coefficient; A is a windward area of the first vehicle; v0 is a real-time speed of the first vehicle; i is a slope of a road on which the first vehicle is driving; δ is a rotational mass conversion coefficient; m is a mass of the first vehicle; a trg is the target deceleration; r is a wheel radius of the first vehicle; i g is a transmission ratio of the first vehicle; i0 is a main reduction ratio; η is a mechanical transmission efficiency; T trg is the target torque.

[0265] Optionally, the obtaining module 11 is further configured to obtain a motor speed of the first vehicle.

[0266] The determining module 12 is specifically configured to:

[0267] calculate a driving demand torque according to the driving intention and the motor speed;

[0268] determine the whole-vehicle demand torque according to the target torque, the driving intention, and the driving demand torque.

[0269] Optionally, continuing to refer to the above Figure 10 Optionally, the control module 13 includes a determining unit 131 and a control unit 132.

[0270] The obtaining module 11 is further configured to obtain a maximum motor output torque in the first vehicle, a minimum motor output torque in the first vehicle, a rated motor speed in the first vehicle, a real-time battery allowable charging power in the first vehicle, and a real-time battery allowable discharging power in the first vehicle.

[0271] The control module 13 includes:

[0272] The determining unit 131 is configured to determine the motor torque of the first vehicle according to the maximum motor output torque in the first vehicle, the minimum motor output torque in the first vehicle, the rated speed of the motor in the first vehicle, the real-time allowable charging power of the battery in the first vehicle, the real-time allowable discharging power of the battery in the first vehicle, and the whole-vehicle demand torque.

[0273] The control unit 132 is configured to control the motor in the first vehicle according to the motor torque to recover brake energy.

[0274] The vehicle brake energy recovery device provided by the embodiment of the present application can execute the method embodiment, and has similar implementation principles and technical effects, which will not be described here.

[0275] Figure 11 The structure diagram of the vehicle embodiment provided by the embodiment of the present application is shown in FIG. 1. Figure 11 As shown in the figure, the vehicle can include a transmitter 20, a processor 21, a memory 22, and at least one communication bus 23. The communication bus 23 is used to realize the communication connection between elements. The memory 22 can contain a high-speed RAM memory 22, and can also include a non-volatile storage NVM, such as at least one disk memory 22. The memory 22 can store various programs for completing various processing functions and implementing the method steps of the embodiment. In addition, the vehicle can also include a receiver 24. The receiver 24 in the embodiment can be a corresponding input interface with communication function and receiving information function. The transmitter 20 in the embodiment can be a corresponding output interface with communication function and sending information function. Optionally, the transmitter 20 and the receiver 24 can be integrated in one communication interface, or can be two independent communication interfaces respectively.

[0276] In the embodiment, the processor 21 is configured to acquire driving information of a second vehicle and road information within a preset distance, wherein the second vehicle is a vehicle with a distance less than a preset threshold from the first vehicle in a driving direction of the first vehicle.

[0277] The processor 21 is further configured to determine a target torque according to the driving speed, the driving information of the second vehicle, and the road information within the preset distance.

[0278] The processor 21 is further configured to acquire a state of an accelerator pedal, a state of a brake pedal, and a state of vehicle control.

[0279] The processor 21 is further configured to determine a driving intention according to the state of the accelerator pedal, the state of the brake pedal, and the state of the vehicle control.

[0280] The processor 21 is further configured to determine a whole-vehicle demand torque according to the target torque and the driving intention.

[0281] The processor 21 is further configured to control the motor of the vehicle to brake energy recovery according to the whole-vehicle required torque.

[0282] Optionally, the processor 21 is further configured to calculate the target deceleration of the first vehicle according to the driving speed, driving information of a second vehicle, and road information within a preset distance.

[0283] The processor 21 is further configured to obtain a slope of a driving road where the first vehicle is located.

[0284] The processor 21 is further configured to determine the target torque according to the slope of the driving road where the first vehicle is located and the target deceleration.

[0285] Optionally, the road information within the preset distance includes a color of a signal light within the preset distance, and a distance between the first vehicle and the signal light.

[0286] The processor 21 is further configured to calculate the target deceleration according to the distance between the first vehicle and the signal light and the driving speed, if there is no second vehicle driving and the color of the signal light within the preset distance is red or yellow.

[0287] Optionally, the road information within the preset distance includes a color of a signal light within the preset distance, a distance between the first vehicle and the signal light, and a width of a road at a signal light intersection.

[0288] The processor 21 is further configured to calculate the target deceleration according to the distance between the first vehicle and the signal light, the width of the road at the signal light intersection, and the driving speed, if there is no second vehicle driving and the color of the signal light within the preset distance is red or yellow.

[0289] Optionally, the road information within the preset distance includes a highest speed limit and a color of a signal light within the preset distance.

[0290] The processor 21 is further configured to calculate the target deceleration according to the highest speed limit and the driving speed, if there is no second vehicle driving, the color of the signal light is green, and the driving speed is greater than the highest speed limit.

[0291] Optionally, the road information within the preset distance includes a highest speed limit and a road type within the preset distance.

[0292] The processor 21 is further configured to calculate the target deceleration according to the maximum speed limit and the driving speed if there is no second vehicle driving, the road type is an expressway, and the driving speed is greater than the maximum speed limit.

[0293] Optionally, the road information within the preset distance includes a maximum speed limit within the preset distance, an average vehicle speed of a vehicle driving in the same direction as the first vehicle, and a color of a signal light.

[0294] The processor 21 is further configured to calculate the target deceleration according to the driving speed and the average vehicle speed if there is no second vehicle driving, the color of the signal light is green, and the driving speed is less than the maximum speed limit.

[0295] Optionally, the driving information of the second vehicle includes a vehicle speed of the second vehicle and a distance between the second vehicle and the first vehicle, and the road information within the preset distance includes a safety distance between the two vehicles.

[0296] The processor 21 is further configured to calculate the target deceleration according to the vehicle speed of the second vehicle, the driving speed, the distance between the second vehicle and the first vehicle, and the safety distance between the two vehicles if there is a second vehicle driving.

[0297] Optionally, the processor 21 is further configured to calculate the target torque according to the following formula:

[0298]

[0299] wherein G is the weight of the first vehicle, f is a rolling resistance coefficient, C D is a wind resistance coefficient, A is the windward area of the first vehicle, v0 is the real-time vehicle speed of the first vehicle, i is the slope of the road on which the first vehicle is driving, δ is a rotational mass conversion coefficient, m is the mass of the first vehicle, a trg is the target deceleration, r is the wheel radius of the first vehicle, i g is the transmission ratio of the first vehicle, i0 is the main reduction ratio, η is the mechanical transmission efficiency, T trg is the target torque.

[0300] Optionally, the processor 21 is further configured to obtain the motor speed of the first vehicle.

[0301] The processor 21 is further configured to calculate a driving demand torque according to the driving intention and the motor speed.

[0302] The processor 21 is further configured to determine the whole-vehicle demand torque according to the target torque, the driving intention, and the driving demand torque.

[0303] Optionally, the processor 21 is further configured to acquire a maximum motor output torque in the first vehicle, a minimum motor output torque in the first vehicle, a rated rotating speed of the motor in the first vehicle, a real-time allowable charging power of the battery in the first vehicle, and a real-time allowable discharging power of the battery in the first vehicle.

[0304] The processor 21 is further configured to determine the motor torque of the first vehicle according to the maximum motor output torque in the first vehicle, the minimum motor output torque in the first vehicle, the rated rotating speed of the motor in the first vehicle, the real-time allowable charging power of the battery in the first vehicle, the real-time allowable discharging power of the battery in the first vehicle, and the whole-vehicle demand torque.

[0305] The processor 21 is further configured to control the motor in the first vehicle according to the motor torque to recover brake energy.

[0306] The vehicle provided by the embodiments of the present application can execute the method embodiments, and the implementation principles and technical effects are similar, which will not be described here again.

[0307] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of recovering vehicle braking energy, characterized by, The method comprises: acquiring relevant information of the first vehicle itself; acquiring relevant information outside the first vehicle; wherein the first vehicle comprises a self-perception system module and a vehicle networking module, and the relevant information outside the vehicle is acquired through the self-perception system module and the vehicle networking module; performing brake energy recovery according to the relevant information of the first vehicle itself and the relevant information outside the vehicle; the brake energy recovery according to the relevant information of the first vehicle itself and the relevant information outside the vehicle comprises: determining a driving intention according to the relevant information of the first vehicle itself, wherein the relevant information of the first vehicle itself comprises a state of an accelerator pedal, a state of a brake pedal, and a state of vehicle control; determining a target torque according to the relevant information outside the vehicle; determining a whole-vehicle demand torque according to the target torque and the driving intention; controlling an electric machine of the first vehicle to perform brake energy recovery according to the whole-vehicle demand torque; wherein the state of vehicle control comprises manual driving and automatic driving, and the determination of the whole-vehicle demand torque according to the target torque and the driving intention comprises: when the state of vehicle control is automatic driving, taking the target torque as the whole-vehicle demand torque.

2. The method of claim 1, wherein, The relevant information outside the vehicle comprises vehicle information within a preset distance and road information within a preset distance, and the method further comprises: acquiring a driving speed of the first vehicle; determining a target torque according to the driving speed of the first vehicle, the vehicle information within the preset distance, and the road information within the preset distance, the target torque being used to determine a whole-vehicle demand torque for brake energy recovery.

3. The method of claim 1, wherein, The determination of the target torque according to the relevant information outside the vehicle comprises: determining a target deceleration of the first vehicle according to the driving speed of the first vehicle and the relevant information outside the vehicle; acquiring a slope of a driving road where the first vehicle is located; the first vehicle determining the target torque according to the slope of the driving road where the first vehicle is located and the target deceleration.

4. The method of claim 3, wherein, The relevant information outside the vehicle comprises a color of a signal lamp and a distance between the first vehicle and the signal lamp. The determination of the target deceleration of the first vehicle according to the driving speed of the first vehicle and the relevant information outside the vehicle comprises: determining the target deceleration according to the distance between the first vehicle and the signal lamp and the driving speed of the first vehicle, wherein the color of the signal lamp is red or yellow.

5. The method of claim 3, wherein, The relevant information outside the vehicle comprises a color of a signal lamp, a distance between the first vehicle and the signal lamp, and a width of a road at a signal lamp intersection. The determination of the target deceleration of the first vehicle according to the driving speed of the first vehicle and the relevant information outside the vehicle comprises: determining the target deceleration according to the distance between the first vehicle and the signal lamp, the width of the road at the signal lamp intersection, and the driving speed of the first vehicle, wherein the color of the signal lamp is red or yellow.

6. The method of claim 3, wherein, The relevant information outside the vehicle comprises a highest speed limit and a color of a signal lamp. The determination of the target deceleration of the first vehicle according to the driving speed of the first vehicle and the relevant information outside the vehicle comprises: The target deceleration is calculated according to the highest speed limit and the driving speed of the first vehicle, wherein the color of the signal light is green, and the driving speed is greater than the highest speed limit.

7. The method of claim 3, wherein, The related information outside the vehicle includes a highest speed limit and a road type. The target deceleration of the first vehicle is determined according to the driving speed of the first vehicle and the related information outside the vehicle, including: The target deceleration is calculated according to the highest speed limit and the driving speed of the first vehicle, wherein the road type is a highway, and the driving speed is greater than the highest speed limit.

8. The method of claim 3, wherein, The related information outside the vehicle includes a highest speed limit, an average vehicle speed of a vehicle traveling in the same direction as the first vehicle, and a color of a signal light. The target deceleration of the first vehicle is determined according to the driving speed of the first vehicle and the related information outside the vehicle, including: The target deceleration is calculated according to the driving speed of the first vehicle and the average vehicle speed, wherein the color of the signal light is green, and the driving speed is less than the highest speed limit.

9. The method of claim 3, wherein, The related information outside the vehicle includes driving information of a second vehicle. The driving information of the second vehicle includes a vehicle speed of the second vehicle and a distance between the second vehicle and the first vehicle. The target deceleration of the first vehicle is determined according to the driving speed of the first vehicle and the related information outside the vehicle, including: The target deceleration is calculated according to the driving speed of the first vehicle, the vehicle speed of the second vehicle, the distance between the second vehicle and the first vehicle, and a safety distance between the two vehicles.

10. The method according to any one of claims 1 to 9, characterized in that, The state of the vehicle control includes manual driving and automatic driving, and the determination of the driving intention according to the self-related information further includes at least one of the following: When the state of the vehicle control is manual driving, and the brake pedal signal of the first vehicle is greater than zero, the driving intention is a braking intention in the manual driving state; When the state of the vehicle control is manual driving, the brake pedal signal of the first vehicle is not greater than zero, and the accelerator pedal signal of the first vehicle is greater than zero, the driving intention is a driving intention in the manual driving state; When the state of the vehicle control is manual driving, the brake pedal signal of the first vehicle is not greater than zero, and the accelerator pedal signal of the first vehicle is not greater than zero, the driving intention is a coasting intention in the manual driving state.

11. The method of claim 10, wherein, The determination of the whole vehicle demand torque according to the target torque and the driving intention includes at least one of the following: When the driving intention is a braking intention in the manual driving state, a first torque is obtained according to the state of the brake pedal, and the smaller one of the target torque and the first torque is taken as the whole vehicle demand torque; When the driving intention is a driving intention in the manual driving state, a second torque is obtained according to the state of the brake pedal, and the smaller one of the target torque and the second torque is taken as the whole vehicle demand torque; When the driving intention is a coasting intention in the manual driving state, the target torque is taken as the whole vehicle demand torque.

12. The method according to any one of claims 1-9, characterized in that, The method further includes: Obtaining the motor speed of the first vehicle; The determining the whole vehicle demand torque according to the target torque and the driving intention comprises: calculating a driving demand torque according to the driving intention and the motor speed; determining the whole vehicle demand torque according to the target torque, the driving intention and the driving demand torque.

13. The method according to any one of claims 1-9, characterized in that, The method further comprises: obtaining a maximum motor output torque of the first vehicle, a minimum motor output torque of the first vehicle, a rated motor speed of the first vehicle, a real-time battery charging power of the first vehicle and a real-time battery discharging power of the first vehicle; The controlling the motor of the first vehicle to recover brake energy according to the whole vehicle demand torque comprises: determining a motor torque of the first vehicle according to the maximum motor output torque of the first vehicle, the minimum motor output torque of the first vehicle, the rated motor speed of the first vehicle, the real-time battery charging power of the first vehicle, the real-time battery discharging power of the first vehicle and the whole vehicle demand torque; controlling the motor of the first vehicle to recover brake energy according to the motor torque.

14. A device for recovering vehicle braking energy, characterized in that, comprises: an obtaining module, configured to: obtain relevant information of a first vehicle itself; The obtaining module is further configured to obtain relevant information outside the first vehicle; The first vehicle comprises a self-perception system module and a vehicle networking module, and the obtaining module obtains the relevant information outside the first vehicle through the self-perception system module and the vehicle networking module; a control module, configured to control the first vehicle to recover brake energy according to the relevant information of the first vehicle itself and the relevant information outside the first vehicle; The obtaining module is configured to obtain the relevant information of the first vehicle itself, wherein the relevant information of the first vehicle itself comprises a state of an accelerator pedal, a state of a brake pedal and a state of vehicle control; The device further comprises: a determining module, configured to: determine a driving intention according to the relevant information of the first vehicle itself, wherein the relevant information of the first vehicle itself comprises the state of the accelerator pedal, the state of the brake pedal and the state of vehicle control; determine a target torque according to the relevant information outside the first vehicle; determine a whole vehicle demand torque according to the target torque and the driving intention; The control module is further configured to control the motor of the first vehicle to recover brake energy according to the whole vehicle demand torque. The state of vehicle control comprises manual driving and automatic driving, and the determining module is further configured to determine that the target torque is the whole vehicle demand torque when the state of vehicle control is automatic driving.

15. The apparatus of claim 14, wherein, The relevant information outside the first vehicle comprises vehicle information within a preset distance and road information within a preset distance; The obtaining module is further configured to obtain a driving speed of the first vehicle; The device further comprises: a determining module, configured to: obtain a driving speed of the first vehicle; determine a target torque according to the driving speed of the first vehicle, the vehicle information within the preset distance and the road information within the preset distance, the target torque being used to determine a whole vehicle demand torque for recovering brake energy.

16. The apparatus of claim 14, wherein, The determining module is further configured to: The target deceleration of the first vehicle is calculated according to the driving speed and the related information outside the vehicle; The slope of the driving road where the first vehicle is located is obtained; The target torque is determined according to the slope of the driving road where the first vehicle is located and the target deceleration.

17. The apparatus of claim 16, wherein, The related information outside the vehicle includes the color of a signal light and the distance between the first vehicle and the signal light; The target deceleration is calculated according to the distance between the first vehicle and the signal light and the driving speed when the color of the signal light is red or yellow.

18. The apparatus of claim 16, wherein, The related information outside the vehicle includes the color of a signal light within a preset distance, the distance between the first vehicle and the signal light, and the width of the road at the signal light intersection; The target deceleration is calculated according to the distance between the first vehicle and the signal light, the width of the road at the signal light intersection, and the driving speed when the color of the signal light is red or yellow.

19. The apparatus of claim 16, wherein, The related information outside the vehicle includes the highest speed limit and the color of a signal light; The target deceleration is calculated according to the highest speed limit and the driving speed when the color of the signal light is green and the driving speed is greater than the highest speed limit.

20. The apparatus of claim 16, wherein, The related information outside the vehicle includes the highest speed limit and the type of the road; The target deceleration is calculated according to the highest speed limit and the driving speed when the type of the road is a highway and the driving speed is greater than the highest speed limit.

21. The apparatus of claim 16, wherein, The related information outside the vehicle includes the highest speed limit, the average speed of a vehicle driving in the same direction as the first vehicle, and the color of a signal light; The target deceleration is calculated according to the driving speed and the average speed when the color of the signal light is green and the driving speed is less than the highest speed limit.

22. The apparatus of claim 16, wherein, The related information outside the vehicle includes the driving information of a second vehicle; The driving information of the second vehicle includes the speed of the second vehicle and the distance between the second vehicle and the first vehicle; The target deceleration is calculated according to the driving speed, the speed of the second vehicle, the distance between the second vehicle and the first vehicle, and the safety distance between the two vehicles.

23. The apparatus of any of claims 14 to 22, wherein, The state of the vehicle control includes manual driving and automatic driving; The determination module is further configured to determine the driving intention in at least one of the following manners: When the state of the vehicle control is manual driving and the signal of the brake pedal of the first vehicle is greater than zero, it is determined that the driving intention is the braking intention in the manual driving state; When the state of the vehicle control is manual driving, the signal of the brake pedal of the first vehicle is not greater than zero, and the signal of the accelerator pedal of the first vehicle is greater than zero, it is determined that the driving intention is the driving intention in the manual driving state; When the state of the vehicle control is manual driving, the signal of the brake pedal of the first vehicle is not greater than zero, and the signal of the accelerator pedal of the first vehicle is not greater than zero, it is determined that the driving intention is the coasting intention in the manual driving state.

24. The apparatus of claim 23, wherein, The determination module is further configured to determine the driving intention in at least one of the following manners: when the driving intention is a braking intention in the manual driving state, obtaining a first torque according to a state of the brake pedal, and determining the vehicle demand torque as a smaller one of the target torque and the first torque; when the driving intention is a driving intention in the manual driving state, obtaining a second torque according to a state of the brake pedal, and determining the vehicle demand torque as a smaller one of the target torque and the second torque; when the driving intention is a coasting intention in the manual driving state, determining the vehicle demand torque as the target torque.

25. The apparatus of any one of claims 14-22, wherein, The obtaining module is further configured to obtain a motor speed of the first vehicle. The determining module is further configured to: calculate a driving demand torque according to the driving intention and the motor speed; and determine the vehicle demand torque according to the target torque, the driving intention, and the driving demand torque.

26. The apparatus of any one of claims 14-22, wherein, The obtaining module is further configured to obtain a maximum motor output torque of the first vehicle, a minimum motor output torque of the first vehicle, a rated speed of the motor of the first vehicle, a real-time allowable charging power of a battery of the first vehicle, and a real-time allowable discharging power of the battery of the first vehicle. The control module is further configured to: determine a motor torque of the first vehicle according to the maximum motor output torque of the first vehicle, the minimum motor output torque of the first vehicle, the rated speed of the motor of the first vehicle, the real-time allowable charging power of the battery of the first vehicle, the real-time allowable discharging power of the battery of the first vehicle, and the vehicle demand torque; and control the motor of the first vehicle according to the motor torque to recover braking energy.

27. A computer-readable storage medium, characterized in that, The computer readable storage medium stores codes or instructions which, when executed, implement the method of any one of claims 1 to 13.

28. A control device characterized by comprising: The apparatus includes a memory storing codes or instructions and a controller coupled to the memory, which, when the codes or instructions are executed by the controller, implement the method of any one of claims 1 to 13.

29. A vehicle characterized by The apparatus includes a self-perception system module and a vehicle networking module, and the device of any one of claims 14 to 26.

Images