Stable control method, device, vehicle and storage medium

Abstract

The present application discloses a stable control method, device, vehicle, and storage medium for energy recovery. The stable control method includes: obtaining the current motion state of the vehicle, the functional fault information and functional activation information of the electronic stability program of the vehicle body, determining the stable state of the vehicle's energy recovery according to the motion state, functional fault information, and functional activation information, and activating the stability recovery function and controlling the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state when there are stability problems or potential stability problems in the stable state. By obtaining the motion state of the vehicle, the fault information, and the activation information of the electronic stability program of the vehicle body, the present application can systematically and comprehensively cover the stability problems during the recovery process of the vehicle, and achieve better stability of the vehicle while having a higher recovery efficiency.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and particularly to a stable control method for vehicle energy recovery, a stable control device for vehicle energy recovery, a vehicle, and a computer-readable storage medium. Background Art

[0002] In order to increase the cruising range of pure electric vehicles, pure electric vehicles usually adopt a relatively strong coasting energy recovery scheme. For rear-wheel drive vehicles and four-wheel drive vehicles with main rear-wheel drive, from the perspectives of possibility and efficiency, single rear-axle recovery or mainly using a certain axle as the recovery axle is usually adopted. However, at a high coasting recovery intensity, lateral stability problems are likely to occur when driving on low-adhesion roads. Summary of the Invention

[0003] In view of this, this application provides a stable control method for vehicle energy recovery, a stable control device for vehicle energy recovery, a vehicle, and a non-volatile computer-readable storage medium.

[0004] The stable control method for vehicle energy recovery according to the embodiments of this application includes:

[0005] Obtain the current motion state of the vehicle, the functional failure information and functional activation information of the electronic stability program of the vehicle body;

[0006] Determine the stable state of the vehicle energy recovery according to the motion state, the functional failure information and the functional activation information;

[0007] In the case that there are stability problems or potential stability problems in the stable state, activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state.

[0008] In some embodiments, the stable control method further includes:

[0009] In the case that there are no stability problems or potential stability problems in the stable state, control the energy recovery ratio according to the efficiency recovery ratio.

[0010] In some embodiments, the step of, in the case that there are stability problems or potential stability problems in the stable state, activating the stability recovery function and controlling the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state includes:

[0011] In the case that there are stability problems or potential stability problems in the stable state, activate the stability recovery, and after delaying the smooth time, control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state.

[0012] In some embodiments, determining the stable state of the vehicle's energy recovery based on the motion state, the functional failure information, and the function activation information includes:

[0013] When there is the functional failure information, it is determined that the vehicle has potential stability problems.

[0014] In some embodiments, the motion state includes the vehicle's current lateral acceleration, longitudinal acceleration, average front axle speed, average rear axle speed, and vehicle speed. Determining the stable state of the vehicle's energy recovery based on the motion state, the functional failure information, and the function activation information includes:

[0015] Determining a first determination value based on the lateral acceleration and the vehicle speed;

[0016] When the speed difference between the average front axle speed and the average rear axle speed is greater than the first determination value, it is determined that the vehicle has stability problems.

[0017] In some embodiments, determining the stable state of the vehicle's energy recovery based on the motion state, the functional failure information, and the function activation information includes:

[0018] Determining a second determination value based on the vehicle speed;

[0019] When the lateral acceleration is greater than the second determination value, it is determined that the vehicle has stability problems.

[0020] In some embodiments, determining the stable state of the vehicle's energy recovery based on the motion state, the functional failure information, and the function activation information includes:

[0021] Calculating the squared values of the lateral acceleration and the longitudinal acceleration respectively;

[0022] Taking the square root of the sum of the squared values of the lateral acceleration and the longitudinal acceleration to obtain an acceleration determination value;

[0023] When the acceleration determination value is less than a first predetermined threshold and the function activation predetermined time threshold of the electronic stability program of the vehicle body, it is determined that the vehicle has stability problems.

[0024] In some embodiments, when there are stability problems or potential stability problems in the stable state, activating the stability recovery function and controlling the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state includes:

[0025] When the front axle recovery ability is zero, restricting the rear axle recovery ability according to the first determination value determined by the vehicle speed and the lateral acceleration.

[0026] In some embodiments, when there are stability problems or potential stability problems in the steady state, the stability recovery function is activated and the energy recovery ratio is controlled according to the stability recovery ratio to enter the stability recovery state, including:

[0027] When the front axle recovery ability is not zero, calculate the difference between the energy recovery ratio and the second predetermined threshold to obtain a first calculated value;

[0028] Multiply the recovery request torque by the first calculated value to obtain a second calculated value;

[0029] When the front axle recovery ability is less than the second calculated value, divide the front axle recovery ability by the second calculated value to obtain a third calculated value;

[0030] Multiply the difference between the recovery request torque and the second calculated value by the third calculated value to obtain a fourth calculated value;

[0031] Compare the size of the fourth calculated value with the first determination value;

[0032] When the fourth calculated value is greater than the first determination value, limit the rear axle recovery ability according to the fourth calculated value; or

[0033] When the fourth calculated value is not greater than the first determination value, limit the rear axle recovery ability according to the first determination value.

[0034] In some embodiments, when there are stability problems or potential stability problems in the steady state, the stability recovery function is activated and the energy recovery ratio is controlled according to the stability recovery ratio to enter the stability recovery state, including:

[0035] When the front axle recovery ability is greater than or equal to the second calculated value, compare the rear axle recovery ability with the first determination value;

[0036] When the rear axle recovery ability is greater than the first determination value, maintain the current rear axle recovery ability; or

[0037] When the rear axle recovery ability is not greater than the first determination value, limit the rear axle recovery ability according to the first determination value.

[0038] The stable control device for vehicle energy recovery according to the embodiments of the present application includes:

[0039] An acquisition module for acquiring the current lateral and longitudinal accelerations, average axle speeds of the front and rear axles, vehicle speed, function failure information, and function activation information of the vehicle;

[0040] A determination module, configured to determine a stable state of the vehicle during rear-axle energy recovery according to the transverse and longitudinal accelerations, the average axle speed of the front and rear axles, the vehicle speed, the functional failure information, and the function activation information;

[0041] A control module, configured to activate a stability recovery function and control an energy recovery ratio according to a stability recovery ratio to enter a stability recovery state when there are stability problems or potential stability problems in the stable state.

[0042] A vehicle according to an embodiment of the present application includes a processor and a memory; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor is caused to execute the stable control method for vehicle energy recovery described above.

[0043] A non-volatile computer-readable storage medium according to an embodiment of the present application includes a computer program, and when the computer program is executed by a processor, the processor is caused to execute the stable control method for vehicle energy recovery described above.

[0044] In the stable control method, device, vehicle, and readable storage medium according to the embodiments of the present application, the stability problem of the vehicle during the recovery process can be determined more systematically and comprehensively by obtaining the current motion state of the vehicle, the functional failure information, and the function activation information of the electronic stability program of the vehicle body, and when there are potential stability problems or stability problems in the vehicle, the stability recovery function can be activated and the energy recovery ratio can be controlled according to the stability recovery ratio, so that the vehicle has a high recovery efficiency while achieving good stability of the vehicle.

[0045] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0046] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, in which:

[0047] Figure 1 is a schematic flowchart of a stable control method for vehicle energy recovery according to some embodiments of the present application;

[0048] Figure 2 is a schematic block diagram of a stable control device for vehicle energy recovery according to some embodiments of the present application;

[0049] Figure 3-9 is a schematic flowchart of a stable control method according to some embodiments of the present application. Detailed Embodiments

[0050] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0051] In view of this, please refer to Figure 1 , the present application provides a stable control method for vehicle energy recovery, including the steps of:

[0052] 01. Obtain the current motion state of the vehicle, the functional failure information and functional activation information of the electronic stability program of the vehicle body;

[0053] 02. Determine the stable state of vehicle energy recovery according to the motion state, functional failure information and functional activation information;

[0054] 03. When there are stability problems or potential stability problems in the stable state, activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state.

[0055] Please refer to Figure 2 , the embodiment of the present application provides a stable control device 100 for vehicle energy recovery. The stable control device 100 includes an acquisition module 110, a determination module 120, and a control module 130.

[0056] Among them, step 01 can be implemented by the acquisition module 110, step 02 can be implemented by the determination module 120, and step 03 can be implemented by the control module 130.

[0057] Or rather, the acquisition module 110 can be used to obtain the current motion state of the vehicle, the functional failure information and functional activation information of the electronic stability program of the vehicle body; the determination module 120 can be used to determine the stable state of vehicle energy recovery according to the motion state, functional failure information and functional activation information. The control module 130 can be used to activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state when there are stability problems or potential stability problems in the stable state.

[0058] The present application also provides a vehicle, including a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, the processor implements the above-mentioned stability control method. That is, the processor is configured to obtain the current motion state of the vehicle, the functional failure information and functional activation information of the electronic stability program (ESP) of the vehicle body, determine the stable state of the vehicle's energy recovery according to the motion state, functional failure information and functional activation information, and activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state when there are stability problems or potential stability problems in the stable state.

[0059] In the stable control method, stable control device and vehicle for the vehicle's energy recovery of the present application, the stability problems of the vehicle during the recovery process can be determined more systematically and comprehensively by obtaining the current motion state of the vehicle, the functional failure information and functional activation information of the electronic stability program (ESP) of the vehicle body. When there are potential stability problems or stability problems in the vehicle, the stability recovery function can be activated and the energy recovery ratio can be controlled according to the stability recovery ratio, so that the vehicle can achieve better stability while having a higher recovery efficiency.

[0060] In some embodiments, the stable control device 100 may be a part of the vehicle. Or rather, the vehicle includes the stable control device 100.

[0061] In some embodiments, the stable control device 100 may be discrete components assembled in a certain manner to have the aforementioned functions, or a chip in the form of an integrated circuit having the aforementioned functions, or a computer software code segment that makes the computer have the aforementioned functions when running on a computer.

[0062] In some embodiments, as hardware, the stable control device 100 may be independent or added to the vehicle as an additional peripheral component. The stable control device 100 may also be integrated into the vehicle. For example, when the stable control device 100 is a part of the vehicle, the stable control device 100 may be integrated into the processor.

[0063] It should be noted that the vehicle may be a dual-axis drive electric vehicle or a rear-axis drive electric vehicle. Among them, the dual-axis drive electric vehicle can perform both rear-axis energy recovery and dual-axis energy recovery. The rear-axis drive electric vehicle can only perform rear-axis energy recovery.

[0064] The vehicle includes an electronic stability program (ESP). ESP can implement a function to prevent the vehicle from skidding in an emergency. When the vehicle experiences situations such as out of control, rollover, oversteering or understeering, ESP will actively intervene, thereby improving the vehicle's handling performance and driving safety.

[0065] The vehicle electronic stability system may include an Electrical Brake Distribution (EBD) system, an Anti-lock Brake System (ABS), a Traction Control System (TCS), and a Vehicle Dynamic Control (VDC) system.

[0066] Among them, the EBD is used to adjust the braking force distribution to prevent the rear wheels of the vehicle from locking up first, and generally only fails when there is a fault in the module hardware. The ABS is used to prevent the wheels from locking up by calculating the vehicle slip ratio and controlling it near the peak adhesion coefficient, which belongs to passive safety control. The TCS is used to drive wheel spin. The TCS issues a request to reduce the engine torque and slightly applies the brake to enable the vehicle to start smoothly. The VDC mainly corrects understeer and oversteer of the wheels by actively increasing the pressure on individual wheels.

[0067] In the present application, the stable state of vehicle energy recovery can be determined based on the activation information and fault information of the ABS, TCS, and VDC.

[0068] The motion state of the vehicle may include the current average axle speed of the rear axle, the average axle speed of the front axle, the vehicle speed, the lateral acceleration, and the longitudinal acceleration of the vehicle.

[0069] The stability recovery state refers to the vehicle recovering energy while maintaining the stability of the vehicle body.

[0070] Please combine Figure 3 In some embodiments, the stability control method further includes:

[0071] 04. When there is no stability problem or potential stability problem in the stable state, control the energy recovery ratio according to the efficiency recovery ratio.

[0072] In some embodiments, step 04 can be implemented by the control module 130. Or rather, the control module 130 can be used to control the energy recovery ratio according to the efficiency recovery ratio when there is no stability problem or potential stability problem in the stable state.

[0073] In some embodiments, the processor is used to control the energy recovery ratio according to the efficiency recovery ratio when there is no stability problem or potential stability problem in the stable state.

[0074] That is to say, in the present application, when the vehicle is stable, the energy recovery ratio is mainly controlled with the recovery efficiency as the priority, so that the vehicle has a high energy recovery efficiency when it is stable.

[0075] In addition, it should be noted that when the vehicle turns from a stable state and potential stability problems or stability problems occur, for example, during the process of the vehicle driving from a flat road to a bumpy road, the vehicle changes from a stable state to an unstable state. Since the energy recovery ratio is first controlled by the efficiency recovery ratio, the vehicle has a high energy recovery efficiency. If the energy recovery ratio is directly switched to the stability recovery ratio for control, it is easy for the value of the energy recovery ratio to change too much, which may easily cause problems for the vehicle. For example, when the energy recovery ratio is controlled by the efficiency recovery ratio, the value of the energy recovery ratio is 4, while when the energy recovery ratio is controlled by the stability recovery ratio, the value of the energy recovery ratio is 1. If 4 is directly switched to 1, the span is too large, which may easily cause problems for the vehicle. Therefore, it is necessary to delay the smoothing time to reduce the energy recovery ratio, and then control the energy recovery ratio according to the stability recovery ratio. That is, in the case of stability problems or potential stability problems in the stable state, after activating the stability recovery and delaying the smoothing time, the energy recovery ratio is controlled according to the stability recovery ratio to enter the stability recovery state.

[0076] Please refer to Figure 4 , in some embodiments, step 02 includes sub-steps:

[0077] 021. When there is functional failure information, determine that the vehicle has potential stability problems.

[0078] In some embodiments, step 021 can be implemented by the determination module 120. Or rather, the determination module 120 is used to determine that the vehicle has potential stability problems when there is functional failure information.

[0079] In some embodiments, the processor can be used to determine that the vehicle has potential stability problems when there is functional failure information.

[0080] In this embodiment, it is possible to determine whether there is a potential stability problem with the vehicle based on whether there is fault information in the ABS, TCS, or VDC of the ESP. Specifically, when a fault occurs in any one of the ABS, TCS, or VDC, it can be determined that the vehicle has an ESP stability fault, and it can be considered that there is a potential stability problem with the vehicle. For example, when the vehicle reports ABS_Fault, it can be determined that there is a stability problem with the vehicle. It can be understood that since the ESP is used to keep the vehicle in the best stability under various conditions, and the ESP includes the functions of ABS, TCS, and VDC, if there are obstacles in the ABS, TCS, or VDC, the ESP may not be able to ensure the normal and stable operation of the vehicle. Therefore, it can be considered that there is a potential stability problem or a stability problem with the vehicle. Thus, the vehicle can activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio, so that the vehicle enters the stability recovery state.

[0081] Please refer to Figure 5 , in some embodiments, in some embodiments, step 02 includes sub-steps:

[0082] 022, determining a first determination value according to the lateral acceleration and the vehicle speed;

[0083] 023, determining that there is a stability problem with the vehicle when the speed difference between the average axle speed of the front axle and the average axle speed of the rear axle is greater than the first determination value.

[0084] Please further combine Figure 2 , in some embodiments, 022-023 can be implemented by the determination module 120. Or rather, the determination module 120 can be used to determine a first determination value according to the lateral acceleration and the vehicle speed, and determine that there is a stability problem with the vehicle when the speed difference between the average axle speed of the front axle and the average axle speed of the rear axle is greater than the first determination value.

[0085] In some embodiments, the processor can be used to determine a first determination value according to the lateral acceleration and the vehicle speed, and determine that there is a stability problem with the vehicle when the speed difference between the average axle speed of the front axle and the average axle speed of the rear axle is greater than the first determination value.

[0086] Specifically, the vehicle presets a mapping relationship table between the absolute value of the lateral acceleration and the vehicle speed. The processor can obtain a unique first determination value according to the absolute value of the current lateral acceleration of the vehicle, the vehicle speed, and the mapping relationship table. After obtaining the first determination value, calculate the differential value between the average axle speed of the rear axle and the average axle speed of the front axle of the current vehicle. When the differential value is greater than or equal to the first determination value, it can be determined that there is a stability problem with the vehicle. Thus, the vehicle can activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio, so that the vehicle enters the stability recovery state.

[0087] Please refer toFigure 6 , in some embodiments, step 02 includes sub-steps:

[0088] 024. Determine a second determination value according to the vehicle speed;

[0089] 025. When the lateral acceleration is greater than the second determination value, determine that the vehicle has a stability problem.

[0090] Please further combine with Figure 2 , in some embodiments, please further combine with Figure 2 , in some embodiments, 024 - 025 can be implemented by the determination module 120. Or rather, the determination module 120 can be used to determine the second determination value according to the vehicle speed, and when the lateral acceleration is greater than the second determination value, determine that the vehicle has a stability problem.

[0091] In some embodiments, the processor can be used to determine the second determination value according to the vehicle speed, and when the lateral acceleration is greater than the second determination value, determine that the vehicle has a stability problem.

[0092] Specifically, the vehicle also presets a mapping relation table regarding the vehicle speed. The processor can obtain the second determination value according to the current vehicle speed of the vehicle and the mapping relation table. After obtaining the second determination value, determine the absolute value of the lateral acceleration. When the absolute value of the lateral acceleration is greater than or equal to the second determination value, it can be determined that the vehicle has a stability problem. Thus, the vehicle can activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio, so that the vehicle enters the stability recovery state.

[0093] Please refer to Figure 7 , in some embodiments, sub-step 02 includes:

[0094] 026. Calculate the squared values of the lateral acceleration and the longitudinal acceleration respectively;

[0095] 027. Take the square root of the sum of the squared values of the lateral acceleration and the longitudinal acceleration to obtain an acceleration determination value;

[0096] 028. When the acceleration determination value is less than the first predetermined threshold and the function activation predetermined time threshold of the electronic stability program of the vehicle body, determine that the vehicle has a stability problem.

[0097] Please further combine with Figure 2, in some embodiments, sub-steps 026-028 can be implemented by the determination module 120. That is to say, the determination module 120 can be used to calculate the squared values of the lateral acceleration and the longitudinal acceleration respectively, and take the square root of the sum of the squared values of the lateral acceleration and the longitudinal acceleration to obtain an acceleration determination value. When the acceleration determination value is less than the first predetermined threshold and the function activation predetermined time threshold of the electronic stability program (ESP) system, it is determined that the vehicle has a stability problem.

[0098] In some embodiments, the processor can be used to calculate the squared values of the lateral acceleration and the longitudinal acceleration respectively, and take the square root of the sum of the squared values of the lateral acceleration and the longitudinal acceleration to obtain an acceleration determination value. When the acceleration determination value is less than the first predetermined threshold and the function activation predetermined time threshold of the electronic stability program (ESP) system, it is determined that the vehicle has a stability problem.

[0099] Specifically, calculate the square of the lateral acceleration and the square of the longitudinal acceleration, add the square of the lateral acceleration to the square of the longitudinal acceleration to find the sum, and perform a square root operation after the summation to obtain the acceleration determination value. Then compare the acceleration determination value with the first predetermined threshold, and the first predetermined threshold can be 0.3. That is, it is determined whether the acceleration determination value is greater than 0.3.

[0100] Further, determine whether the anti-lock braking system (ABS), traction control system (TCS), and vehicle dynamics control (VDC) of the ESP are activated. If any one of the functions of the ABS, TCS, and VDC is activated, for example, when ABS_Act is received and the speed determination value is greater than or equal to the first predetermined threshold, it is determined that the vehicle has a stability problem. In this way, the vehicle can activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio, so that the vehicle enters the stability recovery state.

[0101] Please refer to Figure 8 , in some embodiments, step 03 includes:

[0102] 031, when the front axle recovery ability is zero, limit the rear axle recovery ability according to the first determination value determined by the vehicle speed and the lateral acceleration.

[0103] Please further combine with Figure 2 , in some embodiments, sub-step 031 can be implemented by the control module 130. That is to say, the control module 130 can be used to limit the rear axle recovery ability according to the first determination value determined by the vehicle speed and the lateral acceleration when the front axle recovery ability is zero.

[0104] In some embodiments, the processor can be used to limit the rear axle recovery ability according to the first determination value determined by the vehicle speed and the lateral acceleration when the front axle recovery ability is zero.

[0105] Understandably, if the energy recovery energy of the front axle is zero, it indicates that the vehicle is an electric vehicle with only the rear axle and cannot perform dual-axle recovery. Therefore, the rear-axle recovery is processed separately. Specifically, a unique first determination value is determined based on the mapping relationship table of the absolute value of the lateral acceleration and the vehicle speed, the current vehicle speed of the vehicle, and the lateral acceleration. And the rear-axle recovery ability is restricted according to the first determination value, so as to control the energy recovery ratio and make the restricted rear-axle recovery ability satisfy the vehicle to be stable.

[0106] Please refer to Figure 9 , in some embodiments, step 03 includes:

[0107] 032. When the front-axle recovery ability is not zero, calculate the difference between the energy recovery ratio and the second predetermined threshold to obtain a first calculated value;

[0108] 033. Multiply the recovery request torque by the first calculated value to obtain a second calculated value;

[0109] 034. When the front-axle recovery ability is less than the second calculated value, divide the front-axle recovery ability by the second calculated value to obtain a third calculated value;

[0110] 035. Multiply the difference between the recovery request torque and the second calculated value by the third calculated value to obtain a fourth calculated value;

[0111] 036. Compare the size of the fourth calculated value with the first determination value;

[0112] 037. When the fourth calculated value is greater than the first determination value, restrict the rear-axle recovery ability according to the fourth calculated value; or

[0113] 038. When the fourth calculated value is not greater than the first determination value, restrict the rear-axle recovery ability according to the first determination value.

[0114] Please further combine Figure 2 , in some embodiments, sub-steps 032-038 can be implemented by the control module 130. Or rather, the control module 130 can be used to calculate the difference between the energy recovery ratio and the second predetermined threshold to obtain a first calculated value when the front-axle recovery ability is not zero; multiply the recovery request torque by the first calculated value to obtain a second calculated value. When the front-axle recovery ability is less than the second calculated value, divide the front-axle recovery ability by the second calculated value to obtain a third calculated value, multiply the difference between the recovery request torque and the second calculated value by the third calculated value to obtain a fourth calculated value, compare the size of the fourth calculated value with the first determination value, when the fourth calculated value is greater than the first determination value, restrict the rear-axle recovery ability according to the fourth calculated value, and when the fourth calculated value is not greater than the first determination value, restrict the rear-axle recovery ability according to the first determination value.

[0115] In some embodiments, the processor may be used to calculate the difference between the energy recovery ratio and a second predetermined threshold when the front axle recovery ability is not zero, obtaining a first calculated value; multiplying the recovery request torque by the first calculated value to obtain a second calculated value, and when the front axle recovery ability is less than the second calculated value, dividing the front axle recovery ability by the second calculated value to obtain a third calculated value, multiplying the difference between the recovery request torque and the second calculated value by the third calculated value to obtain a fourth calculated value, comparing the size of the fourth calculated value with a first determination value, and when the fourth calculated value is greater than the first determination value, limiting the rear axle recovery ability according to the fourth calculated value, and when the fourth calculated value is not greater than the first determination value, limiting the rear axle recovery ability according to the first determination value.

[0116] In this way, while ensuring the vehicle's energy recovery efficiency, the vehicle can be kept stable.

[0117] Please further refer to Figure 9 , in some embodiments, step 03 includes:

[0118] 039, when the front axle recovery ability is greater than or equal to the second calculated value, comparing the rear axle recovery ability with the first determination value;

[0119] 0310, when the rear axle recovery ability is greater than the first determination value, maintaining the current rear axle recovery ability; or

[0120] 0311, when the rear axle recovery ability is not greater than the first determination value, limiting the rear axle recovery ability according to the first determination value.

[0121] Please further combine with Figure 2 , in some embodiments, sub-steps 039 - 0311 may be implemented by the control module 130, or rather, the control module 130 may be used to compare the rear axle recovery ability with the first determination value when the front axle recovery ability is greater than or equal to the second calculated value, maintain the current rear axle recovery ability when the rear axle recovery ability is greater than the first determination value, or limit the rear axle recovery ability according to the first determination value when the rear axle recovery ability is not greater than the first determination value.

[0122] In some embodiments, the processor may be used to compare the rear axle recovery ability with the first determination value when the front axle recovery ability is greater than or equal to the second calculated value, maintain the current rear axle recovery ability when the rear axle recovery ability is greater than the first determination value; or limit the rear axle recovery ability according to the first determination value when the rear axle recovery ability is not greater than the first determination value.

[0123] In this way, while ensuring the vehicle's energy recovery efficiency, the vehicle can be kept in a stable state.

[0124] Embodiments of the present application also provide a non-volatile computer-readable storage medium. The readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to execute the above-mentioned stability control method.

[0125] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a digital video disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0126] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present application.

[0127] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the devices or units can be in electrical, mechanical, or other forms.

[0128] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0129] As mentioned above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A stable control method for vehicle energy recovery, characterized in that, it includes: Obtain the current motion state of the vehicle, the functional failure information and functional activation information of the electronic stability program (ESP); Determine the stable state of the vehicle energy recovery according to the motion state, the functional failure information and the functional activation information; When there are stability problems or potential stability problems in the stable state, activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state; Wherein, activating the stability recovery function and controlling the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state includes: After activating the stability recovery function and delaying the smooth time to make the energy recovery ratio decrease, control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state.

2. The stable control method according to claim 1, characterized in that, the stable control method further includes: When there are no stability problems or potential stability problems in the stable state, control the energy recovery ratio according to the efficiency recovery ratio.

3. The stable control method according to claim 1, characterized in that, determining the stable state of the vehicle energy recovery according to the motion state, the functional failure information and the functional activation information includes: When there is the functional failure information, determine that the vehicle has potential stability problems.

4. The stable control method according to claim 1, characterized in that, the motion state includes the current lateral acceleration, longitudinal acceleration, average front axle speed, average rear axle speed and vehicle speed of the vehicle, and determining the stable state of the vehicle energy recovery according to the motion state, the functional failure information and the functional activation information includes: Determine a first determination value according to the lateral acceleration and the vehicle speed; When the speed difference between the average front axle speed and the average rear axle speed is greater than the first determination value, determine that the vehicle has stability problems.

5. The stable control method according to claim 4, characterized in that, determining the stable state of the vehicle energy recovery according to the motion state, the functional failure information and the functional activation information includes: Determine a second determination value according to the vehicle speed; When the lateral acceleration is greater than the second determination value, determine that the vehicle has stability problems.

6. The stable control method according to claim 4, characterized in that, determining the stable state of the vehicle energy recovery according to the motion state, the functional failure information and the functional activation information includes: Calculate the square values of the lateral acceleration and the longitudinal acceleration respectively; Take the square root of the sum of the square values of the lateral acceleration and the longitudinal acceleration to obtain an acceleration determination value; When the acceleration determination value is less than the first predetermined threshold and the functional activation predetermined time threshold of the electronic stability program (ESP), determine that the vehicle has stability problems.

7. The stable control method according to claim 4, characterized in that, When there is a stability problem or a potential stability problem in the stable state, activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state, including: When the front axle recovery ability is zero, limit the rear axle recovery ability according to the first determination value determined by the vehicle speed and the lateral acceleration.

8. The stability control method according to claim 7, wherein, When there is a stability problem or a potential stability problem in the stable state, activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state, including: When the front axle recovery ability is not zero, calculate the difference between the energy recovery ratio and the second predetermined threshold value to obtain a first calculated value; Multiply the recovery request torque by the first calculated value to obtain a second calculated value; When the front axle recovery ability is less than the second calculated value, divide the front axle recovery ability by the second calculated value to obtain a third calculated value; Multiply the difference between the recovery request torque and the second calculated value by the third calculated value to obtain a fourth calculated value; Compare the size of the fourth calculated value with the first determination value; When the fourth calculated value is greater than the first determination value, limit the rear axle recovery ability according to the fourth calculated value; or When the fourth calculated value is not greater than the first determination value, limit the rear axle recovery ability according to the first determination value.

9. The stability control method according to claim 8, wherein, When there is a stability problem or a potential stability problem in the stable state, activate the stability recovery function and control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state, including: When the front axle recovery ability is greater than or equal to the second calculated value, compare the rear axle recovery ability with the first determination value; When the rear axle recovery ability is greater than the first determination value, maintain the current rear axle recovery ability; or When the rear axle recovery ability is not greater than the first determination value, limit the rear axle recovery ability according to the first determination value.

10. A stability control device for vehicle energy recovery, wherein, comprising: An acquisition module for acquiring the current motion state of the vehicle, the functional failure information and the function activation information of the vehicle body electronic stability system; A determination module for determining the stable state of the vehicle energy recovery according to the motion state, the functional failure information and the function activation information; A control module for activating the stability recovery function and controlling the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state when there is a stability problem or a potential stability problem in the stable state; wherein, the control module is used to activate the stability recovery function and delay the smooth time to decrease the energy recovery ratio when there is a stability problem or a potential stability problem in the stable state, and then control the energy recovery ratio according to the stability recovery ratio to enter the stability recovery state.

11. A vehicle, It is characterized in that it includes a processor and a memory, the memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to execute the stability control method according to any one of claims 1-9.

12. A non-volatile computer-readable storage medium containing a computer program, it is characterized in that when the computer program is executed by a processor, the processor is caused to execute the stability control method according to any one of claims 1-9.

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