Coasting energy recovery control method, device, readable storage medium and electronic device

Abstract

A coasting energy recovery control method, device, readable storage medium, and electronic device are disclosed. The method comprises: obtaining the current vehicle mass and querying pre-stored interval information for a target mass interval to which the current vehicle mass belongs, the interval information comprising a plurality of continuous mass intervals divided from the vehicle's unloaded mass to its fully loaded mass; determining a torque correction coefficient corresponding to the target mass interval based on the mass values within the target mass interval; correcting the coasting energy recovery request torque based on the torque correction coefficient to obtain an initial request torque; determining a target coasting deceleration and an actual deceleration based on the vehicle speed; performing PI closed-loop control on the initial request torque, target deceleration, and actual deceleration, and obtaining a feedback request torque from the PI closed-loop control; and performing motor braking on the vehicle based on the feedback request torque. The present invention calculates the coasting energy recovery torque based on the vehicle mass, thereby improving the vehicle's endurance.

Description

Technical Field

[0001] The present invention relates to the automotive field, and in particular to a coasting energy recovery control method, device, readable storage medium and electronic equipment. Background Art

[0002] With the national call for energy conservation and emission reduction, and the implementation of increasingly stringent emission standards, an increasing number of OEMs are launching new energy vehicles, such as pure electric and hybrid vehicles, to meet future market demand. Electric vehicles are already very popular, and energy recovery can significantly improve their range.

[0003] In current coasting energy recovery solutions, the regenerative torque is determined solely by vehicle speed. Furthermore, the regenerative torque is designed based on the vehicle's unladen mass. For vehicles of varying mass and at the same speed, the regenerative torque remains the same. As is well known, vehicle mass significantly impacts deceleration during deceleration. For example, a light truck with an unladen load of 3,000 kg and a fully loaded load of 6,000 kg has a deceleration rate approximately half that of an unladen vehicle. Furthermore, cargo-laden conditions account for approximately 70% of the vehicle's lifecycle. Therefore, current energy recovery solutions have a low coasting energy recovery rate. Summary of the Invention

[0004] In view of the above situation, it is necessary to provide a coasting energy recovery control method, device, readable storage medium and electronic device to address the problem of low coasting energy recovery efficiency in the prior art.

[0005] A coasting energy recovery control method, comprising:

[0006] Obtaining the current vehicle mass of the vehicle and querying pre-stored interval information for a target mass interval to which the current vehicle mass belongs, the interval information including a plurality of continuous mass intervals divided from a mass range from an unladen mass to a fully laden mass of the vehicle;

[0007] determining a torque correction coefficient corresponding to the target mass interval according to mass values in the target mass interval;

[0008] Correcting the coasting energy recovery request torque according to the torque correction coefficient to obtain an initial request torque;

[0009] determining a target coasting deceleration and an actual deceleration according to a speed of the vehicle;

[0010] performing PI closed-loop control on the initial requested torque, the target deceleration, and the actual deceleration, and obtaining a feedback requested torque of the PI closed-loop control;

[0011] The vehicle is motor-braked according to the feedback request torque.

[0012] Furthermore, in the coasting energy recovery control method, before the step of querying the pre-stored interval information to determine the target mass interval to which the current vehicle mass belongs, the method further includes:

[0013] Obtaining a vehicle mass calculation accuracy of the vehicle, and determining an interval length based on the vehicle mass calculation accuracy and the unladen mass and fully laden mass of the vehicle;

[0014] The mass range from the empty mass to the fully loaded mass of the vehicle is divided into a plurality of continuous mass intervals according to the interval lengths.

[0015] Furthermore, in the above-mentioned coasting energy recovery control method, the interval length is any value in the following value range:

[0016] [αM min ,αM max ],

[0017] Among them, M min is the unladen mass of the vehicle, M max is the fully loaded mass of the vehicle, and α is the calculation accuracy of the vehicle mass.

[0018] Furthermore, in the above-mentioned coasting energy recovery control method, the calculation formula of the torque correction coefficient is:

[0019] K=M / M min , M is an arbitrary value in the target mass range, M min is the unladen mass of the vehicle.

[0020] Furthermore, in the above-mentioned coasting energy recovery control method, M is the minimum limit value of the target mass range.

[0021] Furthermore, in the above-mentioned coasting energy recovery control method, the step of performing motor braking on the vehicle according to the feedback request torque includes:

[0022] The feedback request torque is subjected to slope limiting processing, and the processed feedback request torque is sent to a motor controller, so that the motor controller executes the processed feedback request torque.

[0023] Furthermore, in the above-mentioned coasting energy recovery control method, the step of determining the actual deceleration according to the vehicle speed includes:

[0024] The vehicle speed is subjected to a first-order filtering process, and the actual vehicle speed is calculated using a least square method based on the filtered vehicle speed.

[0025] The present invention also discloses a coasting energy recovery control device, comprising:

[0026] an acquisition module, configured to acquire a current vehicle mass and query pre-stored interval information for a target mass interval to which the current vehicle mass belongs, wherein the interval information includes a plurality of continuous mass intervals divided from a mass range from an unladen mass to a fully laden mass of the vehicle;

[0027] a first determining module, configured to determine a torque correction coefficient corresponding to the target mass interval according to mass values in the target mass interval;

[0028] a correction module, configured to correct the coasting energy recovery request torque according to the torque correction coefficient to obtain an initial request torque;

[0029] a second determining module, configured to determine a target coasting deceleration and an actual deceleration according to a speed of the vehicle;

[0030] a PI control module, configured to perform PI closed-loop control on the initial requested torque, the target deceleration, and the actual deceleration, and obtain a feedback requested torque of the PI closed-loop control;

[0031] A braking module is configured to perform motor braking on the vehicle according to the feedback request torque.

[0032] The present invention also discloses an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the above-described methods when executing the computer program.

[0033] The present invention also discloses a computer-readable storage medium on which a program is stored. When the program is executed by a processor, any one of the above-mentioned methods is implemented.

[0034] The present invention divides the vehicle's mass range into multiple continuous mass intervals and determines a corresponding torque correction coefficient based on the target mass interval to which the vehicle's current mass belongs. The coasting energy regeneration request torque is corrected based on this torque correction coefficient to obtain an initial request torque. Furthermore, the target deceleration and actual deceleration are determined based on the vehicle's speed. PI closed-loop control is performed using the initial request torque, the target deceleration, and the actual deceleration to obtain a final regenerative braking request torque. The vehicle is then motor-braked based on this regenerative braking request torque. This method calculates the coasting energy regeneration torque based on the vehicle's mass, improving the vehicle's range. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flow chart of a coasting energy recovery control method provided by the first embodiment of the present invention;

[0036] Figure 2A flow chart of a coasting energy recovery control method provided by a second embodiment of the present invention;

[0037] Figure 3 A structural block diagram of a coasting energy recovery control device provided in a third embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of the electronic declaration of the present invention. DETAILED DESCRIPTION

[0039] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0040] These and other aspects of the embodiments of the present invention will become apparent with reference to the following description and accompanying drawings. While some specific implementations of the embodiments of the present invention are disclosed in detail in these descriptions and accompanying drawings to illustrate some ways of implementing the principles of the embodiments of the present invention, it should be understood that the scope of the embodiments of the present invention is not limited thereby. On the contrary, the embodiments of the present invention encompass all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0041] See also Figure 1 , which is a coasting energy recovery control method in the first embodiment of the present invention, includes steps S11 to S16.

[0042] Step S11, obtaining the current vehicle mass of the vehicle, and querying the target mass interval to which the current vehicle mass belongs in the pre-stored interval information, wherein the interval information includes a plurality of continuous mass intervals divided within the mass range from the vehicle's unloaded mass to the fully loaded mass.

[0043] The query interval information includes multiple continuous mass intervals divided by the vehicle's gross vehicle mass range, which is the range between the vehicle's unloaded mass and fully loaded mass. For example, the unloaded to fully loaded gross vehicle mass range [3000kg, 6000kg] can be divided into several continuous intervals, such as [3000, 3500], [3501, 4000], [4001, 4500], [4501, 5000], [5001, 5500], and [5501, 6000].

[0044] The vehicle's total mass can be obtained from the vehicle mass calculation module. After obtaining the current vehicle mass, query the interval information to find the target mass interval to which the current vehicle mass belongs. For example, if the vehicle's current total mass is 3600kg, its target interval is [3501, 4000].

[0045] It should be noted that this interval information can be pre-divided and stored in the system based on the vehicle's load requirements. It is understood that this interval information can also be determined in real time by the system based on the vehicle's overall mass. For example, in one embodiment of the present invention, before querying the pre-stored interval information to determine the target mass interval to which the current overall mass belongs, the following step is further included:

[0046] Obtaining a vehicle mass calculation accuracy of the vehicle, and determining an interval length based on the vehicle mass calculation accuracy and the unladen mass and fully laden mass of the vehicle;

[0047] The mass range from the empty mass to the fully loaded mass of the vehicle is divided into a plurality of continuous mass intervals according to the interval lengths.

[0048] In this method, the vehicle mass range is divided into intervals based on the accuracy and fluctuation of the vehicle mass calculation. That is, the length of the interval is within the error range of the mass calculation. Specifically, the interval length is an arbitrary value in the following value range:

[0049] [αM min ,αM max ],

[0050] Among them, M min is the unladen mass of the vehicle, M max is the fully loaded mass of the vehicle, and α is the calculation accuracy of the vehicle mass.

[0051] For example, if the calculation accuracy of vehicle mass is 10%, the vehicle's unladen mass is 3000kg and its fully laden mass is 6000kg, then the error in calculating the vehicle's unladen mass is 300kg, and the error in calculating the fully laden mass is 600kg. Therefore, a value between 300kg and 600kg is taken as the length of the dividing interval.

[0052] In specific applications, the maximum or minimum value of the value space is usually used as the interval length. For example, in this embodiment, the interval length can be 500 kg. The interval [3000 kg, 6000 kg] is divided according to this length to obtain multiple continuous mass intervals, namely [3000, 3500], [3501, 4000], [4001, 4500], [4501, 5000], [5001, 5500], and [5501, 6000]. The multiple divided mass intervals are stored as interval information in the system for subsequent calculation and call.

[0053] The more mass intervals you divide, the higher the calculation accuracy, which in turn increases the energy recovery efficiency. However, if you divide too many mass intervals, the calculation efficiency will decrease accordingly. Considering both energy recovery efficiency and calculation efficiency, the interval length is set within the calculation error range of the fully loaded mass and the unloaded mass. This improves calculation efficiency while maximizing energy recovery efficiency.

[0054] Step S12: determining a torque correction coefficient corresponding to the target mass interval according to the mass values in the target mass interval.

[0055] Step S13: Correcting the coasting energy recovery request torque according to the torque correction coefficient to obtain an initial request torque.

[0056] It is understandable that the coasting deceleration is related to the vehicle mass, that is, the calculation formula for the coasting deceleration is:

[0057] Deceleration = (motor electric braking force + vehicle resistance) / vehicle mass;

[0058] Without considering the vehicle's own resistance, the electric motor's driving force is proportional to the vehicle's mass, that is, the energy recovery torque should be proportional to the vehicle's mass.

[0059] In this embodiment, to improve calculation efficiency, when the coasting speed is the same, the coasting deceleration corresponding to each mass within the same mass range is kept consistent. Specifically, the calculation formula for the torque correction coefficient of the motor brake is:

[0060] K=M / M min , M is an arbitrary value in the target mass range, M min is the unladen mass of the vehicle.

[0061] Each mass range defines a motor brake correction system. Within a certain mass range, the mass used to calculate the torque correction coefficient can be any value within that range. For example, based on safety considerations for vehicle coasting braking, M is the minimum value within that mass range.

[0062] The coasting energy regeneration torque is corrected based on the torque correction coefficient K. Specifically, the corrected coasting energy regeneration torque is K*T1, where T1 is the coasting energy regeneration request torque, which is determined based on the vehicle speed when the vehicle is unloaded. The relationship between vehicle speed and coasting energy regeneration request torque is shown in Table 1.

[0063] Table 1

[0064]

[0065]

[0066] Step S14: determining a target coasting deceleration and an actual deceleration according to the vehicle speed.

[0067] The corresponding target coasting deceleration can be determined according to the vehicle speed, which can be obtained by looking up the table. The preset target deceleration of the vehicle speed is shown in Table 2 (calibrable).

[0068] Table 2

[0069]

[0070] The actual deceleration of the vehicle can be calculated using the least squares method based on the actual vehicle speed data collected. It should be noted that in order to improve the accuracy of the deceleration calculation, the collected actual vehicle speed data is subjected to a first-order RC filter before the least squares calculation, and the filtering parameter can be 0.95 (calibration amount).

[0071] In step S15 , the initial requested torque, the target deceleration, and the actual deceleration are subjected to PI closed-loop control, and a feedback requested torque of the PI closed-loop control is obtained.

[0072] In specific implementations, PI closed-loop control can be implemented using a PI controller. The initial requested torque, target deceleration, and actual deceleration are input into the PI controller to obtain the PI controller's feedback requested torque. The initial requested torque serves as the PI controller's input torque, while the target deceleration and actual deceleration serve as input values. The difference between the target acceleration and the actual acceleration serves as the input for the PI integral, which yields a PI torque value. This PI torque value is then added to the previous cycle's requested torque value to output the final feedback requested torque.

[0073] Step S16 : performing motor braking on the vehicle according to the feedback request torque.

[0074] In a specific implementation, the feedback request torque is subjected to slope limiting processing, and the processed feedback request torque is sent to the motor controller, so that the motor controller executes the processed feedback request torque.

[0075] This embodiment divides the vehicle's mass range into multiple continuous mass intervals. A torque correction coefficient is determined based on the target mass interval to which the vehicle's current mass belongs. The coasting energy regeneration request torque is corrected based on this torque correction coefficient to obtain an initial request torque. Furthermore, a target deceleration and actual deceleration are determined based on the vehicle's speed. PI closed-loop control is performed using the initial request torque, the target deceleration, and the actual deceleration to obtain a final regenerative braking request torque. This regenerative braking is then applied to the vehicle using the motor. This invention calculates the coasting energy regeneration torque based on the vehicle's mass, thereby improving the vehicle's range.

[0076] The technical solution of the present invention is described below with reference to a specific embodiment.

[0077] See also Figure 2 , which is a coasting energy recovery control method in a second embodiment of the present invention, includes steps S21 to S28.

[0078] Step S21, obtaining the vehicle mass from the vehicle mass calculation module.

[0079] In step S22, based on the vehicle mass calculation accuracy and fluctuation, the vehicle mass range from empty to fully loaded is divided into several continuous intervals, and the torque correction coefficient corresponding to each interval is calculated. For example, if the vehicle mass range from empty to fully loaded is [3000kg, 6000kg], the intervals that can be divided are [3000, 3500], [3501, 4000], [4001, 4500], [4501, 5000], [5001, 5500], and [5501, 6000]. The vehicle mass calculation accuracy is within 10%, and the numerical precision is 1.

[0080] Step S23 , determining the target range to which the vehicle mass belongs according to the acquired vehicle mass, and determining the corresponding target torque correction coefficient according to the target.

[0081] Deceleration = (motor electric braking force + vehicle resistance) / vehicle mass;

[0082] If a fully loaded vehicle (6000 kg) and unloaded vehicle (3000 kg) have the same deceleration, the electric braking force needs to be increased. Without considering changes in the vehicle's own resistance, the electric braking force at full load is twice that at unloaded, and at half load is 1.5 times that at unloaded. Therefore, the torque correction factor, K, is calculated as the vehicle mass divided by the unloaded mass. Considering the calculation accuracy and fluctuations of vehicle mass, the calculated torque correction factor, K, outputs the minimum value within a certain range of vehicle mass.

[0083] In step S24, the coasting energy recovery request torque T1 is calculated based on the vehicle's no-load state, and T1 is multiplied by the target torque correction coefficient K to obtain the initial request torque T2. The coasting energy recovery request torque can be obtained by looking up the table based on the vehicle speed.

[0084] Step S25: preset a target deceleration based on the vehicle speed, as shown in Table 2 in the first embodiment.

[0085] In step S26 , the actual acceleration is calculated based on the actual vehicle speed using the least square method.

[0086] In step S27, PI closed-loop control is performed using the initial requested torque T2 as the input torque for PI control, and the target deceleration and actual deceleration as input values. The output feedback requested torque T3 is obtained. The P and I values are calibrated quantities, and the feedback requested torque output by PI control is the coasting energy regeneration torque value.

[0087] Considering the changes in vehicle resistance caused by different road conditions and vehicle mass, PI is used for closed-loop control. The target deceleration is designed based on the vehicle speed, and the actual deceleration is calculated using the current vehicle speed and filtered. PI closed-loop control is performed using the initial requested torque T2, the target deceleration, and the actual deceleration to obtain the final feedback requested torque T3.

[0088] Step S28: The feedback request torque T3 is sent to the motor controller MCU after being subjected to slope limiting processing, and the motor controller executes the feedback request torque.

[0089] See also Figure 3 , is a coasting energy recovery control device in a third embodiment of the present invention, comprising:

[0090] An acquisition module 31 is configured to acquire a current vehicle mass and query pre-stored interval information for a target mass interval to which the current vehicle mass belongs, wherein the interval information includes a plurality of continuous mass intervals divided from a mass range from an unladen mass to a fully laden mass of the vehicle;

[0091] A first determining module 32 is configured to determine a torque correction coefficient corresponding to the target mass interval according to the mass values in the target mass interval;

[0092] a correction module 33, configured to correct the coasting energy recovery request torque according to the torque correction coefficient to obtain an initial request torque;

[0093] a second determining module 34, configured to determine a target coasting deceleration and an actual deceleration according to a vehicle speed;

[0094] a PI control module 35 for performing PI closed-loop control on the initial requested torque, the target deceleration, and the actual deceleration, and obtaining a feedback requested torque of the PI closed-loop control;

[0095] The braking module 36 is configured to perform motor braking on the vehicle according to the feedback request torque.

[0096] The coasting energy recovery control device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0097] Another aspect of the present invention provides an electronic device, see Figure 4 , shown is an electronic device according to a fourth embodiment of the present invention, comprising a processor 10, a memory 20, and a computer program 30 stored in the memory and executable on the processor. When the processor 10 executes the computer program 30, the coasting energy recovery control method as described above is implemented.

[0098] The electronic device may be, but is not limited to, a personal computer, a vehicle controller, or other electronic device. In some embodiments, the processor 10 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip, configured to execute program codes stored in the memory 20 or process data.

[0099] Among them, the memory 20 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 20 can be an internal storage unit of an electronic device, such as a hard disk of the electronic device. In other embodiments, the memory 20 can also be an external storage device of an electronic device, such as a plug-in hard disk equipped on the electronic device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Furthermore, the memory 20 can also include both an internal storage unit of the electronic device and an external storage device. The memory 20 can not only be used to store application software and various types of data installed in the electronic device, but can also be used to temporarily store data that has been output or is to be output.

[0100] Optionally, the electronic device may further include a user interface, a network interface, a communication bus, etc. The user interface may include a display (Display), an input unit such as a keyboard (Keyboard), and the optional user interface may also include a standard wired interface, a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device and to display a visual user interface. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), which is generally used to establish a communication connection between the device and other electronic devices. The communication bus is used to realize the connection communication between these components.

[0101] It should be pointed out that Figure 4 The structure shown does not constitute a limitation to the electronic device. In other embodiments, the electronic device may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0102] The present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned coasting energy recovery control method when executed by a processor.

[0103] Those skilled in the art will appreciate that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system or apparatus (e.g., a computer-based system, a system including a processor, or other system that can retrieve and execute instructions from an instruction execution system or apparatus), or in conjunction with such instruction execution systems or apparatuses. For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by an instruction execution system or apparatus, or in conjunction with such instruction execution systems or apparatuses.

[0104] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0105] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement the hardware: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0106] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0107] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A coasting energy recovery control method, characterized in that: include: Obtaining the current vehicle mass of the vehicle and querying pre-stored interval information for a target mass interval to which the current vehicle mass belongs, the interval information including a plurality of continuous mass intervals divided from a mass range from an unladen mass to a fully laden mass of the vehicle; determining a torque correction coefficient corresponding to the target mass interval according to mass values in the target mass interval; Correcting the coasting energy recovery request torque according to the torque correction coefficient to obtain an initial request torque; determining a target coasting deceleration and an actual deceleration according to a speed of the vehicle; performing PI closed-loop control on the initial requested torque, the target coasting deceleration, and the actual deceleration, and obtaining a feedback requested torque of the PI closed-loop control; The vehicle is motor-braked according to the feedback request torque.

2. The coasting energy recovery control method according to claim 1, characterized in that: Before the step of querying the pre-stored interval information to which the current vehicle mass belongs, the method further includes: Obtaining a vehicle mass calculation accuracy of the vehicle, and determining an interval length based on the vehicle mass calculation accuracy and the unladen mass and fully laden mass of the vehicle; The mass range from the empty mass to the fully loaded mass of the vehicle is divided into a plurality of continuous mass intervals according to the interval lengths.

3. The coasting energy recovery control method according to claim 2, characterized in that: The interval length is any value in the following value range: [ , ]， Among them, M min is the unladen mass of the vehicle, M max is the fully loaded mass of the vehicle, The calculation accuracy of vehicle mass.

4. The coasting energy recovery control method according to claim 1, wherein: The calculation formula of the torque correction coefficient is: K=M / M min , M is an arbitrary value in the target mass range, M min is the unladen mass of the vehicle.

5. The coasting energy recovery control method according to claim 4, characterized in that: M is the minimum limit value of the target mass range.

6. The coasting energy recovery control method according to claim 1, characterized in that: The step of performing motor braking on the vehicle according to the feedback request torque includes: The feedback request torque is subjected to slope limiting processing, and the processed feedback request torque is sent to a motor controller, so that the motor controller executes the processed feedback request torque.

7. The coasting energy recovery control method according to claim 1, characterized in that: The step of determining the actual deceleration according to the vehicle speed includes: The vehicle speed is subjected to a first-order filtering process, and the actual vehicle speed is calculated using a least square method based on the filtered vehicle speed.

8. A coasting energy recovery control device, characterized in that: include: an acquisition module, configured to acquire a current vehicle mass and query pre-stored interval information for a target mass interval to which the current vehicle mass belongs, wherein the interval information includes a plurality of continuous mass intervals divided from a mass range from an unladen mass to a fully laden mass of the vehicle; a first determining module, configured to determine a torque correction coefficient corresponding to the target mass interval according to mass values in the target mass interval; a correction module, configured to correct the coasting energy recovery request torque according to the torque correction coefficient to obtain an initial request torque; a second determining module, configured to determine a target coasting deceleration and an actual deceleration according to a speed of the vehicle; a PI control module, configured to perform PI closed-loop control on the initial requested torque, the target coasting deceleration, and the actual deceleration, and obtain a feedback requested torque of the PI closed-loop control; A braking module is configured to perform motor braking on the vehicle according to the feedback request torque.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

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

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