Automobile braking energy recovery method and device

Abstract

The present invention discloses a method and device for recovering automotive braking energy, which relates to the technical field of automobiles. During the braking process of the vehicle, the present invention determines the total vehicle braking force requirement according to the travel of the vehicle's brake pedal, and obtains the first maximum recovery torque corresponding to the first hub motor speed, the second maximum recovery torque corresponding to the second hub motor speed, and the third maximum recovery torque corresponding to the centralized motor speed. In this way, based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the total vehicle braking force requirement, the vehicle is controlled to achieve braking energy recovery, realizing the braking energy recovery of a distributed three-motor system.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly to an automobile braking energy recovery method and device. Background Art

[0002] Currently, a distributed three-motor drive solution has emerged in the automotive industry. The three motors include a centralized motor for driving the front wheels and two in-wheel motors for driving the two rear wheels respectively. The centralized motor on the front axle transmits power to the two front wheels through a speed reducer, a differential, and a drive shaft. The in-wheel motors on the rear wheels are directly installed inside the wheels, and the power directly acts on the wheel ends. The braking energy recovery solution for the distributed three-motor is particularly crucial for the vehicle's power performance, safety, and driving experience. How to achieve the braking energy recovery of the distributed three-motor is an issue that must be focused on in the industry. Summary of the Invention

[0003] The present invention provides an automobile braking energy recovery method and device, which solves the technical problem of how to achieve the braking energy recovery of the distributed three-motor.

[0004] On the one hand, the embodiments of the present invention provide the following technical solutions:

[0005] An automobile braking energy recovery method, the automobile includes a centralized motor for driving the front axle, a first in-wheel motor for driving the left rear wheel, and a second in-wheel motor for driving the right rear wheel. The method includes:

[0006] During the vehicle braking process, obtain the braking pedal stroke, the speed of the first in-wheel motor, the speed of the second in-wheel motor, and the speed of the centralized motor of the vehicle;

[0007] Determine the vehicle's total braking force demand according to the braking pedal stroke, and obtain the first maximum recovery torque corresponding to the speed of the first in-wheel motor, the second maximum recovery torque corresponding to the speed of the second in-wheel motor, and the third maximum recovery torque corresponding to the speed of the centralized motor;

[0008] Based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the vehicle's total braking force demand, control the vehicle to achieve braking energy recovery.

[0009] Preferably, the controlling the vehicle to achieve braking energy recovery based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the vehicle's total braking force demand includes:

[0010] If the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque is higher than the vehicle braking force demand, then determine the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the first in-wheel motor speed, the second in-wheel motor speed, and the centralized motor speed; the target total power is the sum of the actual recovery powers of the first in-wheel motor, the second in-wheel motor, and the centralized motor.

[0011] Determine the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor according to the vehicle braking force demand, the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque, so as to maximize the target total power.

[0012] Drive the centralized motor based on the required torque of the centralized motor, drive the first in-wheel motor based on the required torque of the first in-wheel motor, and drive the second in-wheel motor based on the required torque of the second in-wheel motor to achieve the braking energy recovery of the vehicle.

[0013] Preferably, the determining the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the first in-wheel motor speed, the second in-wheel motor speed, and the centralized motor speed includes:

[0014] Obtain the energy recovery efficiency of the first in-wheel motor, the energy recovery efficiency of the second in-wheel motor, and the energy recovery efficiency of the centralized motor.

[0015] Determine the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the energy recovery efficiency of the first in-wheel motor, the energy recovery efficiency of the second in-wheel motor, the energy recovery efficiency of the centralized motor, the first in-wheel motor speed, the second in-wheel motor speed, and the centralized motor speed.

[0016] Preferably, the controlling the vehicle to achieve braking energy recovery based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the vehicle braking force demand includes:

[0017] If the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque is lower than the vehicle braking force demand, then determine the required torque of the first in-wheel motor as the first maximum recovery torque, the required torque of the second in-wheel motor as the second maximum recovery torque, and the required torque of the centralized motor as the third maximum recovery torque.

[0018] Determine the hydraulic braking force to be supplemented according to the vehicle's total braking force demand, the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque, and convert the hydraulic braking force to be supplemented into a brake master cylinder pressure;

[0019] Drive the centralized motor based on the required torque of the centralized motor, drive the first in-wheel motor based on the required torque of the first in-wheel motor, drive the second in-wheel motor based on the required torque of the second in-wheel motor, and control the brake master cylinder actuator of the vehicle to act based on the brake master cylinder pressure to achieve the braking energy recovery of the vehicle.

[0020] On the other hand, the embodiment of the present invention also provides the following technical solution:

[0021] An automotive braking energy recovery device, the vehicle includes a centralized motor for driving the front axle, a first in-wheel motor for driving the left rear wheel, and a second in-wheel motor for driving the right rear wheel, and the device includes:

[0022] A data acquisition module, configured to acquire the brake pedal travel, the rotational speed of the first in-wheel motor, the rotational speed of the second in-wheel motor, and the rotational speed of the centralized motor during the vehicle braking process;

[0023] The data acquisition module is further configured to determine the vehicle's total braking force demand according to the brake pedal travel, and acquire the first maximum recovery torque corresponding to the rotational speed of the first in-wheel motor, the second maximum recovery torque corresponding to the rotational speed of the second in-wheel motor, and the third maximum recovery torque corresponding to the rotational speed of the centralized motor;

[0024] A braking energy recovery module, configured to control the vehicle to achieve braking energy recovery based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the vehicle's total braking force demand.

[0025] Preferably, the braking energy recovery module is further configured to:

[0026] If the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque is higher than the vehicle's total braking force demand, determine the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the rotational speed of the first in-wheel motor, the rotational speed of the second in-wheel motor, and the rotational speed of the centralized motor; the target total power is the sum of the actual recovery powers of the first in-wheel motor, the second in-wheel motor, and the centralized motor;

[0027] Determine the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor according to the vehicle's total braking force requirement, the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque, so as to maximize the target total power;

[0028] Drive the centralized motor based on the required torque of the centralized motor, drive the first in-wheel motor based on the required torque of the first in-wheel motor, and drive the second in-wheel motor based on the required torque of the second in-wheel motor to achieve braking energy recovery of the vehicle.

[0029] Preferably, the braking energy recovery module determines the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the rotational speeds of the first in-wheel motor, the second in-wheel motor, and the centralized motor, including:

[0030] Obtain the energy recovery efficiency of the first in-wheel motor, the energy recovery efficiency of the second in-wheel motor, and the energy recovery efficiency of the centralized motor;

[0031] Determine the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the energy recovery efficiency of the first in-wheel motor, the energy recovery efficiency of the second in-wheel motor, the energy recovery efficiency of the centralized motor, the rotational speed of the first in-wheel motor, the rotational speed of the second in-wheel motor, and the rotational speed of the centralized motor.

[0032] Preferably, the braking energy recovery module is further configured to:

[0033] If the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque is lower than the vehicle's total braking force requirement, determine that the required torque of the first in-wheel motor is the first maximum recovery torque, the required torque of the second in-wheel motor is the second maximum recovery torque, and the required torque of the centralized motor is the third maximum recovery torque;

[0034] Determine the hydraulic braking force to be supplemented according to the vehicle's total braking force requirement, the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque, and convert the hydraulic braking force to be supplemented into the brake master cylinder pressure;

[0035] Drive the centralized motor based on the required torque of the centralized motor, drive the first in-wheel motor based on the required torque of the first in-wheel motor, drive the second in-wheel motor based on the required torque of the second in-wheel motor, and control the brake master cylinder actuator of the vehicle to act based on the brake master cylinder pressure to achieve braking energy recovery of the vehicle.

[0036] On the other hand, the embodiments of the present invention also provide the following technical solutions:

[0037] An electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the above-mentioned any automotive braking energy recovery method is implemented.

[0038] On the other hand, the embodiments of the present invention also provide the following technical solutions:

[0039] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned any automotive braking energy recovery method is implemented.

[0040] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0041] During the braking process of the vehicle, the present invention determines the vehicle's total braking force demand according to the braking pedal travel of the vehicle, and obtains the first maximum recovery torque corresponding to the first hub motor speed, the second maximum recovery torque corresponding to the second hub motor speed, and the third maximum recovery torque corresponding to the centralized motor speed. In this way, based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the vehicle's total braking force demand, the vehicle is controlled to achieve braking energy recovery, realizing the braking energy recovery of the distributed three-motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0043] Figure 1 It is a flowchart of the automotive braking energy recovery method in the embodiments of the present invention;

[0044] Figure 2 It is a structural schematic diagram of the automotive braking energy recovery device in the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The embodiments of the present invention solve the technical problem of how to achieve the braking energy recovery of the distributed three-motor by providing an automotive braking energy recovery method and device.

[0046] In order to better understand the technical solutions of the present invention, the following will detail the technical solutions of the present invention in conjunction with the accompanying drawings of the specification and specific embodiments.

[0047] First, it should be noted that the term "and / or" appearing in this article is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, in this article, the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0048] The vehicle in this embodiment includes a centralized motor for driving the front axle, a first in-wheel motor for driving the left rear wheel, and a second in-wheel motor for driving the right rear wheel. As Figure 1 shown, the vehicle braking energy recovery method in this embodiment includes:

[0049] Step S1, during the vehicle braking process, obtain the braking pedal travel, the rotational speed of the first in-wheel motor, the rotational speed of the second in-wheel motor, and the rotational speed of the centralized motor of the vehicle;

[0050] Step S2, determine the total vehicle braking force demand according to the braking pedal travel, and obtain the first maximum recovery torque corresponding to the rotational speed of the first in-wheel motor, the second maximum recovery torque corresponding to the rotational speed of the second in-wheel motor, and the third maximum recovery torque corresponding to the rotational speed of the centralized motor;

[0051] Step S3, based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the total vehicle braking force demand, control the vehicle to achieve braking energy recovery.

[0052] In step S2, it can be understood that different braking pedal travels correspond to different total vehicle braking force demands. The greater the braking pedal travel, the greater the total vehicle braking force demand. The total vehicle braking force demand represents the total braking force that needs to be recovered during the vehicle braking process, and is also equivalent to the braking energy that needs to be recovered. The maximum recovery torque is the maximum torque that the motor can recover. The motor has different maximum recovery torques at different rotational speeds. Each of the first in-wheel motor, the second in-wheel motor, and the centralized motor has an external characteristic curve with the rotational speed as the abscissa and the maximum recovery torque as the ordinate. When the rotational speed of the motor is obtained, the corresponding maximum recovery torque can be found according to the external characteristic curve of the motor.

[0053] As can be seen from the above, the vehicle braking energy recovery method in this embodiment, during the vehicle braking process, determines the total vehicle braking force demand according to the braking pedal travel of the vehicle, and obtains the first maximum recovery torque corresponding to the rotational speed of the first in-wheel motor, the second maximum recovery torque corresponding to the rotational speed of the second in-wheel motor, and the third maximum recovery torque corresponding to the rotational speed of the centralized motor. In this way, based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the total vehicle braking force demand, the vehicle can be controlled to achieve braking energy recovery, realizing the braking energy recovery of the distributed three motors.

[0054] In this embodiment, it may be possible to completely recover the energy generated during braking only by relying on the first in-wheel motor, the second in-wheel motor, and the centralized motor. However, it may also be impossible to completely recover the energy generated during braking only by relying on the first in-wheel motor, the second in-wheel motor, and the centralized motor. Therefore, it is necessary to provide braking energy recovery strategies for both cases. When it is possible to completely recover the energy generated during braking only by relying on the first in-wheel motor, the second in-wheel motor, and the centralized motor, it is also necessary to consider maximizing the total actual recovery power of the first in-wheel motor, the second in-wheel motor, and the centralized motor to improve the efficiency of braking energy recovery.

[0055] To this end, step S3 includes: if the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque is higher than the vehicle braking force demand, then determine the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the rotational speeds of the first in-wheel motor, the second in-wheel motor, and the centralized motor; the target total power is the sum of the actual recovery powers of the first in-wheel motor, the second in-wheel motor, and the centralized motor; determine the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor according to the vehicle braking force demand, the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque to maximize the target total power; drive the centralized motor based on the required torque of the centralized motor, drive the first in-wheel motor based on the required torque of the first in-wheel motor, and drive the second in-wheel motor based on the required torque of the second in-wheel motor to achieve the braking energy recovery of the vehicle.

[0056] Among them, the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque being higher than the vehicle braking force demand means that it is possible to completely recover the energy generated during braking only by relying on the first in-wheel motor, the second in-wheel motor, and the centralized motor.

[0057] The process of determining the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the rotational speeds of the first in-wheel motor, the second in-wheel motor, and the centralized motor is as follows:

[0058] First step, obtain the relational expressions of the rotational speeds, required torques, and theoretical recovery powers of the first in-wheel motor, the second in-wheel motor, and the centralized motor, that is, P1=(T1*N1) / 9550, P2=(T2*N2) / 9550, P3=(T3*N3) / 9550; P1 is the theoretical recovery power of the first in-wheel motor, T1 is the required torque of the first in-wheel motor, N1 is the rotational speed of the first in-wheel motor; P2 is the theoretical recovery power of the second in-wheel motor, T2 is the required torque of the second in-wheel motor, N2 is the rotational speed of the second in-wheel motor; P3 is the theoretical recovery power of the centralized motor, T3 is the required torque of the centralized motor, N3 is the rotational speed of the centralized motor;

[0059] In the second step, obtain the relationships between the energy recovery efficiency, theoretical recovery power, and actual recovery power of the first in-wheel motor, the second in-wheel motor, and the centralized motor, i.e., P4 = P1 * Z1, P5 = P2 * Z2, P6 = P3 * Z3; where P4 is the actual recovery power of the first in-wheel motor, Z1 is the energy recovery efficiency of the first in-wheel motor; P5 is the actual recovery power of the second in-wheel motor, Z2 is the energy recovery efficiency of the second in-wheel motor; P6 is the actual recovery power of the centralized motor, and Z3 is the energy recovery efficiency of the centralized motor.

[0060] In the third step, based on the relationships in the first and second steps, obtain the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power, i.e., Ptotal = P4 + P5 + P6 = [(T1 * N1 * Z1) + (T2 * N2 * Z2) + (T3 * N3 * Z3)] / 9550, where Ptotal is the target total power.

[0061] If it is considered that the energy recovery efficiencies of the first in-wheel motor, the second in-wheel motor, and the centralized motor are constant and known, then Z1, Z2, and Z3 are constants, and the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power can be directly determined according to the rotational speeds of the first in-wheel motor, the second in-wheel motor, and the centralized motor. If it is considered that the energy recovery efficiencies of the first in-wheel motor, the second in-wheel motor, and the centralized motor change in real time, then Z1, Z2, and Z3 are variables. In step S3, the method of determining the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the rotational speeds of the first in-wheel motor, the second in-wheel motor, and the centralized motor includes:

[0062] Obtain the energy recovery efficiency of the first in-wheel motor, the energy recovery efficiency of the second in-wheel motor, and the energy recovery efficiency of the centralized motor; and determine the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the energy recovery efficiency of the first in-wheel motor, the energy recovery efficiency of the second in-wheel motor, the energy recovery efficiency of the centralized motor, the rotational speed of the first in-wheel motor, the rotational speed of the second in-wheel motor, and the rotational speed of the centralized motor.

[0063] In this embodiment, it is considered that the energy recovery efficiencies of the first in-wheel motor, the second in-wheel motor, and the centralized motor are constant and known. In step S3, the strategy for determining the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor according to the vehicle braking force demand, the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque to maximize the target total power is as follows:

[0064] After obtaining the rotational speeds of the first in-wheel motor, the second in-wheel motor, and the centralized motor, N1*Z1, N2*Z2, and N3*Z3 are all constants. Let (N1*Z1) / 9550 = A, N2*Z2 = B, N3*Z3 = C, the vehicle braking force demand be F, the first maximum regeneration torque be t1, the second maximum regeneration torque be t2, and the third maximum regeneration torque be t3. Then P_total = [(T1*N1*Z1) + (T2*N2*Z2) + (T3*N3*Z3)] / 9550 = A*T1 + B*T2 + C*T3, and T1 + T2 + T3 = F, 0 < T1 ≤ t1, 0 < T2 ≤ t2, 0 < T3 ≤ t3. In this way, based on the known sum of the required torques of the three motors and the known ranges of the required torques of the three motors, T1, T2, and T3 that maximize the target total power can be determined. Assume A = B = 10, C = 12, t1 = t2 = 100, t3 = 150, F = 200. Then P_total = 10*T1 + 10*T2 + 12*[200 - (T1 + T2)] = -2*(T1 + T2) + 2400. It can be seen that the smaller T1 + T2 is, the larger P_total is. And T1 + T2 = 200 - T3, the maximum value of T3 is 150, the minimum value of T1 + T2 is 50. It is optional to set T1 = T2 = 25 and T3 = 150, and the maximum value of P_total is 2300.

[0065] Step S3 further includes: If the sum of the first maximum regeneration torque, the second maximum regeneration torque, and the third maximum regeneration torque is lower than the vehicle braking force demand, determine that the required torque of the first in-wheel motor is the first maximum regeneration torque, the required torque of the second in-wheel motor is the second maximum regeneration torque, and the required torque of the centralized motor is the third maximum regeneration torque; Determine the hydraulic braking force to be supplemented according to the vehicle braking force demand, the first maximum regeneration torque, the second maximum regeneration torque, and the third maximum regeneration torque, and convert the hydraulic braking force to be supplemented into the brake master cylinder pressure; Drive the centralized motor based on the required torque of the centralized motor, drive the first in-wheel motor based on the required torque of the first in-wheel motor, drive the second in-wheel motor based on the required torque of the second in-wheel motor, and control the brake master cylinder actuator of the vehicle to act based on the brake master cylinder pressure to achieve the braking energy recovery of the vehicle.

[0066] Among them, the sum of the first maximum regeneration torque, the second maximum regeneration torque, and the third maximum regeneration torque being lower than the vehicle braking force demand means that only relying on the first in-wheel motor, the second in-wheel motor, and the centralized motor cannot completely recover the energy generated during braking, and it is necessary to supplement the hydraulic braking force to recover the remaining energy. The hydraulic braking force to be supplemented is F - (t1 + t2 + t3). The hydraulic braking force to be supplemented is the brake wheel cylinder pressure, and it is necessary to convert the hydraulic braking force to be supplemented into the brake master cylinder pressure according to the conversion coefficient, and control the brake master cylinder actuator of the vehicle to act based on the brake master cylinder pressure, then the remaining energy can be recovered.

[0067] Such asFigure 2 As shown in the figure, this embodiment also provides an automotive braking energy recovery device, including:

[0068] A data acquisition module, which is used to acquire the braking pedal travel, the rotational speed of the first in-wheel motor, the rotational speed of the second in-wheel motor, and the rotational speed of the centralized motor during the vehicle braking process;

[0069] The data acquisition module is also used to determine the total vehicle braking force demand according to the braking pedal travel, and acquire the first maximum recovery torque corresponding to the rotational speed of the first in-wheel motor, the second maximum recovery torque corresponding to the rotational speed of the second in-wheel motor, and the third maximum recovery torque corresponding to the rotational speed of the centralized motor;

[0070] A braking energy recovery module, which is used to control the vehicle to achieve braking energy recovery based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the total vehicle braking force demand.

[0071] It can be understood that different braking pedal travels correspond to different total vehicle braking force demands. The greater the braking pedal travel, the greater the total vehicle braking force demand. The total vehicle braking force demand represents the total braking force that needs to be recovered during the vehicle braking process, and is also equivalent to the braking energy that needs to be recovered. The maximum recovery torque is the maximum torque that the motor can recover. The motor has different maximum recovery torques at different rotational speeds. Each of the first in-wheel motor, the second in-wheel motor, and the centralized motor has an external characteristic curve with the rotational speed as the abscissa and the maximum recovery torque as the ordinate. When the data acquisition module acquires the rotational speed of the motor, the corresponding maximum recovery torque can be found according to the external characteristic curve of the motor.

[0072] As can be seen from the above, during the vehicle braking process, the automotive braking energy recovery device of this embodiment determines the total vehicle braking force demand according to the braking pedal travel of the vehicle, and acquires the first maximum recovery torque corresponding to the rotational speed of the first in-wheel motor, the second maximum recovery torque corresponding to the rotational speed of the second in-wheel motor, and the third maximum recovery torque corresponding to the rotational speed of the centralized motor. In this way, based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the total vehicle braking force demand, the vehicle can be controlled to achieve braking energy recovery, realizing the braking energy recovery of the distributed three-motor.

[0073] In this embodiment, it may be possible to completely recover the energy generated during braking only by relying on the first in-wheel motor, the second in-wheel motor, and the centralized motor. However, it may also be impossible to completely recover the energy generated during braking only by relying on the first in-wheel motor, the second in-wheel motor, and the centralized motor. Therefore, it is necessary to provide braking energy recovery strategies for both cases. When it is possible to completely recover the energy generated during braking only by relying on the first in-wheel motor, the second in-wheel motor, and the centralized motor, it is also necessary to consider maximizing the total actual recovery power of the first in-wheel motor, the second in-wheel motor, and the centralized motor to improve the efficiency of braking energy recovery.

[0074] To this end, the braking energy recovery module is further configured to: if the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque is higher than the vehicle braking force demand, determine the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the rotational speeds of the first in-wheel motor, the second in-wheel motor, and the centralized motor; the target total power is the sum of the actual recovery powers of the first in-wheel motor, the second in-wheel motor, and the centralized motor; determine the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor according to the vehicle braking force demand, the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque to maximize the target total power; drive the centralized motor based on the required torque of the centralized motor, drive the first in-wheel motor based on the required torque of the first in-wheel motor, and drive the second in-wheel motor based on the required torque of the second in-wheel motor to achieve the braking energy recovery of the vehicle.

[0075] Among them, the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque being higher than the vehicle braking force demand means that it is possible to completely recover the energy generated during braking only by relying on the first in-wheel motor, the second in-wheel motor, and the centralized motor.

[0076] If it is considered that the energy recovery efficiency of the first in-wheel motor, the second in-wheel motor, and the centralized motor remains unchanged and is known, the braking energy recovery module can directly determine the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the rotational speeds of the first in-wheel motor, the second in-wheel motor, and the centralized motor. If it is considered that the energy recovery efficiency of the first in-wheel motor, the second in-wheel motor, and the centralized motor changes in real time, the braking energy recovery module determines the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the rotational speeds of the first in-wheel motor, the second in-wheel motor, and the centralized motor, including:

[0077] Obtain the energy recovery efficiency of the first in-wheel motor, the energy recovery efficiency of the second in-wheel motor, and the energy recovery efficiency of the centralized motor; determine the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the energy recovery efficiency of the first in-wheel motor, the energy recovery efficiency of the second in-wheel motor, the energy recovery efficiency of the centralized motor, the rotational speed of the first in-wheel motor, the rotational speed of the second in-wheel motor, and the rotational speed of the centralized motor.

[0078] In addition, the braking energy recovery module is further configured to: if the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque is lower than the vehicle braking force requirement, determine that the required torque of the first in-wheel motor is the first maximum recovery torque, the required torque of the second in-wheel motor is the second maximum recovery torque, and the required torque of the centralized motor is the third maximum recovery torque; determine the hydraulic braking force to be supplemented according to the vehicle braking force requirement, the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque, and convert the hydraulic braking force to be supplemented into a brake master cylinder pressure; drive the centralized motor based on the required torque of the centralized motor, drive the first in-wheel motor based on the required torque of the first in-wheel motor, drive the second in-wheel motor based on the required torque of the second in-wheel motor, and control the brake master cylinder actuator of the vehicle to act based on the brake master cylinder pressure to achieve the braking energy recovery of the vehicle.

[0079] Among them, the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque being lower than the vehicle braking force requirement means that it is impossible to completely recover the energy generated during braking only by the first in-wheel motor, the second in-wheel motor, and the centralized motor, and it is necessary to supplement the hydraulic braking force to recover the remaining energy. The hydraulic braking force to be supplemented is F-(t1 + t2 + t3), and the hydraulic braking force to be supplemented is the brake wheel cylinder pressure. It is necessary to convert the hydraulic braking force to be supplemented into a brake master cylinder pressure according to the conversion coefficient, and control the brake master cylinder actuator of the vehicle to act based on the brake master cylinder pressure to recover the remaining energy.

[0080] Based on the same inventive concept as the automotive braking energy recovery method described above, this embodiment also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the methods of the automotive braking energy recovery method described above.

[0081] Among them, for the bus architecture (represented by the bus), the bus may include any number of interconnected buses and bridges, which link together various circuits including one or more processors represented by the processor and the memory represented by the memory. The bus may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, etc., which are well known in the art, and thus will not be further described herein. The bus interface provides an interface between the bus and the receiver and transmitter. The receiver and transmitter may be the same element, i.e., the transceiver, which provides a unit for communicating with various other devices on the transmission medium. The processor is responsible for managing the bus and general processing, while the memory may be used to store data used by the processor when executing operations.

[0082] Since the electronic device introduced in this embodiment is the electronic device adopted for implementing the automotive braking energy recovery method in the embodiments of the present invention, based on the automotive braking energy recovery method introduced in the embodiments of the present invention, those skilled in the art can understand the specific implementation manners and various variations of the electronic device in this embodiment. Therefore, the implementation of how this electronic device realizes the method in the embodiments of the present invention will not be described in detail herein. As long as those skilled in the art implement the electronic device adopted for the automotive braking energy recovery method in the embodiments of the present invention, it falls within the scope of protection of the present invention.

[0083] Based on the same inventive concept as the above automotive braking energy recovery method, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and the computer program realizes any of the above automotive braking energy recovery methods when executed by a processor.

[0084] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0085] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or a means for implementing the functions specified in one or more of the blocks.

[0086] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction means that implements the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or a means for implementing the functions specified in one or more of the blocks.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or a means for implementing the functions specified in one or more of the blocks.

[0088] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0089] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A method for recovering braking energy of a vehicle, characterized in that, the vehicle includes a centralized motor for driving the front axle, a first hub motor for driving the left rear wheel, and a second hub motor for driving the right rear wheel, and the method includes: During the vehicle braking process, obtain the braking pedal travel, the rotational speed of the first hub motor, the rotational speed of the second hub motor, and the rotational speed of the centralized motor; Determine the total vehicle braking force demand according to the braking pedal travel, and obtain the first maximum recovery torque corresponding to the rotational speed of the first hub motor, the second maximum recovery torque corresponding to the rotational speed of the second hub motor, and the third maximum recovery torque corresponding to the rotational speed of the centralized motor; Based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the total vehicle braking force demand, control the vehicle to achieve braking energy recovery; The controlling the vehicle to achieve braking energy recovery based on the magnitude relationship between the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque and the total vehicle braking force demand includes: If the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque is higher than the total vehicle braking force demand, then according to the rotational speed of the first hub motor, the rotational speed of the second hub motor, and the rotational speed of the centralized motor, determine the relationship between the required torques of the first hub motor, the second hub motor, and the centralized motor and the target total power; the target total power is the sum of the actual recovery powers of the first hub motor, the second hub motor, and the centralized motor; According to the total vehicle braking force demand, the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque, determine the required torques of the first hub motor, the second hub motor, and the centralized motor to maximize the target total power; Drive the centralized motor based on the required torque of the centralized motor, drive the first hub motor based on the required torque of the first hub motor, and drive the second hub motor based on the required torque of the second hub motor to achieve braking energy recovery of the vehicle; The determining the relationship between the required torques of the first hub motor, the second hub motor, and the centralized motor and the target total power according to the rotational speed of the first hub motor, the rotational speed of the second hub motor, and the rotational speed of the centralized motor includes: Obtain the energy recovery efficiency of the first hub motor, the energy recovery efficiency of the second hub motor, and the energy recovery efficiency of the centralized motor; According to the energy recovery efficiency of the first hub motor, the energy recovery efficiency of the second hub motor, the energy recovery efficiency of the centralized motor, the rotational speed of the first hub motor, the rotational speed of the second hub motor, and the rotational speed of the centralized motor, determine the relationship between the required torques of the first hub motor, the second hub motor, and the centralized motor and the target total power.

2. The method for recovering braking energy of a vehicle according to claim 1, characterized in that, Based on the magnitude relationship between the sum of the first maximum regenerative torque, the second maximum regenerative torque, and the third maximum regenerative torque and the vehicle braking force demand, controlling the vehicle to achieve braking energy recovery includes: If the sum of the first maximum regenerative torque, the second maximum regenerative torque, and the third maximum regenerative torque is lower than the vehicle braking force demand, determining that the required torque of the first in-wheel motor is the first maximum regenerative torque, the required torque of the second in-wheel motor is the second maximum regenerative torque, and the required torque of the centralized motor is the third maximum regenerative torque; Based on the vehicle braking force demand, the first maximum regenerative torque, the second maximum regenerative torque, and the third maximum regenerative torque, determining the hydraulic braking force to be supplemented, and converting the hydraulic braking force to be supplemented into the brake master cylinder pressure; Driving the centralized motor based on the required torque of the centralized motor, driving the first in-wheel motor based on the required torque of the first in-wheel motor, driving the second in-wheel motor based on the required torque of the second in-wheel motor, and controlling the brake master cylinder actuator of the vehicle to act based on the brake master cylinder pressure to achieve braking energy recovery of the vehicle.

3. An automotive braking energy recovery device Characterized in that The vehicle includes a centralized motor for driving the front axle, a first in-wheel motor for driving the left rear wheel, and a second in-wheel motor for driving the right rear wheel, and the device includes: A data acquisition module, configured to acquire the brake pedal travel, the first in-wheel motor speed, the second in-wheel motor speed, and the centralized motor speed during vehicle braking; The data acquisition module is further configured to determine the vehicle braking force demand according to the brake pedal travel, and acquire the first maximum regenerative torque corresponding to the first in-wheel motor speed, the second maximum regenerative torque corresponding to the second in-wheel motor speed, and the third maximum regenerative torque corresponding to the centralized motor speed; A braking energy recovery module, configured to control the vehicle to achieve braking energy recovery based on the magnitude relationship between the sum of the first maximum regenerative torque, the second maximum regenerative torque, and the third maximum regenerative torque and the vehicle braking force demand; The braking energy recovery module is further configured to: If the sum of the first maximum regenerative torque, the second maximum regenerative torque, and the third maximum regenerative torque is higher than the vehicle braking force demand, determining the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the first in-wheel motor speed, the second in-wheel motor speed, and the centralized motor speed; the target total power is the sum of the actual regenerative powers of the first in-wheel motor, the second in-wheel motor, and the centralized motor; Based on the vehicle braking force demand, the first maximum regenerative torque, the second maximum regenerative torque, and the third maximum regenerative torque, determining the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor to maximize the target total power; Drive the centralized motor based on the required torque of the centralized motor, drive the first in-wheel motor based on the required torque of the first in-wheel motor, and drive the second in-wheel motor based on the required torque of the second in-wheel motor to achieve the braking energy recovery of the vehicle; The braking energy recovery module determines the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the rotational speeds of the first in-wheel motor, the second in-wheel motor, and the centralized motor, including: Obtain the energy recovery efficiency of the first in-wheel motor, the energy recovery efficiency of the second in-wheel motor, and the energy recovery efficiency of the centralized motor; Determine the relationship between the required torques of the first in-wheel motor, the second in-wheel motor, and the centralized motor and the target total power according to the energy recovery efficiency of the first in-wheel motor, the energy recovery efficiency of the second in-wheel motor, the energy recovery efficiency of the centralized motor, the rotational speed of the first in-wheel motor, the rotational speed of the second in-wheel motor, and the rotational speed of the centralized motor.

4. The vehicle braking energy recovery device according to claim 3, wherein, the braking energy recovery module is further configured to: If the sum of the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque is lower than the vehicle braking force requirement, determine that the required torque of the first in-wheel motor is the first maximum recovery torque, the required torque of the second in-wheel motor is the second maximum recovery torque, and the required torque of the centralized motor is the third maximum recovery torque; Determine the hydraulic braking force to be supplemented according to the vehicle braking force requirement, the first maximum recovery torque, the second maximum recovery torque, and the third maximum recovery torque, and convert the hydraulic braking force to be supplemented into the brake master cylinder pressure; Drive the centralized motor based on the required torque of the centralized motor, drive the first in-wheel motor based on the required torque of the first in-wheel motor, drive the second in-wheel motor based on the required torque of the second in-wheel motor, and control the brake master cylinder actuator of the vehicle to act based on the brake master cylinder pressure to achieve the braking energy recovery of the vehicle.

5. An electronic device, wherein, it includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, it implements the vehicle braking energy recovery method according to any one of claims 1-2.

6. A computer-readable storage medium, wherein, a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements the vehicle braking energy recovery method according to any one of claims 1-2.

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