Energy recovery control method, device, medium and motor direct-drive vehicle

Abstract

The present application relates to an energy recovery control method, device, medium, and vehicle. The method is applied to a motor-driven vehicle and includes: determining the vehicle's operating condition information, and obtaining the vehicle's gear information when determining that the vehicle meets a set energy recovery condition based on the vehicle's operating condition information; determining a corresponding energy recovery strategy based on the vehicle's gear information, determining a corresponding energy recovery requirement torque based on the energy recovery strategy, and performing energy recovery control on the vehicle based on the energy recovery requirement torque, wherein the vehicle's gear information includes the vehicle's current gear and the vehicle's gear change status.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to an energy recovery control method, device, medium, and motor-driven vehicle. Background Art

[0002] The vehicle is equipped with an energy recovery system that can recover energy by coasting and braking. In related technologies, there are restrictions on gears during the energy recovery process, which causes power jerks. Changes in the recovery rate when switching gears lead to torque jumps, which reduces the stability of the vehicle during the energy recovery process. Summary of the Invention

[0003] Based on this, it is necessary to provide an energy recovery control method, device, medium and motor direct-drive vehicle to address the above technical problems.

[0004] An energy recovery control method, applied to a motor-driven vehicle, comprises:

[0005] Determine the vehicle's operating condition information, and when determining that the vehicle meets the set energy recovery conditions based on the vehicle's operating condition information, obtain the vehicle's gear information; determine a corresponding energy recovery strategy based on the vehicle's gear information, determine a corresponding energy recovery requirement torque based on the energy recovery strategy, and control the vehicle's energy recovery based on the energy recovery requirement torque, wherein the vehicle's gear information includes the vehicle's current gear and the vehicle's gear change status.

[0006] An energy recovery control device is applied to a motor-driven vehicle, the energy recovery control device comprising:

[0007] A first determining module, configured to determine operating condition information of a vehicle;

[0008] An acquisition module, configured to acquire the gear information of the vehicle when determining that the vehicle meets the set energy recovery conditions based on the vehicle's operating condition information;

[0009] a second determining module, configured to determine a corresponding energy recovery strategy according to the gear information of the vehicle, and determine a corresponding energy recovery required torque according to the energy recovery strategy;

[0010] The control module is used to control the energy recovery of the vehicle according to the energy recovery demand torque, wherein the gear information of the vehicle includes the current gear of the vehicle and the gear change status of the vehicle.

[0011] A computer-readable storage medium stores a computer program, which implements the steps of the above-mentioned energy recovery control method when executed by a processor.

[0012] A motor-driven vehicle comprises a memory and a processor. The memory stores a computer program, and the processor implements the steps of the above-mentioned energy recovery control method when executing the program.

[0013] The above-mentioned energy recovery control method, device, medium and motor direct-drive vehicle determine the operating conditions of the vehicle, and when determining that the vehicle meets the set energy recovery conditions based on the operating conditions of the vehicle, obtain the gear information of the vehicle, determine the corresponding energy recovery strategy based on the gear information of the vehicle, determine the corresponding energy recovery requirement torque based on the energy recovery strategy, and perform energy recovery control on the vehicle based on the energy recovery requirement torque, wherein the gear information of the vehicle includes the current gear of the vehicle and the gear change status of the vehicle. When the set energy recovery conditions are met, continuous and smooth energy recovery can be achieved in different gears and during the gear switching process, avoiding the decrease in vehicle stability due to the jump of the energy recovery requirement torque during the energy recovery process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of a powertrain architecture of a motor-and-gearbox vehicle in the related art;

[0015] Figure 2 Schematic diagram of a flow chart of an energy recovery control method in one embodiment;

[0016] Figure 3 A schematic diagram of a powertrain architecture of a motor-driven vehicle according to one embodiment;

[0017] Figure 4 Schematic diagram of a flow chart of an energy recovery control method in one embodiment;

[0018] Figure 5 Schematic diagram of a flow chart of an energy recovery control method in one embodiment;

[0019] Figure 6 A schematic diagram of an implementation flow of an energy recovery control method;

[0020] Figure 7 FIG. 4 is a structural block diagram of an energy recovery control device in one embodiment. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0022] Before explaining the technical solution of the present application in detail, a brief introduction to the energy recovery control method in the related art is first given.

[0023] Reference Figure 1 , Figure 1 The following figure shows a schematic diagram of the powertrain architecture of a motor-and-gearbox vehicle. For this type of vehicle, the energy recovery conditions generally set include:

[0024] 1) The vehicle speed (or motor speed) is higher than the minimum energy recovery speed limit. Generally, the motor speed of vehicles equipped with a gearbox is lower (usually within 3000 rpm). To ensure stable operation of the motor, the corresponding minimum energy recovery speed limit is also set to a larger value (usually around 10 km / h).

[0025] 2) The gear is in drive mode (i.e., not in neutral). In pure electric vehicles with a motor and transmission, due to the characteristics of the automatic transmission, energy recovery is not possible during gear changes. Whether energy recovery is performed when the vehicle is in neutral is determined by the vehicle's system based on demand assessment.

[0026] 3) The vehicle's accelerator pedal is not depressed.

[0027] 4) The vehicle does not have any faults that prohibit energy recovery.

[0028] 5) The anti-lock braking system (ABS) is not engaged.

[0029] 6) The battery's state of charge (SOC) is lower than the limit value, which is generally 96%.

[0030] When the above energy recovery conditions are met, the vehicle can perform energy recovery. Since the vehicle shifts without a clutch during the gear shifting process, it needs to be achieved through motor speed regulation. According to the energy recovery control logic in the relevant technology, energy recovery must be exited when the gearbox shifts. Therefore, the vehicle's power is interrupted during the gear shift, and energy recovery cannot be continuously achieved, resulting in power jerks and affecting the vehicle's driving comfort. In addition, energy recovery is generally limited to the gear position when the gear is in the driving state. In the relevant technology, although there is also control logic for energy recovery when the vehicle is in N gear, there is a change in the recovery rate when the vehicle shifts gears, resulting in a jump in the energy recovery required torque. In addition, due to the influence of the vehicle's hardware structure, the energy recovery speed limit value in the energy recovery condition is relatively high. For some vehicles with low speeds, it is difficult to meet the energy recovery conditions, especially difficult to reach the minimum energy recovery speed limit value specified in the energy recovery conditions, resulting in a low energy recovery coverage rate.

[0031] Based on this, the technical solution provided in this application can realize energy recovery in different gears and during gear shifting, thereby expanding the scope of application of energy recovery and improving the driving comfort of the vehicle during the energy recovery process.

[0032] The following describes in detail the implementation details of the technical solutions of the embodiments of the present application.

[0033] In one embodiment, Figure 2 As shown, an energy recovery control method is provided, which is applied to a motor direct drive vehicle. The method may include the following steps:

[0034] Step S201 : determining the operating condition information of the vehicle, and obtaining the gear information of the vehicle when determining that the vehicle meets the set energy recovery condition based on the operating condition information of the vehicle.

[0035] Reference Figure 3 As shown, Figure 3 It is the powertrain architecture of the motor direct drive vehicle, relative to Figure 1 As shown in the schematic diagram of the powertrain architecture, the motor-driven vehicle does not contain a gearbox. In actual applications, the motor-driven vehicle has a simple structure and smooth power, which is more suitable for the common operating conditions of sanitation vehicles and can be used as a sanitation vehicle.

[0036] In this embodiment, the vehicle's operating condition information refers to the working condition of the vehicle during driving. The vehicle's operating condition information includes at least the vehicle's operating speed. In actual applications, the vehicle's operating condition is used to determine whether the vehicle meets the set energy recovery conditions, and then determine whether the vehicle needs to perform energy recovery. Specifically, when the vehicle's operating condition information matches the set energy recovery conditions, it indicates that the vehicle needs to perform energy recovery. When the vehicle's operating condition information does not match the set energy recovery conditions, it indicates that the vehicle does not need to perform energy recovery.

[0037] Here, the determined operating condition information of the vehicle corresponds to the set energy recovery conditions. For example, assuming that the set energy recovery conditions include the minimum vehicle speed for energy recovery and the minimum SOC limit value of the battery, the corresponding operating condition information of the vehicle that needs to be determined includes the vehicle's operating speed and the current SOC of the battery. The vehicle's operating speed is then matched with the minimum vehicle speed for energy recovery, and the battery's current SOC is matched with the battery's minimum SOC limit value to determine whether the vehicle meets the set energy recovery conditions.

[0038] The following is a detailed description of the judgment process for setting energy recovery conditions through a specific example. Here, setting energy recovery conditions includes:

[0039] 1) The vehicle's accelerator pedal is not depressed;

[0040] 2) The battery's SOC is less than 96%;

[0041] 3) The vehicle does not have any faults that prohibit energy recovery;

[0042] 4) The vehicle's speed is greater than the minimum speed for energy recovery;

[0043] 5) The vehicle's ABS is not engaged.

[0044] First, the vehicle determines its operating condition information, including the state of the vehicle's accelerator pedal, the battery's current SOC, any fault conditions, the vehicle's driving speed, and the vehicle's ABS status. The vehicle's operating condition information is then compared against the set energy recovery conditions. If any item in the vehicle's operating condition information does not match the set energy recovery conditions, the vehicle does not meet the set energy recovery conditions and will continue driving normally without entering the energy recovery process. If the vehicle's operating condition information meets all of the set energy recovery conditions, the vehicle meets the set energy recovery conditions and enters the energy recovery process.

[0045] In order to enable the vehicle to recover energy in various gears and during gear shifting, the energy recovery strategy provided in this embodiment is also set based on different gears and different gear change situations. Therefore, when the vehicle meets the set energy recovery conditions, it is necessary to obtain the vehicle's gear information for energy recovery, wherein the vehicle's gear information includes the vehicle's current gear and the vehicle's gear change situation.

[0046] In one embodiment, the energy recovery conditions are set to include a minimum vehicle speed for energy recovery. The minimum vehicle speed for energy recovery can be calculated by multiplying the vehicle's minimum stable motor speed, the safety factor, the vehicle's wheel radius, and the transmission system speed ratio. That is, minimum vehicle speed for energy recovery = (minimum stable motor speed * safety factor) * wheel radius * transmission system speed ratio. The minimum stable motor speed can generally be confirmed through motor bench testing. Considering load changes, the safety factor can generally be set to 2.5. The transmission system speed ratio of a motor-driven vehicle is essentially the main reduction ratio.

[0047] In practical applications, the minimum energy recovery speed of a motor-driven vehicle obtained through the above calculation is lower than that of a motor-plus-gearbox vehicle, which can greatly reduce the minimum energy recovery speed and thus expand the scope of application of the set energy recovery conditions.

[0048] The following is a detailed explanation of the minimum energy recovery speed corresponding to the two powertrain architectures of the 18-ton pure electric chassis.

[0049] The parameters for the powertrain architecture of the motor plus gearbox are: a 6-speed AMT plus motor, the 1st gear ratio is 6.62, the final reduction ratio is 6.17, and the wheel radius is 0.517m.

[0050] The parameters for the motor powertrain architecture are: a dual-motor direct-drive motor, a main reduction ratio of 6.33, and a wheel radius of 0.517m.

[0051] Here, the transmission system speed ratio of the vehicle with a motor plus a gearbox is the product of the maximum speed ratio of the gearbox and the main reduction ratio. Based on this, it can be determined that when the minimum stable speed of the motor is the same (the minimum stable speed of the motor is mainly limited by the control. In the case of the same motor controller supplier, the minimum stable speed of the motor is basically the same. Therefore, in the comparison process of the minimum energy recovery speeds corresponding to the two powertrain architectures, they can be directly offset, that is, the minimum stable speed of the motor does not affect the comparison result). The main determinant of the minimum energy recovery speed is the transmission system speed ratio. Based on this, by comparing the transmission system speed ratio of the vehicle with a motor plus a gearbox and the transmission system speed ratio of the motor direct-drive vehicle, the size relationship of the minimum energy recovery speeds of the two can be obtained. The corresponding specific calculation is The ratio between the minimum energy recovery speed V1 of the motor-driven vehicle and the minimum energy recovery speed V2 of the motor-and-gearbox vehicle is approximately That is, V1 can be reduced to V2 Assuming V2 is 12km / h, V1 can be reduced to at least 3km / h.

[0052] It should be noted that, in general, when a motor-driven vehicle is used as a sanitation vehicle, the sanitation vehicle is generally not equipped with a creeping function, so the above situation does not consider the creeping conditions of the vehicle.

[0053] In practical applications, the minimum speed for energy recovery can be adjusted based on the vehicle's load conditions. Furthermore, the minimum speed for energy recovery can be calculated based on the vehicle's motor characteristics or verified through testing.

[0054] Step S202 : determining a corresponding energy recovery strategy according to the gear information of the vehicle, determining a corresponding energy recovery requirement torque according to the energy recovery strategy, and performing energy recovery control on the vehicle according to the energy recovery requirement torque.

[0055] Here, in order to achieve energy recovery in different gears and energy recovery during gear shifting, in this embodiment, an energy recovery strategy that can adapt to different gear situations is provided. When the vehicle needs to recover energy, an energy recovery strategy that matches the vehicle's gear information is determined based on the vehicle's gear information. The corresponding energy recovery requirement torque is calculated based on the determined energy recovery strategy. The vehicle will continuously output the energy recovery requirement torque, and energy recovery is controlled based on the energy recovery requirement torque. In actual applications, the vehicle's gear information records the vehicle's previous gear position and the vehicle's gear shifting situation. Therefore, the vehicle can also achieve energy recovery in different gears or under different gear shifting situations, expanding the scope of application of the vehicle's energy recovery and thereby reducing the energy consumption of the entire vehicle.

[0056] In general, energy regeneration can be categorized into coasting energy regeneration and braking energy regeneration. The classification of energy regeneration is based on whether the vehicle's brake pedal is depressed. Specifically, when the vehicle's brake pedal is depressed, braking energy regeneration is performed, and the vehicle calculates the corresponding braking energy regeneration required torque based on the determined energy regeneration strategy. When the vehicle's brake pedal is not depressed, coasting energy regeneration is performed, and the vehicle calculates the corresponding coasting energy regeneration required torque based on the determined energy regeneration strategy. In actual applications, when it is determined that the vehicle requires energy regeneration, whether the vehicle is performing coasting energy regeneration or braking energy regeneration is determined based on whether the brake pedal is depressed.

[0057] In one embodiment, referring to Figure 4 As shown, the corresponding energy recovery strategy is determined according to the gear information of the vehicle, and the corresponding energy recovery required torque is determined according to the energy recovery strategy, including:

[0058] Step S401 : when the gear change condition of the vehicle indicates that the vehicle does not shift gears, determining the energy recovery strategy to be the first energy recovery strategy.

[0059] Here, the energy recovery strategy corresponding to gear shifting is different from the energy recovery strategy corresponding to no gear shifting. The energy recovery strategy corresponding to gear shifting mainly recovers energy based on the gear shifting situation of the vehicle, and the energy recovery strategy corresponding to no gear shifting mainly recovers energy based on the gear situation of the vehicle. When it is determined that the vehicle needs to recover energy, it is necessary to determine whether the vehicle recovers energy while shifting gears. Whether the vehicle has shifted gears can be determined by the gear change situation of the vehicle.

[0060] When the gear change condition of the vehicle indicates that the vehicle does not shift gears, it is determined that the vehicle adopts a first energy recovery strategy to perform energy recovery.

[0061] In one embodiment, a gear change in a vehicle does not necessarily mean that the vehicle has shifted gears. Here, four gear change situations are listed as confirming that the vehicle has shifted gears. These four gear change situations are also gear changes that can be achieved during vehicle driving, including:

[0062] In the first case, the vehicle's previous gear was D gear, and the vehicle's current gear is N gear, that is, the vehicle's gear is switched from D gear to N gear;

[0063] In the second scenario, the vehicle's previous gear was R, and its current gear is N. That is, the vehicle's gear is switched from R to N. The corresponding driving scenario is that the vehicle releases the accelerator in R and then shifts to N.

[0064] In the third scenario, the vehicle's previous gear was N, and its current gear is D. That is, the vehicle's gear is switched from N to D. The corresponding driving scenario is that the vehicle releases the accelerator in N and then shifts to D.

[0065] In the fourth situation, the vehicle's gear position at the previous moment was N gear, and the vehicle's current gear position is R gear, that is, the vehicle's gear position is switched from N gear to R gear. The corresponding driving situation of the vehicle is that the vehicle releases the accelerator in R gear and then shifts to R gear.

[0066] When the gear change of the vehicle belongs to any one of the four situations listed above, it can be confirmed that the vehicle has shifted gears. If the gear change of the vehicle does not belong to any one of the four situations listed above, or the gear change situation of the vehicle indicates that the vehicle has not switched gears, for example, according to the gear change situation of the vehicle, it shows that the vehicle has been driving in a certain gear, it can be confirmed that the vehicle has not shifted gears.

[0067] Step S402 : Under the first energy recovery strategy, the energy recovery required torque is determined according to the current gear position of the vehicle.

[0068] Here, the vehicle recovers energy according to the first energy recovery strategy. Specifically, the vehicle calculates the energy recovery requirement torque based on the current gear of the vehicle. When the vehicle is in different gears, the calculated energy recovery requirement torque is also different.

[0069] In one embodiment, the energy recovery required torque corresponding to different gears is described in detail. The current gear of the vehicle can be divided into a driving state gear (including D gear and R gear) and a non-driving state gear (N gear).

[0070] When the vehicle's current gear is a driving gear, the vehicle's energy recovery required torque is the energy recovery required torque calculated for the current gear. Specifically, when the vehicle's current gear is D, the energy recovery required torque that the vehicle needs to output is the normally calculated D gear energy recovery required torque, wherein the output energy recovery required torque is a negative value. When the vehicle's current gear is R, the energy recovery required torque that the vehicle needs to output is the normally calculated R gear energy recovery required torque, wherein the output energy recovery required torque is a positive value.

[0071] When the vehicle's current gear is in a non-driving state, the vehicle's motor speed direction needs to be determined, and the corresponding energy recovery required torque is determined based on the vehicle's motor speed direction. Specifically, when the vehicle's motor speed direction is positive, the energy recovery required torque is the same as the energy recovery required torque calculated when the vehicle is in gear D, meaning the vehicle will output the energy recovery required torque for gear D for energy recovery. When the vehicle's motor speed direction is negative, the energy recovery required torque is the same as the energy recovery required torque calculated when the vehicle is in gear R, meaning the vehicle will output the energy recovery required torque for gear R for energy recovery.

[0072] In one embodiment, reference Figure 5 As shown, the corresponding energy recovery strategy is determined according to the gear information of the vehicle, and the corresponding energy recovery required torque is determined according to the energy recovery strategy, including:

[0073] Step S501 : when the gear change condition of the vehicle indicates that the vehicle is shifting gears, determining that the energy recovery strategy is the second energy recovery strategy.

[0074] Step S502 : Under the second energy recovery strategy, the energy recovery required torque is determined according to the gear shifting condition of the vehicle.

[0075] Here, the gear change situation of the vehicle represents the situation where the vehicle is shifting gears, and it is determined to adopt the second energy recovery strategy for energy recovery. The second energy recovery strategy is to determine the final output energy recovery torque through the gear switched by the vehicle. In this embodiment, the gear before the vehicle is switched and the gear after the vehicle is switched can be determined through the gear change situation of the vehicle, and then the energy recovery requirement torque matching the gear change situation of the vehicle can be determined. In this embodiment, continuous and smooth energy recovery can be performed when the vehicle is shifting gears, thereby improving the driving stability of the vehicle.

[0076] In one embodiment, vehicle gear shifting can be categorized into two scenarios. The first scenario involves shifting from a driving state gear (D or R) to a non-driving state gear (N). When the vehicle shifts from D to N, the corresponding driving state is when the vehicle is in D gear and the throttle is released before shifting to N. When the vehicle shifts from R to N, the corresponding driving state is when the vehicle is in R gear and the throttle is released before shifting to N. The second scenario involves shifting from a non-driving state gear (N) to a driving state gear (D or R). The corresponding driving state is when the vehicle is in N gear and the throttle is released before shifting back to D or R. The energy recovery required torques corresponding to these two scenarios are different.

[0077] In the first case, it is also necessary to further determine whether the direction of the vehicle's motor speed matches the driving state gear before switching. Among them, when the vehicle's gear is switched from D gear to N gear, the motor speed direction is required to be positive, and when the vehicle's gear is switched from R gear to N gear, the motor speed direction is required to be negative.

[0078] When the direction of the vehicle's motor speed matches the driving state gear before the switch, the vehicle's energy recovery requirement torque can be determined as the energy recovery requirement torque of the driving state gear before the vehicle switches gears. Specifically, when the vehicle's gear change reflects that the vehicle switches from D gear to N gear, and the vehicle's motor speed direction is positive, the vehicle's energy recovery requirement torque is the normally calculated energy recovery requirement torque of D gear, wherein the determined energy recovery requirement torque is a negative value; when the vehicle's gear change reflects that the vehicle switches from R gear to N gear, and the vehicle's motor speed direction is negative, the vehicle's energy recovery requirement torque is the normally calculated energy recovery requirement torque of R gear, wherein the determined energy recovery requirement torque is a positive value.

[0079] In the second scenario, the vehicle's energy regeneration requirement torque can be determined as the energy regeneration requirement torque in the non-driving state before the vehicle switches gears. Specifically, if the vehicle's gear change reflects a shift from N gear to D gear, the vehicle's energy regeneration requirement torque is the normally calculated energy regeneration requirement torque for N gear, that is, the energy regeneration torque calculated when the vehicle is in N gear is continuously output. If the vehicle's gear change reflects a shift from N gear to R gear, the vehicle's energy regeneration requirement torque is the normally calculated energy regeneration requirement torque for N gear, that is, the energy regeneration torque calculated when the vehicle is in N gear is continuously output.

[0080] The overall principle of the second energy recovery strategy is to smoothly realize energy recovery during gear switching based on the vehicle's previous torque and the vehicle's driving state, thereby maintaining vehicle driving stability.

[0081] It should be noted that in the first and second energy recovery strategies, the vehicle's gear position information and the direction of the vehicle's motor speed are used to determine the required torque for energy recovery, thereby reducing brake pedal application. This significantly reduces the impact of the brake pedal on energy recovery, thereby improving vehicle safety. Furthermore, the determination of vehicle gear position information in the above embodiments can be implemented using state machines, truth tables, and other methods.

[0082] Reference Figure 6 As shown, Figure 6 A schematic diagram of the implementation flow of the energy recovery control method is shown.

[0083] Step S601: The vehicle drives normally.

[0084] Step S602: Determine whether a set energy recovery condition is met. If not, jump to step S603; if met, jump to step S604.

[0085] Step S603: The vehicle continues to travel normally without energy recovery.

[0086] Step S604: Determine whether the brake pedal is depressed. If the brake pedal is depressed, jump to step S605; if the brake pedal is not depressed, jump to step S606.

[0087] In step S605 , the vehicle performs braking energy recovery and executes step S607 .

[0088] In step S606, the vehicle performs coasting energy recovery and executes step S607.

[0089] Step S607, determining whether the vehicle has shifted gears, wherein whether the vehicle has shifted gears can be determined based on the vehicle's gear change situation. If the vehicle has not shifted gears, jump to step S608; if the vehicle has shifted gears, jump to step S609.

[0090] Step S608, determining the energy recovery requirement torque based on the current gear of the vehicle, can be divided into the following four situations: in the first situation, when the current gear of the vehicle is D gear, the energy recovery requirement torque is determined to be the energy recovery requirement torque calculated based on the D gear; in the second situation, when the current gear of the vehicle is R gear, the energy recovery requirement torque is determined to be the energy recovery requirement torque calculated based on the R gear; in the third situation, when the current gear of the vehicle is N gear and the motor speed direction is positive, the energy recovery requirement torque is the energy recovery requirement torque calculated based on the D gear; in the fourth situation, when the current gear of the vehicle is N gear and the motor speed direction is negative, the energy recovery requirement torque is the energy recovery requirement torque calculated based on the R gear.

[0091] Step S609, determining the energy recovery requirement torque based on the gear change of the vehicle, can be divided into the following four situations. In the first situation, the gear of the vehicle is switched from D gear to N gear, and the motor speed direction is positive, and the energy recovery requirement torque is determined to be the energy recovery requirement torque calculated based on the D gear; in the second situation, the gear of the vehicle is switched from R gear to N gear, and the motor speed direction is negative, and the energy recovery requirement torque is determined to be the energy recovery requirement torque calculated based on the R gear; in the third situation, the gear of the vehicle is switched from N gear to D gear, and the energy recovery requirement torque is determined to be the energy recovery requirement torque calculated based on the D gear; in the fourth situation, the gear of the vehicle is switched from N gear to R gear, and the energy recovery requirement torque is determined to be the energy recovery requirement torque calculated based on the R gear.

[0092] Step S610: controlling energy recovery according to the determined energy recovery requirement torque.

[0093] In actual applications, the above energy recovery control method can also be applied to vehicle models with other powertrain architectures, for example, dual-motor direct-drive models, two-speed gearbox models, multi-speed automatic transmission models, etc. When applied to other models, the minimum energy recovery speed in the energy recovery conditions needs to be updated synchronously according to the applied model.

[0094] In summary, according to the energy recovery control method of the embodiment of the present application, the vehicle's operating condition information is obtained, and when it is determined based on the vehicle's operating condition information that the vehicle meets the set energy recovery conditions, the vehicle's gear information is obtained, and the corresponding energy recovery strategy is determined based on the vehicle's gear information, and the corresponding energy recovery requirement torque is determined based on the energy recovery strategy, and the vehicle is energy recovered according to the energy recovery requirement torque. The gear of the vehicle includes the vehicle's current gear and the vehicle's gear change status, so that the vehicle can perform continuous energy recovery in different gears and when switching gears, which expands the scope of application of energy recovery and can effectively reduce the vehicle's power consumption. Moreover, during the energy recovery process when switching gears, the energy recovery torque does not jump, which can ensure the stability of the vehicle's driving.

[0095] In one embodiment, an energy recovery control device is provided, referring to Figure 7 As shown, the energy recovery control device 700 may include: a first determination module 701 , an acquisition module 702 , a second determination module 703 , and a control module 704 .

[0096] Among them, the first determination module 701 is used to determine the vehicle's operating condition information; the acquisition module 702 obtains the vehicle's gear information when the vehicle's operating condition information determines that the vehicle meets the set energy recovery conditions; the second determination module 703 is used to determine the corresponding energy recovery strategy based on the vehicle's gear information, and determine the corresponding energy recovery requirement torque based on the energy recovery strategy; the control module 704 is used to control the vehicle's energy recovery according to the energy recovery requirement torque, wherein the vehicle's gear information includes the vehicle's current gear and the vehicle's gear change status.

[0097] In one embodiment, the second determination module 703 is specifically used to determine that the energy recovery strategy is the first energy recovery strategy when the gear change condition of the vehicle indicates that the vehicle does not shift gears; under the first energy recovery strategy, determine the energy recovery required torque according to the current gear of the vehicle.

[0098] In one embodiment, the second determination module 703 is specifically used to determine that the energy recovery strategy is the second energy recovery strategy when the gear change situation of the vehicle indicates that the vehicle is shifting gears; under the second energy recovery strategy, the energy recovery required torque is determined according to the gear change situation of the vehicle.

[0099] In one embodiment, the second determination module 703 is specifically used to determine the direction of the vehicle's motor speed when the vehicle's current gear is a non-driving gear; when the vehicle's motor speed direction is positive, output the energy recovery required torque of the D gear; when the vehicle's motor speed direction is negative, output the energy recovery required torque of the R gear.

[0100] In one embodiment, the second determination module 703 is specifically used to determine the energy recovery requirement torque of the driving state gear when the vehicle gear change situation represents a change from a driving state gear to a non-driving state gear and the direction of the vehicle's motor speed matches the driving state gear; and to determine the energy recovery requirement torque of the non-driving state gear when the vehicle gear change situation represents a change from a non-driving state gear to a driving state gear.

[0101] In one embodiment, the second determining module 703 is specifically configured to determine, when the gear change condition of the vehicle is a set gear change, whether the vehicle has a gear shift condition; wherein the set gear change includes any one of the following:

[0102] The vehicle's previous gear position was D, and the vehicle's current gear position is N;

[0103] The vehicle's previous gear position is R, and the vehicle's current gear position is N;

[0104] The vehicle's previous gear position was N, and the vehicle's current gear position is D;

[0105] The vehicle's previous gear position was N gear, and the vehicle's current gear position is R gear.

[0106] In one embodiment, setting the energy recovery condition includes a minimum vehicle speed for energy recovery, which is obtained based on the product of the vehicle's minimum stable motor speed, a safety factor, a vehicle wheel radius, and a transmission system speed ratio.

[0107] The specific definition of the energy recovery control device can be found in the definition of the energy recovery control method above and will not be repeated here. Each module in the energy recovery control device described above may be implemented in whole or in part through software, hardware, or a combination thereof. Each of the modules described above may be embedded in or independent of a processor in a computer device in hardware form, or may be stored in a memory in the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0108] In one embodiment, a vehicle is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements an energy recovery control method when executing the computer program.

[0109] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, an energy recovery control method is implemented.

[0110] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or currently unidentified medium used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0111] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] The above-described embodiments merely represent several implementation methods of the present application. While the 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 could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. An energy recovery control method, characterized in that: Applied to a motor-driven vehicle, the method includes: determining operating condition information of the vehicle, and obtaining gear information of the vehicle when determining, based on the operating condition information of the vehicle, that the vehicle satisfies a set energy recovery condition; A corresponding energy recovery strategy is determined based on the gear information of the vehicle, and a corresponding energy recovery requirement torque is determined based on the energy recovery strategy, and energy recovery control is performed on the vehicle based on the energy recovery requirement torque, wherein the gear information of the vehicle includes the current gear of the vehicle and the gear change status of the vehicle; the gear change status includes: no gear shifting, changing from a driving state gear to a non-driving state gear, and changing from a non-driving state gear to a driving state gear.

2. The energy recovery control method according to claim 1, characterized in that: Determining a corresponding energy recovery strategy according to the gear information of the vehicle, and determining a corresponding energy recovery required torque according to the energy recovery strategy, includes: When the gear change condition of the vehicle indicates that the vehicle does not shift gears, determining that the energy recovery strategy is a first energy recovery strategy; Under the first energy recovery strategy, the energy recovery required torque is determined according to the current gear of the vehicle.

3. The energy recovery control method according to claim 1, characterized in that: The method of determining a corresponding energy recovery strategy according to the gear information of the vehicle, and determining a corresponding energy recovery required torque according to the energy recovery strategy, further includes: When the gear change condition of the vehicle indicates that the vehicle has shifted gears, determining that the energy recovery strategy is a second energy recovery strategy; Under the second energy recovery strategy, the energy recovery required torque is determined according to the gear shifting condition of the vehicle.

4. The energy recovery control method according to claim 2, characterized in that: The step of determining the energy recovery required torque according to the current gear of the vehicle under the first energy recovery strategy includes: When the current gear position of the vehicle is a non-driving gear position, determining a rotational speed direction of a motor of the vehicle; When the motor speed direction of the vehicle is forward, outputting the energy recovery required torque of the D gear; When the motor speed direction of the vehicle is negative, the energy recovery required torque of the R gear is output.

5. The energy recovery control method according to claim 3, characterized in that: The step of determining the energy recovery required torque according to the vehicle gear shift under the second energy recovery strategy includes: determining the energy recovery required torque for the driving state gear when the vehicle gear change condition indicates a change from a driving state gear to a non-driving state gear and a rotational speed direction of the motor of the vehicle matches the driving state gear; When the vehicle gear change condition represents a change from a non-driving state gear to a driving state gear, an energy recovery required torque of the non-driving state gear is determined.

6. The energy recovery control method according to claim 2 or 3, characterized in that: When the gear change condition of the vehicle is a set gear change, the vehicle has a gear shift condition; wherein the set gear change includes any one of the following: The vehicle's previous gear position was D, and the vehicle's current gear position is N; The vehicle's previous gear position is R, and the vehicle's current gear position is N; The vehicle's previous gear position was N, and the vehicle's current gear position is D; The vehicle's previous gear position was N gear, and the vehicle's current gear position is R gear.

7. The energy recovery control method according to claim 1, characterized in that: The set energy recovery condition includes a minimum vehicle speed for energy recovery, and the minimum vehicle speed for energy recovery is obtained based on the product of the minimum stable speed of the vehicle's motor, a safety factor, a wheel radius of the vehicle, and a transmission system speed ratio.

8. An energy recovery control device, characterized in that: Applied to a motor-driven vehicle, the energy recovery control device includes: A first determining module, configured to determine operating condition information of a vehicle; an acquisition module, configured to acquire gear information of the vehicle when determining, based on the operating condition information of the vehicle, that the vehicle satisfies a set energy recovery condition; a second determining module, configured to determine a corresponding energy recovery strategy according to the gear information of the vehicle, and determine a corresponding energy recovery required torque according to the energy recovery strategy; A control module is used to control energy recovery of the vehicle according to the energy recovery demand torque, wherein the gear information of the vehicle includes the current gear of the vehicle and the gear change status of the vehicle; the gear change status includes: no gear shifting, changing from a driving state gear to a non-driving state gear, and changing from a non-driving state gear to a driving state gear.

9. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor, the energy recovery control method according to any one of claims 1 to 7 is implemented.

10. A motor-driven vehicle, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the program, the energy recovery control method according to any one of claims 1 to 7 is implemented.

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