Electric vehicle energy recovery control method, device and electric vehicle

Abstract

The present invention relates to the field of electric vehicles, and provides an electric vehicle energy recovery control method, device and electric vehicle, the method comprising: during the coasting process of the electric vehicle, determining the energy recovery mode of the electric vehicle based on a first control instruction; if the energy recovery mode is a manual mode, obtaining the required torque based on the target energy recovery level of the electric vehicle and the driving parameter data of the electric vehicle; if the energy recovery mode is a constant speed mode, obtaining the required torque based on the target vehicle speed and driving parameter data of the electric vehicle; generating a torque request instruction based on the required torque and sending it to a motor controller and / or generating a deceleration request instruction and sending it to an electronic brake controller. The present invention can effectively meet the deceleration requirements of the operator under different energy recovery modes, realize the full recovery of braking energy, and at the same time, reduce the operating load of the operator and improve the safety and comfort of driving.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to an electric vehicle energy recovery control method and device and an electric vehicle. Background Art

[0002] The energy consumption level of electric vehicles has become one of the most concerned performance indicators today. During the deceleration process of the vehicle, the friction resistance of the braking system itself accounts for the majority. If this part of energy is used again for driving, the energy consumption of the vehicle will be greatly reduced, and the energy recovery system plays such a role. How to make full use of the energy recovery system and maximize energy recovery without affecting driving safety and comfort is a technical problem that needs to be solved urgently.

[0003] In the existing energy recovery control method, when the operator intends to decelerate, the operator usually brakes by stepping on the brake pedal. However, it is difficult to meet the operator's desired deceleration in different energy recovery modes through the brake pedal, so that the braking energy cannot be fully recovered. In addition, the operator's frequent operation of the brake pedal increases the operator's operating load and cannot ensure driving safety and comfort. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides an electric vehicle energy recovery control method, device and electric vehicle.

[0005] The present invention provides an electric vehicle energy recovery control method, comprising:

[0006] During the coasting of the electric vehicle, an energy recovery mode of the electric vehicle is determined based on a first control instruction; wherein the energy recovery mode includes a manual mode and a constant speed mode;

[0007] If the energy recovery mode is a manual mode, obtaining a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle;

[0008] If the energy recovery mode is a constant speed mode, obtaining the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data;

[0009] A torque request command is generated based on the required torque and sent to a motor controller and / or a deceleration request command is generated and sent to an electronic brake controller.

[0010] According to the electric vehicle energy recovery control method provided by the present invention, the required torque is obtained based on the target energy recovery level of the electric vehicle and the driving parameter data of the electric vehicle, including:

[0011] determining a target deceleration of the electric vehicle based on a target energy recovery level of the electric vehicle, and acquiring a current deceleration of the electric vehicle based on the driving parameter data;

[0012] Obtaining a required braking force based on a difference between the target deceleration and the current deceleration;

[0013] Based on the required braking force, the required torque is obtained.

[0014] According to the electric vehicle energy recovery control method provided by the present invention, the target deceleration of the electric vehicle is determined based on the target energy recovery level of the electric vehicle, including:

[0015] Based on a preset correspondence between the energy recovery level and the deceleration, the deceleration corresponding to the target energy recovery level is determined and used as the target deceleration.

[0016] According to the electric vehicle energy recovery control method provided by the present invention, the target energy recovery level is obtained by the following method:

[0017] When it is determined based on the first control instruction sent by the cruise control device of the electric vehicle that the cruise control function of the electric vehicle is not turned on, if a second control instruction sent by the cruise control device is received, the target energy recovery level is determined based on the second control instruction; if the second control instruction is not received, a preset energy recovery level is used as the target energy recovery level.

[0018] According to the electric vehicle energy recovery control method provided by the present invention, the step of obtaining the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data includes:

[0019] Determining a current driving condition of the electric vehicle based on the driving parameter data;

[0020] If the current driving condition is a downhill condition, the required torque is obtained through a PID control method based on the current vehicle speed and the target vehicle speed of the electric vehicle.

[0021] According to the electric vehicle energy recovery control method provided by the present invention, the generating of a torque request instruction based on the required torque and sending it to the motor controller and / or the generating of a deceleration request instruction and sending it to the electronic brake controller comprises:

[0022] If the energy recovery of the electric vehicle is normal, a first allocable torque corresponding to the motor and a second allocable torque corresponding to the electronic brake are determined based on the available torque of the motor and the required torque, and the torque request instruction is generated based on the first allocable torque and sent to the motor controller, and the deceleration request instruction is generated based on the first deceleration corresponding to the second allocable torque and sent to the electronic brake controller;

[0023] If the energy recovery of the electric vehicle fails, the deceleration request instruction is generated based on the second deceleration corresponding to the required torque and sent to the electronic brake controller.

[0024] According to the electric vehicle energy recovery control method provided by the present invention, the first allocable torque corresponding to the motor and the second allocable torque corresponding to the electronic brake are determined based on the available torque of the motor and the required torque, including:

[0025] Based on the comparison result between the available torque and the required torque, when the available torque is greater than or equal to the required torque, the required torque is used as the first allocable torque; when the available torque is less than the required torque, the available torque is used as the first allocable torque, and the difference between the required torque and the available torque is used as the second allocable torque.

[0026] The present invention also provides an electric vehicle energy recovery control device, comprising:

[0027] A first data processing module is used to determine the energy recovery mode of the electric vehicle based on the first control instruction during the coasting process of the electric vehicle; wherein the energy recovery mode includes a manual mode and a constant speed mode;

[0028] a second data processing module, configured to obtain a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle if the energy recovery mode is a manual mode;

[0029] A third data processing module, configured to obtain the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data if the energy recovery mode is a constant speed mode;

[0030] The fourth data processing module is used to generate a torque request instruction based on the required torque and send it to the motor controller and / or generate a deceleration request instruction and send it to the electronic brake controller.

[0031] The present invention also provides an electric vehicle, comprising: the electric vehicle energy recovery control device as described above.

[0032] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, an electric vehicle energy recovery control method as described above is implemented.

[0033] The electric vehicle energy recovery control method, device and electric vehicle provided by the present invention determine the energy recovery mode of the electric vehicle based on a first control instruction during the coasting process of the electric vehicle. If the energy recovery mode is a manual mode, the required torque is obtained based on the target energy recovery level of the electric vehicle and the driving parameter data of the electric vehicle. If the energy recovery mode is a constant speed mode, the required torque is obtained based on the target vehicle speed and the driving parameter data of the electric vehicle. During the whole process, there is no need for the operator to step on the brake pedal, which effectively reduces the operating load of the operator and improves the safety and comfort of driving. In addition, after obtaining the required torque, a torque request instruction is generated based on the required torque and sent to the motor controller and / or a deceleration request instruction is generated and sent to the electronic brake controller, which can effectively meet the deceleration requirements of the operator in different energy recovery modes and realize full recovery of braking energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a flow chart of the electric vehicle energy recovery control method provided by the present invention;

[0036] Figure 2 It is a schematic diagram of a flow chart of obtaining a required torque based on a target energy recovery level of an electric vehicle and driving parameter data of the electric vehicle provided by the present invention;

[0037] Figure 3 It is a schematic diagram of a flow chart of obtaining a required torque based on a target vehicle speed and driving parameter data of an electric vehicle provided by the present invention;

[0038] Figure 4 It is a structural schematic diagram of the electric vehicle energy recovery control device provided by the present invention;

[0039] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Combine the following Figures 1 to 3 The electric vehicle energy recovery control method of the present invention is described. The electric vehicle energy recovery control method of the present invention is executed by an electronic device such as a controller or the hardware and / or software therein. The controller can be the controller of the electric vehicle itself, such as a vehicle controller, or a newly added controller. Figure 1 As shown, the electric vehicle energy recovery control method of the present invention at least includes:

[0042] S101. During the coasting of the electric vehicle, determine an energy recovery mode of the electric vehicle based on a first control instruction; wherein the energy recovery mode includes a manual mode and a constant speed mode.

[0043] S102: If the energy recovery mode is a manual mode, obtaining a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle.

[0044] S103: If the energy recovery mode is a constant speed mode, obtaining the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data.

[0045] S104 . Generate a torque request instruction based on the required torque and send it to a motor controller and / or generate a deceleration request instruction and send it to an electronic brake controller.

[0046] In this embodiment, the electric vehicle is such as an electric passenger car and an electric commercial vehicle. The electric commercial vehicle is such as an electric working machine, such as an electric excavator, an electric crane, etc. The coasting process of the electric vehicle is the driving state of the electric vehicle after the operator releases the accelerator pedal during the driving process. The first control instruction is used to control the energy recovery mode of the electric vehicle. The energy recovery mode may include a manual mode and a constant speed mode; wherein the manual mode is a mode in which the energy recovery level of the electric vehicle is manually controlled by the operator when the cruise control function of the electric vehicle is not turned on; the constant speed mode is a mode in which the electric vehicle is automatically controlled by the controller to recover energy when the cruise control function of the electric vehicle is turned on. The first control instruction may be sent by the cruise control device of the electric vehicle to the vehicle controller. For example, when the operator turns on the cruise control function through the cruise control device, it is determined that the current energy recovery mode is the constant speed mode. When the operator does not turn on the cruise control function, it is determined that the current energy recovery mode is the manual mode.

[0047] When the energy recovery mode of the electric vehicle is determined to be a manual mode according to the first control instruction, when the energy recovery conditions are met, for example, the speed of the electric vehicle reaches the first preset speed and the battery power is less than the preset power, the required torque can be obtained based on the target energy recovery level of the electric vehicle and the driving parameter data of the electric vehicle. The required torque is the torque that the motor needs to output when the target deceleration / target speed of the electric vehicle is met. The target energy recovery level of the electric vehicle can be determined according to actual needs, for example, it can be input by the operator, it can be set in advance by the system, or it can be automatically determined according to the current driving condition of the electric vehicle. The driving parameter data of the electric vehicle may include the current speed of the electric vehicle, the current torque of the motor, and the slope of the road on which the electric vehicle is currently driving.

[0048] When the energy recovery mode of the electric vehicle is determined to be the constant speed mode according to the first control instruction, the required torque can be obtained based on the target speed of the electric vehicle and the driving parameter data of the electric vehicle. The target speed of the electric vehicle can be set by a cruise control device, or it can be automatically determined according to the current driving condition of the electric vehicle.

[0049] After obtaining the required torque, a torque request instruction and / or a deceleration request instruction can be generated based on the required torque, and the torque request instruction can be sent to the motor controller and the deceleration request instruction can be sent to the electronic brake controller, so that the motor controller controls the motor to output torque according to the torque request instruction, and the electronic brake controller controls the electronic brake to work according to the deceleration request instruction. Through the coordinated work of the motor and the electronic brake, the deceleration requirements of the operator can be effectively met in different energy recovery modes, thereby realizing full recovery of braking energy.

[0050] In the existing energy recovery control method, when the operator intends to decelerate, the operator usually brakes by stepping on the brake pedal. However, it is difficult to meet the operator's desired deceleration in different energy recovery modes through the brake pedal, so that the braking energy cannot be fully recovered. In addition, the operator's frequent operation of the brake pedal increases the operator's operating load and cannot ensure driving safety and comfort.

[0051] In the present embodiment, during the coasting process of the electric vehicle, the energy recovery mode of the electric vehicle is determined based on the first control instruction. If the energy recovery mode is the manual mode, the required torque is obtained based on the target energy recovery level of the electric vehicle and the driving parameter data of the electric vehicle. If the energy recovery mode is the constant speed mode, the required torque is obtained based on the target vehicle speed and the driving parameter data of the electric vehicle. During the whole process, the operator does not need to step on the brake pedal, which effectively reduces the operating load of the operator and improves the safety and comfort of driving. In addition, after obtaining the required torque, a torque request instruction is generated based on the required torque and sent to the motor controller and / or a deceleration request instruction is generated and sent to the electronic brake controller, which can effectively meet the deceleration requirements of the operator in different energy recovery modes and realize full recovery of braking energy.

[0052] In an exemplary embodiment, if Figure 2 As shown, the step of obtaining the required torque based on the target energy recovery level of the electric vehicle and the driving parameter data of the electric vehicle includes:

[0053] S201 . Determine a target deceleration of the electric vehicle based on a target energy recovery level of the electric vehicle, and obtain a current deceleration of the electric vehicle based on the driving parameter data.

[0054] S202: Obtain required braking force based on a difference between the target deceleration and the current deceleration.

[0055] S203: Obtain the required torque based on the required braking force.

[0056] In this embodiment, the target deceleration is the deceleration at the target energy recovery level of the electric vehicle. The specific method of determining the target deceleration of the electric vehicle based on the target energy recovery level of the electric vehicle can be set according to actual needs. For example, the target energy recovery level can be matched based on the correspondence between the energy recovery level and the deceleration to obtain the target deceleration. The target deceleration can also be determined based on the target energy recovery level and the current driving condition of the electric vehicle. For example, the correspondence between the energy recovery level and the deceleration under different driving conditions can be pre-set to determine the target corresponding relationship in each corresponding relationship based on the current driving condition, and the target energy recovery level can be matched based on the target corresponding relationship to obtain the target deceleration.

[0057] The specific method of obtaining the current deceleration of the electric vehicle based on the driving parameter data can be set according to actual needs. For example, when a deceleration sensor is provided on the electric vehicle, the current deceleration in the driving parameter data can be directly obtained; when a deceleration sensor is not provided on the electric vehicle, the current load of the electric vehicle can be calculated through the vehicle longitudinal dynamics equation based on the current speed of the electric vehicle, the current torque of the motor and the slope of the current road of the electric vehicle in the driving parameter data, and the current deceleration of the electric vehicle can be calculated based on the current load and current torque of the electric vehicle.

[0058] After obtaining the target deceleration and current deceleration of the electric vehicle, the required braking force can be obtained based on the difference between the target deceleration and the current deceleration and the current load of the electric vehicle, and the required torque can be obtained based on the required braking force, so that when the load or deceleration of the electric vehicle changes, the deceleration requirements of the operator can still be met. Among them, the required braking force is the braking force that the electric vehicle needs to output when the current deceleration drops to the target deceleration. The required torque can be calculated based on the required braking force through the vehicle longitudinal dynamics equation, or the required braking force can be matched according to the corresponding relationship between the braking force and the torque of the electric vehicle to obtain the required torque.

[0059] In an exemplary embodiment, determining the target deceleration of the electric vehicle based on the target energy recovery level of the electric vehicle includes:

[0060] Based on a preset correspondence between the energy recovery level and the deceleration, the deceleration corresponding to the target energy recovery level is determined and used as the target deceleration.

[0061] In this embodiment, the corresponding relationship between the energy recovery level and the deceleration may be pre-established and may be stored in the form of a mapping table or a curve graph so as to be able to be called in real time during the energy recovery process.

[0062] In actual application, the target energy recovery level can be matched based on the preset correspondence between the energy recovery level and the deceleration to obtain the deceleration corresponding to the target energy recovery level and use it as the target deceleration, so that the target deceleration of the electric vehicle can be quickly and accurately determined according to the target energy recovery level.

[0063] The existing method sets different decelerations for different speed ranges, but fails to consider the situation where a larger deceleration is required at low speeds, and thus fails to meet the deceleration requirements. In addition, when the existing method fails to meet the deceleration requirements, the operator is required to step on the brake pedal to participate in deceleration, which wastes energy, and when the operator uses the brake pedal for emergency braking, it has a greater impact on the safety and comfort of driving.

[0064] This embodiment determines the target deceleration through the corresponding relationship between the preset energy recovery level and the deceleration, and determines the required torque according to the difference between the target deceleration and the current deceleration. When the current speed of the electric vehicle is any value, the deceleration requirement can be effectively met, thereby avoiding the energy waste caused by the operator stepping on the brake pedal to participate in deceleration when the deceleration requirement cannot be met, as well as the impact on driving safety and comfort.

[0065] In an exemplary embodiment, the target energy recovery level is obtained by:

[0066] When it is determined based on the first control instruction sent by the cruise control device of the electric vehicle that the cruise control function of the electric vehicle is not turned on, if a second control instruction sent by the cruise control device is received, the target energy recovery level is determined based on the second control instruction; if the second control instruction is not received, a preset energy recovery level is used as the target energy recovery level.

[0067] In this embodiment, the first control instruction and the second control instruction can be sent by the cruise control device of the electric vehicle to determine whether the cruise control function of the electric vehicle is turned on according to the first control instruction, and then determine the energy recovery mode of the electric vehicle, and determine the target vehicle speed and target energy recovery level according to the second control instruction.

[0068] In actual application, the operator can turn on the cruise control function by pressing the "ON" button in the cruise control device to send a first control instruction to the controller of the electric vehicle. The operator can send a second control instruction to the controller of the electric vehicle by pressing the "Set+" and "Set-" buttons in the cruise control device, wherein when the cruise control function is turned on, the controller can determine the target vehicle speed according to the second control instruction, and when the cruise control function is not turned on, the controller can determine the target energy recovery level according to the second control instruction.

[0069] Among them, when the cruise control function is not turned on and the second control instruction sent by the cruise control device is not received, the energy recovery level preset in the system can be used as the target energy recovery level. For example, the operator can independently set the default value of the energy recovery level, such as level 2, through the central control screen. When the operator presses the accelerator pedal to exit energy recovery, the energy recovery level automatically returns to the default value.

[0070] This embodiment realizes the reuse of the cruise control device, and there is no need to add other energy recovery control devices to the electric vehicle, which greatly reduces the cost and manufacturing complexity of the electric vehicle; at the same time, the operator can actively adjust the energy recovery level according to actual needs, so that the operator can achieve the effect of vehicle deceleration without operating the brake pedal, and avoids overheating of tires and mechanical brake devices caused by long-term operation of the brake pedal while achieving full energy recovery.

[0071] In an exemplary embodiment, if Figure 3 As shown, the step of obtaining the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data includes:

[0072] S301. Determine a current driving condition of the electric vehicle based on the driving parameter data.

[0073] S302: If the current driving condition is a downhill condition, the required torque is obtained through a PID (Proportion Integration Differentiation) control method based on the current speed of the electric vehicle and the target speed.

[0074] In this embodiment, when the energy recovery mode is determined to be the constant speed mode, the current driving condition of the electric vehicle can be determined based on the driving parameter data of the electric vehicle, and the current driving condition can include uphill condition, downhill condition and flat ground condition. Among them, the current driving condition of the electric vehicle can be determined based on the slope of the current driving road of the electric vehicle in the driving parameter data. For example, when the slope of the current driving road is between the first preset value and the second preset value, the current driving condition is a flat ground condition, when the slope of the current driving road is less than or equal to the first preset value, the current driving condition is a downhill condition, and when the slope of the current driving road is greater than or equal to the second preset value, the current driving condition is an uphill condition; the second preset value is greater than the first preset value, and the size of the first preset value and the second preset value can be set according to the accuracy requirements.

[0075] When the cruise control function of the electric vehicle is turned on, if the current driving condition is an uphill condition or a flat condition, there is no need to perform energy recovery. If the current driving condition is a downhill condition, the required torque is determined based on the current speed and target speed of the electric vehicle. For example, the current speed of the electric vehicle and the target speed of the electric vehicle can be input into the PID controller to automatically output the required torque through the PID controller, so that the braking energy can be fully recovered while ensuring that the electric vehicle is driving at a constant speed. During the whole process, the driver does not need to operate the accelerator pedal and the brake pedal, which reduces the operating load of the operator and improves driving comfort. Among them, the fixed speed mode is automatically exited when the exit conditions of the fixed speed mode are met. For example, the cruise control function is turned off, the speed of the electric vehicle drops below the second preset speed (such as 25 kilometers per hour), and the operator steps on the brake pedal.

[0076] In an exemplary embodiment, the generating a torque request command based on the required torque and sending it to a motor controller and / or generating a deceleration request command and sending it to an electronic brake controller includes:

[0077] If the energy recovery of the electric vehicle is normal, a first allocable torque corresponding to the motor and a second allocable torque corresponding to the electronic brake are determined based on the available torque of the motor and the required torque, and the torque request instruction is generated based on the first allocable torque and sent to the motor controller, and the deceleration request instruction is generated based on the first deceleration corresponding to the second allocable torque and sent to the electronic brake controller;

[0078] If the energy recovery of the electric vehicle fails, the deceleration request instruction is generated based on the second deceleration corresponding to the required torque and sent to the electronic brake controller.

[0079] In this embodiment, the energy recovery function can be diagnosed by the fault diagnosis system of the electric vehicle, and the fault diagnosis result is sent to the controller through the CAN bus. The controller can determine whether the energy recovery of the electric vehicle is normal or failed based on the fault diagnosis result.

[0080] If the energy recovery of the electric vehicle is normal, the first allocable torque of the motor and the second allocable torque of the electronic brake can be determined based on the available torque and the required torque of the motor. The available torque of the motor can be detected by the MCU (Motor Control Unit) and sent to the controller through the CAN bus. Among them, when the available torque is greater than or equal to the required torque, the required torque can be used as the first allocable torque, and the second allocable torque is zero. When the available torque is less than the required torque, the available torque is used as the first allocable torque, and the difference between the required torque and the available torque is used as the second allocable torque, so that the deceleration requirement can be effectively met while the braking energy is recovered to the greatest extent; the proportion of the first allocable torque and the second allocable torque can also be determined based on the constraint that the first allocable torque is less than or equal to the available torque, so that the first allocable torque and the second allocable torque can be flexibly allocated according to demand.

[0081] After obtaining the first allocable torque and the second allocable torque, a torque request instruction can be generated based on the first allocable torque and sent to the motor controller, and a deceleration request instruction can be generated based on the first deceleration corresponding to the second allocable torque and sent to the electronic brake controller. The first deceleration corresponding to the second allocable torque can be determined according to the corresponding relationship between torque and deceleration, or the first deceleration can be calculated according to the second allocable torque. For example, the braking force corresponding to the second allocable torque can be calculated by the vehicle longitudinal dynamics equation, and the first deceleration can be calculated according to the braking force and the current load of the electric vehicle.

[0082] If the energy recovery of the electric vehicle fails, a deceleration request instruction can be generated based on the second deceleration corresponding to the required torque and sent to the electronic brake controller, that is, when the energy recovery of the electric vehicle fails, the electronic brake is controlled to intervene quickly and reach the second deceleration, so as to compensate for the torque failure through the electronic brake, thereby avoiding the vehicle from losing control due to the failure of the motor braking torque and ensuring driving safety. Among them, when the operator steps on the accelerator pedal or reaches the preset time threshold, the deceleration request instruction will automatically exit. It is understandable that when the failure of energy recovery of the electric vehicle is detected, the operator can also be prompted to control the vehicle speed through the brake pedal. For example, the interactive device such as the instrument can display "Energy recovery failed, please step on the brake pedal to brake" to avoid the situation where the vehicle speed cannot be controlled, thereby ensuring driving safety to the greatest extent.

[0083] In an exemplary embodiment, the determining of the first distributable torque corresponding to the motor and the second distributable torque corresponding to the electronic brake based on the available torque of the motor and the required torque includes:

[0084] Based on the comparison result between the available torque and the required torque, when the available torque is greater than or equal to the required torque, the required torque is used as the first allocable torque; when the available torque is less than the required torque, the available torque is used as the first allocable torque, and the difference between the required torque and the available torque is used as the second allocable torque.

[0085] In this embodiment, after obtaining the required torque, the required torque can be compared with the available torque of the motor. When the available torque is greater than or equal to the required torque, the required torque is used as the first allocable torque, and the second allocable torque is zero, that is, when the motor can meet the deceleration requirement, braking is performed only by the motor to maximize the recovery of braking energy; when the available torque is less than the required torque, the available torque is used as the first allocable torque, and the difference between the required torque and the available torque is used as the second allocable torque, that is, when the motor cannot meet the deceleration requirement, the electronic brake is used to compensate for the deceleration requirement that cannot be met by the motor, so as to effectively meet the deceleration requirement while maximizing the recovery of braking energy.

[0086] The electric vehicle energy recovery control device provided by the present invention is described below. The electric vehicle energy recovery control device described below and the electric vehicle energy recovery control method described above can be referred to each other. Figure 4 As shown, the electric vehicle energy recovery control device of the present invention at least includes:

[0087] The first data processing module 401 is used to determine the energy recovery mode of the electric vehicle based on the first control instruction during the coasting of the electric vehicle; wherein the energy recovery mode includes a manual mode and a constant speed mode;

[0088] A second data processing module 402 is configured to obtain a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle if the energy recovery mode is a manual mode;

[0089] A third data processing module 403 is configured to obtain the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data if the energy recovery mode is a constant speed mode;

[0090] The fourth data processing module 404 is configured to generate a torque request instruction based on the required torque and send it to the motor controller and / or generate a deceleration request instruction and send it to the electronic brake controller.

[0091] In an exemplary embodiment, the second data processing module 402 is specifically configured to:

[0092] determining a target deceleration of the electric vehicle based on a target energy recovery level of the electric vehicle, and acquiring a current deceleration of the electric vehicle based on the driving parameter data;

[0093] Obtaining a required braking force based on a difference between the target deceleration and the current deceleration;

[0094] Based on the required braking force, the required torque is obtained.

[0095] In an exemplary embodiment, the second data processing module 402 is specifically configured to:

[0096] Based on a preset correspondence between the energy recovery level and the deceleration, the deceleration corresponding to the target energy recovery level is determined and used as the target deceleration.

[0097] In an exemplary embodiment, a fifth data processing module is further included, wherein the fifth data processing module is configured to:

[0098] When it is determined based on the first control instruction sent by the cruise control device of the electric vehicle that the cruise control function of the electric vehicle is not turned on, if a second control instruction sent by the cruise control device is received, the target energy recovery level is determined based on the second control instruction; if the second control instruction is not received, a preset energy recovery level is used as the target energy recovery level.

[0099] In an exemplary embodiment, the third data processing module 403 is specifically used for:

[0100] Determining a current driving condition of the electric vehicle based on the driving parameter data;

[0101] If the current driving condition is a downhill condition, the required torque is obtained through a PID control method based on the current vehicle speed and the target vehicle speed of the electric vehicle.

[0102] In an exemplary embodiment, the fourth data processing module 404 is specifically used to:

[0103] If the energy recovery of the electric vehicle is normal, a first allocable torque corresponding to the motor and a second allocable torque corresponding to the electronic brake are determined based on the available torque of the motor and the required torque, and the torque request instruction is generated based on the first allocable torque and sent to the motor controller, and the deceleration request instruction is generated based on the first deceleration corresponding to the second allocable torque and sent to the electronic brake controller;

[0104] If the energy recovery of the electric vehicle fails, the deceleration request instruction is generated based on the second deceleration corresponding to the required torque and sent to the electronic brake controller.

[0105] In an exemplary embodiment, the fourth data processing module 404 is specifically used to:

[0106] Based on the comparison result between the available torque and the required torque, when the available torque is greater than or equal to the required torque, the required torque is used as the first allocable torque; when the available torque is less than the required torque, the available torque is used as the first allocable torque, and the difference between the required torque and the available torque is used as the second allocable torque.

[0107] The present invention also provides an electric vehicle, comprising the electric vehicle energy recovery control device as described in any of the above embodiments.

[0108] In this embodiment, the electric vehicle is a vehicle with a cruise control function, such as an electric passenger car, an electric commercial vehicle, and an electric commercial vehicle is an electric working machine, such as an electric excavator, an electric crane, etc.

[0109] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502 and the memory 503 communicate with each other through the communication bus 504. The processor 501 may call the logic instructions in the memory 503 to execute the electric vehicle energy recovery control method, the method comprising: during the coasting process of the electric vehicle, determining the energy recovery mode of the electric vehicle based on the first control instruction; wherein the energy recovery mode includes a manual mode and a constant speed mode;

[0110] If the energy recovery mode is a manual mode, obtaining a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle;

[0111] If the energy recovery mode is a constant speed mode, obtaining the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data;

[0112] A torque request command is generated based on the required torque and sent to a motor controller and / or a deceleration request command is generated and sent to an electronic brake controller.

[0113] In addition, the logic instructions in the above-mentioned memory 503 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0114] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer can execute the electric vehicle energy recovery control method provided by the above methods, the method comprising: during the coasting process of the electric vehicle, determining the energy recovery mode of the electric vehicle based on a first control instruction; wherein the energy recovery mode comprises a manual mode and a constant speed mode;

[0115] If the energy recovery mode is a manual mode, obtaining a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle;

[0116] If the energy recovery mode is a constant speed mode, obtaining the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data;

[0117] A torque request command is generated based on the required torque and sent to a motor controller and / or a deceleration request command is generated and sent to an electronic brake controller.

[0118] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the above-mentioned electric vehicle energy recovery control method, the method comprising: during the coasting process of the electric vehicle, determining the energy recovery mode of the electric vehicle based on a first control instruction; wherein the energy recovery mode includes a manual mode and a constant speed mode;

[0119] If the energy recovery mode is a manual mode, obtaining a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle;

[0120] If the energy recovery mode is a constant speed mode, obtaining the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data;

[0121] A torque request command is generated based on the required torque and sent to a motor controller and / or a deceleration request command is generated and sent to an electronic brake controller.

[0122] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0123] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling energy recovery of an electric vehicle, characterized in that: include: During the coasting of the electric vehicle, an energy recovery mode of the electric vehicle is determined based on a first control instruction; wherein the energy recovery mode includes a manual mode and a constant speed mode; If the energy recovery mode is a manual mode, obtaining a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle; If the energy recovery mode is a constant speed mode, obtaining the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data; generating a torque request command based on the required torque and sending it to the motor controller and / or generating a deceleration request command and sending it to the electronic brake controller; The target energy recovery level is obtained by the following method: When it is determined based on the first control instruction sent by the cruise control device of the electric vehicle that the cruise control function of the electric vehicle is not turned on, if a second control instruction sent by the cruise control device is received, the target energy recovery level is determined based on the second control instruction; if the second control instruction is not received, a preset energy recovery level is used as the target energy recovery level.

2. The electric vehicle energy recovery control method according to claim 1, characterized in that: The obtaining the required torque based on the target energy recovery level of the electric vehicle and the driving parameter data of the electric vehicle includes: determining a target deceleration of the electric vehicle based on a target energy recovery level of the electric vehicle, and acquiring a current deceleration of the electric vehicle based on the driving parameter data; Obtaining a required braking force based on a difference between the target deceleration and the current deceleration; Based on the required braking force, the required torque is obtained.

3. The electric vehicle energy recovery control method according to claim 2, characterized in that: The step of determining a target deceleration of the electric vehicle based on a target energy recovery level of the electric vehicle comprises: Based on a preset correspondence between the energy recovery level and the deceleration, the deceleration corresponding to the target energy recovery level is determined and used as the target deceleration.

4. The electric vehicle energy recovery control method according to claim 1, characterized in that: The obtaining the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data includes: Determining a current driving condition of the electric vehicle based on the driving parameter data; If the current driving condition is a downhill condition, the required torque is obtained through a PID control method based on the current vehicle speed and the target vehicle speed of the electric vehicle.

5. The electric vehicle energy recovery control method according to any one of claims 1 to 4, characterized in that: The step of generating a torque request instruction based on the required torque and sending it to a motor controller and / or generating a deceleration request instruction and sending it to an electronic brake controller comprises: If the energy recovery of the electric vehicle is normal, a first allocable torque corresponding to the motor and a second allocable torque corresponding to the electronic brake are determined based on the available torque of the motor and the required torque, and the torque request instruction is generated based on the first allocable torque and sent to the motor controller, and the deceleration request instruction is generated based on the first deceleration corresponding to the second allocable torque and sent to the electronic brake controller; If the energy recovery of the electric vehicle fails, the deceleration request instruction is generated based on the second deceleration corresponding to the required torque and sent to the electronic brake controller.

6. The electric vehicle energy recovery control method according to claim 5, characterized in that: The determining, based on the available torque of the motor and the required torque, a first distributable torque corresponding to the motor and a second distributable torque corresponding to the electronic brake comprises: Based on the comparison result between the available torque and the required torque, when the available torque is greater than or equal to the required torque, the required torque is used as the first allocable torque; when the available torque is less than the required torque, the available torque is used as the first allocable torque, and the difference between the required torque and the available torque is used as the second allocable torque.

7. An electric vehicle energy recovery control device, characterized in that: include: A first data processing module is used to determine the energy recovery mode of the electric vehicle based on the first control instruction during the coasting process of the electric vehicle; wherein the energy recovery mode includes a manual mode and a constant speed mode; a second data processing module, configured to obtain a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle if the energy recovery mode is a manual mode; A third data processing module, configured to obtain the required torque based on the target vehicle speed of the electric vehicle and the driving parameter data if the energy recovery mode is a constant speed mode; A fourth data processing module, configured to generate a torque request instruction based on the required torque and send it to the motor controller and / or generate a deceleration request instruction and send it to the electronic brake controller; a fifth data processing module, for determining, based on the first control instruction sent by the cruise control device of the electric vehicle, that the cruise control function of the electric vehicle is not turned on; and if a second control instruction sent by the cruise control device is received, determining the target energy recovery level based on the second control instruction; if the second control instruction is not received, using a preset energy recovery level as the target energy recovery level.

8. An electric vehicle, characterized in that: include: The electric vehicle energy recovery control device as claimed in claim 7.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the electric vehicle energy recovery control method according to any one of claims 1 to 6 is implemented.

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