Braking energy recovery method, controller and computer-readable storage medium

Abstract

The embodiment of the present application provides a brake energy recovery method, controller and computer-readable storage medium, which belongs to the field of automobile control technology. The method includes: obtaining the current brake pedal opening and the preset brake pedal opening; obtaining the target electric brake torque according to the current brake pedal opening and the preset brake pedal opening; obtaining the actual electric brake torque, and determining the final recovery torque according to the actual electric brake torque and the target electric brake torque; adjusting the drive motor according to the final recovery torque to perform brake energy recovery. The embodiment of the present application can use the current brake pedal opening and the preset brake pedal opening to determine the target electric brake torque with higher brake energy recovery efficiency, and then use the target electric brake torque and the actual electric brake torque to determine the final recovery torque, and adjust the drive motor according to the final recovery torque, thereby improving the efficiency of brake energy recovery and increasing the cruising range of electric vehicles.

Description

Technical Field

[0001] The present application relates to the field of automobile control technology, and in particular to a braking energy recovery method, a controller, and a computer-readable storage medium. Background Art

[0002] At present, users are increasingly anxious about the range of new energy electric vehicles. For the same electric vehicle under a fixed driving range, that is, under the premise that the road conditions, total battery power and on-board high-voltage electrical appliances are determined, the main factors affecting the range include the driver's habits and the efficiency of the braking energy recovery strategy; because each user's driving habits are different, statistics are needed to conduct data research to identify the degree of influence, and it is also more subjective; the braking energy recovery efficiency is determined by the implementation strategy of braking energy recovery. Although it is controllable, designable and relatively objective, the existing braking energy recovery strategy is generally not perfect, and the recovery efficiency is low, it is difficult to better improve the battery range. Summary of the Invention

[0003] The main purpose of the embodiments of the present application is to propose a braking energy recovery method, a controller and a computer-readable storage medium, aiming to improve the braking energy recovery efficiency and increase the cruising range of electric vehicles.

[0004] To achieve the above-mentioned purpose, the first aspect of an embodiment of the present application proposes a braking energy recovery method, which is applied to an electric vehicle, wherein the electric vehicle includes a drive motor and a power battery, the drive motor is connected to the power battery, and when the electric vehicle brakes, the drive motor performs braking energy recovery to charge the power battery. The braking energy recovery method includes: obtaining the current brake pedal opening and the preset brake pedal opening; obtaining the target electric braking torque based on the current brake pedal opening and the preset brake pedal opening; obtaining the actual electric braking torque, and determining the final recovery torque based on the actual electric braking torque and the target electric braking torque; and adjusting the drive motor to perform braking energy recovery based on the final recovery torque.

[0005] In some embodiments, the target electric braking torque is obtained based on the current brake pedal opening and the preset brake pedal opening, including: when the current brake pedal opening is less than the preset brake pedal opening, obtaining the preset electric braking torque corresponding to the preset brake pedal opening; and calculating the target electric braking torque based on the current brake pedal opening, the preset brake pedal opening and the preset electric braking torque.

[0006] In some embodiments, obtaining the target electric braking torque based on the current brake pedal opening and the preset brake pedal opening also includes: when the current brake pedal opening is greater than or equal to the preset brake pedal opening, obtaining the preset electric braking torque corresponding to the preset brake pedal opening; and determining that the target electric braking torque is the preset electric braking torque.

[0007] In some embodiments, the electric vehicle includes an electric drive system consisting of the drive motor and a motor controller. Correspondingly, obtaining the actual electric braking torque includes: obtaining a first working state of the electric drive system; when the first working state is a normal working state, controlling the drive motor to enter a braking energy recovery mode; obtaining the current motor speed and output power generation of the drive motor; and obtaining the actual electric braking torque based on the current motor speed and the output power generation.

[0008] In some embodiments, obtaining the actual electric braking torque further includes: when the first working state is a fault state, controlling the drive motor to maintain operation in an original operating mode; and determining that the actual electric braking torque is zero.

[0009] In some embodiments, determining the final recovery torque based on the actual electric braking torque and the target electric braking torque includes one of the following: when the actual electric braking torque is greater than the target electric braking torque, determining the final recovery torque to be the target electric braking torque; when the actual electric braking torque is less than the target electric braking torque, determining the final recovery torque to be the actual electric braking torque; when the actual electric braking torque is equal to the target electric braking torque, determining the final recovery torque to be the actual electric braking torque or the target electric braking torque.

[0010] In some embodiments, the braking energy recovery method further includes: obtaining a first operating parameter of the electric vehicle; when the first operating parameter satisfies a first preset condition, determining that the target electric braking torque is zero and exiting the braking energy recovery mode; wherein, the first operating parameter includes the remaining power of the power battery, the current vehicle speed, the second working state of the high-voltage system and the third working state of the anti-lock braking system, and the first preset condition includes at least one of the following: the remaining power is greater than or equal to the first preset power; the current vehicle speed is less than the first preset speed; the second working state is a fault state; the third working state is a fault state.

[0011] In some embodiments, obtaining the target electric braking torque based on the current brake pedal opening and the preset brake pedal opening also includes: obtaining a second operating parameter of the electric vehicle; when the second operating parameter meets a second preset condition, obtaining the target electric braking torque based on the current brake pedal opening and the preset brake pedal opening; wherein, the second operating parameter includes the current vehicle speed, the accelerator pedal state, the brake pedal state, the gear parameter and the remaining power of the power battery, and the second preset condition includes: the current vehicle speed is greater than the second preset vehicle speed; the accelerator pedal state is not stepped on; the brake pedal state is stepped on; the gear parameter is forward gear or reverse gear; the remaining power of the power battery is less than the second preset power.

[0012] To achieve the above-mentioned purpose, the second aspect of an embodiment of the present application proposes a controller, which includes a memory and a processor, the memory stores a computer program, and the processor implements the method described in the first aspect when executing the computer program.

[0013] To achieve the above-mentioned purpose, the third aspect of the embodiments of the present application proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method described in the first aspect.

[0014] The present application proposes a brake energy recovery method, controller, and computer-readable storage medium. The method obtains a current brake pedal opening and a preset brake pedal opening, determines a target electric brake torque based on the current and preset brake pedal openings, obtains an actual electric brake torque, determines a final recovery torque based on the actual and target electric brake torques, and adjusts the drive motor based on the final recovery torque. The method utilizes the current and preset brake pedal openings to determine a target electric brake torque with higher brake energy recovery efficiency. The target and actual electric brake torques are then used to determine a final recovery torque. The drive motor is adjusted based on the final recovery torque, thereby improving the efficiency of brake energy recovery and, consequently, the range of the electric vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of a system architecture platform for executing a braking energy recovery method provided by one embodiment of the present invention;

[0016] Figure 2 This is a schematic structural diagram of an electric vehicle provided by one embodiment of the present invention;

[0017] Figure 3 This is a flow chart of a braking energy recovery method provided by one embodiment of the present invention;

[0018] Figure 4is a flow chart of a braking energy recovery method provided by another embodiment of the present invention;

[0019] Figure 5 is a flow chart of a braking energy recovery method provided by another embodiment of the present invention;

[0020] Figure 6 is a flow chart of a braking energy recovery method provided by another embodiment of the present invention;

[0021] Figure 7 is a flow chart of a braking energy recovery method provided by another embodiment of the present invention;

[0022] Figure 8 is a flow chart of a braking energy recovery method provided by another embodiment of the present invention;

[0023] Figure 9 is a flow chart of a braking energy recovery method provided by another embodiment of the present invention;

[0024] Figure 10 is a flow chart of a braking energy recovery method provided by another embodiment of the present invention;

[0025] Figure 11 is a flow chart of a braking energy recovery method provided by another embodiment of the present invention;

[0026] Figure 12 This is a flow chart of a braking energy recovery method provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0029] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0030] At present, users are increasingly anxious about the range of new energy electric vehicles. For the same electric vehicle under a fixed driving range, that is, under the premise that the road conditions, total battery power and on-board high-voltage electrical appliances are determined, the main factors affecting the range include the driver's habits and the efficiency of the braking energy recovery strategy; because each user's driving habits are different, statistics are needed to conduct data research to identify the degree of influence, and it is also more subjective; the braking energy recovery efficiency is determined by the implementation strategy of braking energy recovery. Although it is controllable, designable and relatively objective, the existing braking energy recovery strategy is generally not perfect, and the recovery efficiency is low, it is difficult to better improve the battery range.

[0031] Based on the above situation, an embodiment of the present invention proposes a brake energy recovery method, controller, and computer-readable storage medium. The method obtains a current brake pedal opening and a preset brake pedal opening, obtains a target electric brake torque based on the current brake pedal opening and the preset brake pedal opening, obtains an actual electric brake torque, determines a final recovery torque based on the actual electric brake torque and the target electric brake torque, and adjusts the drive motor based on the final recovery torque. The current brake pedal opening and the preset brake pedal opening are used to determine a target electric brake torque with higher brake energy recovery efficiency. The target electric brake torque and the actual electric brake torque are then used to determine the final recovery torque. The drive motor is adjusted based on the final recovery torque to improve the efficiency of brake energy recovery and thereby increase the range of the electric vehicle.

[0032] The embodiments of the present invention are further described below with reference to the accompanying drawings.

[0033] like Figure 1 As shown, Figure 1 Schematic diagram of a system architecture platform for executing a braking energy recovery method provided by an embodiment of the present invention.

[0034] The system architecture platform 100 of the embodiment of the present invention includes one or more processors 110 and a memory 120. Figure 1 In the figure, a processor 110 and a memory 120 are taken as an example.

[0035] The processor 110 and the memory 120 may be connected via a bus or other means. Figure 1 The bus connection is taken as an example.

[0036] The memory 120 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory 120 may include a high-speed random access memory and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 120 may optionally include a memory 120 remotely located relative to the processor 110, and these remote memories may be connected to the system architecture platform 100 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0037] Those skilled in the art will understand that Figure 1 The device structure shown in the figure does not constitute a limitation on the system architecture platform 100, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0038] like Figure 2 As shown, Figure 2 It is a structural schematic diagram of an electric vehicle provided by one embodiment of the present invention.

[0039] In an embodiment of the present invention, an electric vehicle includes a vehicle control unit (VCU), a motor control unit (MCU), a drive motor (E-MOTOR), a voltage converter (Direct Current-Direct Current, DC-DC), an accelerator pedal (AP), a brake pedal (BP), an electronic gear shift module (EGSM), an electronic stability controller (ESC), an electronic parking controller (EPB), a P-lock controller, a power battery pack, and a battery management system (BMS). The power battery pack is connected to the voltage converter and the motor controller respectively, the motor controller is connected to the drive motor and the vehicle control unit respectively, and the vehicle control unit is connected to the accelerator pedal, the brake pedal, the electronic gear shift module, the battery management system, the electronic stability controller, the electronic parking controller, and the P-lock controller.

[0040] like Figure 3 As shown, Figure 3This is a flowchart of a braking energy recovery method provided by an embodiment of the present invention. The braking energy recovery method provided by the embodiment of the present invention includes but is not limited to step S300, step S310, step S320 and step S330.

[0041] Step S300, obtaining the current brake pedal opening and the preset brake pedal opening;

[0042] Step S310, obtaining a target electric brake torque according to the current brake pedal opening and a preset brake pedal opening;

[0043] Step S320, obtaining the actual electric braking torque, and determining the final recovery torque according to the actual electric braking torque and the target electric braking torque;

[0044] Step S330: adjusting the drive motor to perform braking energy recovery according to the final recovery torque.

[0045] In an embodiment of the present invention, a current brake pedal opening and a preset brake pedal opening are obtained, a target electric brake torque is obtained based on the current brake pedal opening and the preset brake pedal opening, an actual electric brake torque is obtained, a final regenerative torque is determined based on the actual electric brake torque and the target electric brake torque, and a drive motor is adjusted based on the final regenerative torque to perform brake energy recovery. A target electric brake torque with a higher brake energy recovery efficiency is determined using the current brake pedal opening and the preset brake pedal opening, a final regenerative torque is then determined using the target electric brake torque and the actual electric brake torque, and the drive motor is adjusted based on the final regenerative torque to improve the efficiency of brake energy recovery and thereby increase the range of the electric vehicle.

[0046] like Figure 4 As shown, Figure 4 This is a flowchart of a braking energy recovery method provided by another embodiment of the present invention. The braking energy recovery method provided by this embodiment of the present invention includes but is not limited to step S400 and step S410.

[0047] Step S400: When the current brake pedal opening is less than a preset brake pedal opening, a preset electric brake torque corresponding to the preset brake pedal opening is obtained;

[0048] Step S410: Calculate the target electric brake torque based on the current brake pedal opening, the preset brake pedal opening, and the preset electric brake torque.

[0049] In an embodiment of the present invention, obtaining the target electric brake torque based on the current brake pedal opening and the preset brake pedal opening includes: when the current brake pedal opening is less than the preset brake pedal opening, obtaining the preset electric brake torque corresponding to the preset brake pedal opening, the preset electric brake torque being the maximum regenerative braking energy torque of the electric vehicle's motor. Calculating the target electric brake torque based on the current brake pedal opening, the preset brake pedal opening, and the preset electric brake torque,

[0050] For example, let the current brake pedal opening be S brk , the preset brake pedal opening is When the current brake pedal opening is less than the preset brake pedal opening, Get the preset brake pedal opening The corresponding preset electric braking torque T max , preset electric braking torque T max That is the maximum regenerative braking torque of the electric vehicle's motor. Get the target electric braking torque T brk The target electric brake torque is calculated based on the current brake pedal opening, the preset brake pedal opening, and the preset electric brake torque.

[0051] like Figure 5 As shown, Figure 5 This is a flow chart of a braking energy recovery method provided by another embodiment of the present invention. The braking energy recovery method provided by the embodiment of the present invention includes but is not limited to step S500 and step S510.

[0052] Step S500: When the current brake pedal opening is greater than or equal to a preset brake pedal opening, obtaining a preset electric brake torque corresponding to the preset brake pedal opening;

[0053] Step S510: determining that the target electric braking torque is a preset electric braking torque.

[0054] In an embodiment of the present invention, obtaining the target electric braking torque based on the current brake pedal opening and the preset brake pedal opening includes: when the current brake pedal opening is greater than or equal to the preset brake pedal opening, obtaining the preset electric braking torque corresponding to the preset brake pedal opening, the preset electric braking torque is the maximum recovered braking energy torque of the motor of the electric vehicle, and determining the target electric braking torque to be the preset electric braking torque.

[0055] For example, let the current brake pedal opening be S brk , the preset brake pedal opening is When the current brake pedal opening is less than the preset brake pedal opening, Get the preset brake pedal opening The corresponding preset electric braking torque T max, preset electric braking torque T max That is, the maximum regenerative braking energy torque of the electric vehicle's motor, and the target electric braking torque T is determined. brk is the preset electric braking torque T max , that is, T brk =T max .

[0056] like Figure 6 As shown, Figure 6 This is a flow chart of a braking energy recovery method provided by another embodiment of the present invention. The braking energy recovery method provided by the embodiment of the present invention includes but is not limited to steps S600 to S630.

[0057] Step S600, obtaining a first working state of the electric drive system;

[0058] Step S610: When the first working state is the normal working state, controlling the drive motor to enter a braking energy recovery mode;

[0059] Step S620, obtaining the current motor speed and output power of the drive motor;

[0060] Step S630: Obtain the actual electric braking torque according to the current motor speed and output power.

[0061] In an embodiment of the present invention, an electric vehicle includes an electric drive system composed of a drive motor and a motor controller, and a first working state of the electric drive system is obtained. When the first working state is a normal working state, that is, the electric drive system composed of the drive motor and the motor controller can work normally, the drive motor is controlled to enter a braking energy recovery mode, and the current motor speed and output power of the drive motor are obtained. The actual electric braking torque is obtained according to the current motor speed and output power. For example, after the drive motor enters the braking energy recovery mode, due to the output power Among them, T is the driving motor torque, N is the current speed of the driving motor, and the formula is: The variable torque of the formula can be obtained That is, the current motor speed and output power of the drive motor are obtained, and the actual electric braking torque is obtained according to the current motor speed and output power. The actual electric braking torque is the maximum electric braking torque that can be used for braking energy recovery under the current operation of the drive motor.

[0062] like Figure 7 As shown, Figure 7 This is a flowchart of a braking energy recovery method provided by another embodiment of the present invention. The braking energy recovery method provided by the embodiment of the present invention includes but is not limited to step S700 and step S710.

[0063] Step S700: When the first working state is a fault state, controlling the drive motor to maintain operation in the original operating mode;

[0064] Step S710: Determine whether the actual electric braking torque is zero.

[0065] In an embodiment of the present invention, an electric vehicle includes an electric drive system consisting of a drive motor and a motor controller, and a first working state of the electric drive system is obtained. When the first working state is a fault state, that is, the drive motor fails and / or the motor controller fails, the drive motor is controlled to maintain operation in the original operating mode and does not enter the braking energy recovery mode, and the actual electric braking torque is determined to be zero.

[0066] like Figure 8 、 Figure 9 and Figure 10 As shown, Figure 8 is a flow chart of a braking energy recovery method provided by another embodiment of the present invention. The braking energy recovery method provided by the embodiment of the present invention includes but is not limited to step S800; Figure 9 is a flow chart of a braking energy recovery method provided by another embodiment of the present invention. The braking energy recovery method provided by the embodiment of the present invention includes but is not limited to step S900; Figure 10 This is a flow chart of a braking energy recovery method provided by another embodiment of the present invention. The braking energy recovery method provided by the embodiment of the present invention includes but is not limited to step S1000.

[0067] Step S800: When the actual electric braking torque is greater than the target electric braking torque, the final recovery torque is determined to be the target electric braking torque;

[0068] Step S900: when the actual electric braking torque is less than the target electric braking torque, determining the final recovery torque to be the actual electric braking torque;

[0069] Step S1000 : When the actual electric braking torque is equal to the target electric braking torque, the final recovery torque is determined to be the actual electric braking torque or the target electric braking torque.

[0070] In the embodiment of the present invention, the final recovery torque is determined according to the actual electric braking torque and the target electric braking torque. The actual electric braking torque is T feedback , the target electric braking torque is T brk , the final recovery torque is T actual When the actual electric braking torque is greater than the target electric braking torque, that is, T feedback >T brk , determine the final recovery torque as the target electric braking torque, that is, T actual =T brk ; When the actual electric braking torque is less than the target electric braking torque, that is, T feedback <T brk, determine the final recovery torque as the target electric braking torque, that is, T actual =T feedback ; When the actual electric braking torque is equal to the target electric braking torque, that is, T feedback =T brk , determine the final recovery torque as the actual electric braking torque or the target electric braking torque, that is, T actual =T brk or T actual =T feedback .

[0071] In addition, it should be noted that the final recovery torque can also be determined by taking the smaller value between the actual electric braking torque and the target electric braking torque, that is, T actual =min{T brk , T feedback When the actual electric braking torque is greater than the target electric braking torque, that is, T feedback >T brk , then the target electric braking torque T brk The smaller value between the two is used to determine the final recovery torque as the target electric braking torque, that is, T actual =T brk ; When the actual electric braking torque is less than the target electric braking torque, that is, T feedback <T brk , then the actual electric braking torque T feedback The smaller value between the two determines the final recovery torque to be the actual electric braking torque, that is, T actual =T feedback .

[0072] like Figure 11 As shown, Figure 11 This is a flowchart of a braking energy recovery method provided by another embodiment of the present invention. The braking energy recovery method provided by the embodiment of the present invention includes but is not limited to step S1100 and step S1110.

[0073] Step S1100, obtaining a first operating parameter of the electric vehicle;

[0074] Step S1110: When the first operating parameter satisfies the first preset condition, the target electric braking torque is determined to be zero and the braking energy recovery mode is exited.

[0075] In an embodiment of the present invention, a first operating parameter of the electric vehicle is obtained, wherein the first operating parameter includes the remaining power of the power battery, the current vehicle speed, the second working state of the high-voltage system and the third working state of the anti-lock braking system. When the first operating parameter meets the first preset condition, the target electric braking torque is determined to be zero and the braking energy recovery mode is exited. The first preset condition includes that the remaining power of the power battery is greater than or equal to the first preset power, the current vehicle speed is less than the first preset speed, the second working state of the high-voltage system is a fault state, and the third working state of the anti-lock braking system is a fault state. When the first operating parameter of the electric vehicle meets the first preset condition, it indicates that a fault has occurred in the operation of the electric vehicle, and there are certain safety hazards in continuing to perform braking energy recovery, or the remaining power of the battery is sufficient and no braking energy recovery is required, or the vehicle speed is low and braking energy recovery cannot be performed. In these cases, the target electric braking torque is determined to be zero and the braking energy recovery mode is exited.

[0076] For example, when the first preset power is set to 95% power, if the current remaining power of the electric vehicle is 98%, since the remaining power of 98% is higher than the first preset power setting of 95%, it indicates that the current power of the vehicle is sufficient, then the embodiment of the present application may not require braking energy recovery. In this regard, the embodiment of the present application can set the target electric braking torque to zero and exit the braking energy recovery mode.

[0077] Alternatively, when the first preset vehicle speed is set to 10 km / h, if the current vehicle speed is 5 km / h, it is difficult to perform brake energy recovery or the effect of brake energy recovery is extremely low because the vehicle speed is too low. Therefore, if the current vehicle speed is less than 10 km / h, the embodiment of the present application can also set the target electric braking torque to zero and exit the brake energy recovery mode.

[0078] like Figure 12 As shown, Figure 12 This is a flow chart of a braking energy recovery method provided by another embodiment of the present invention. The braking energy recovery method provided by the embodiment of the present invention includes but is not limited to step S1200 and step S1210.

[0079] Step S1200, obtaining a second operating parameter of the electric vehicle;

[0080] Step S1210: When the second operating parameter satisfies the second preset condition, the target electric brake torque is obtained according to the current brake pedal opening and the preset brake pedal opening.

[0081] In an embodiment of the present invention, obtaining the target electric brake torque based on the current brake pedal opening and the preset brake pedal opening includes: obtaining a second operating parameter of the electric vehicle, the second operating parameter including the current vehicle speed, the accelerator pedal state, the brake pedal state, the gear parameter and the remaining power of the power battery. When the second operating parameter meets the second preset condition, the target electric brake torque is obtained based on the current brake pedal opening and the preset brake pedal opening. The second preset condition includes that the current vehicle speed is greater than the second preset vehicle speed; the accelerator pedal state is detected to be in an undepressed state, that is, the electric vehicle is not accelerating; the brake pedal state is detected to be in a stepped state, that is, the electric vehicle is braking; the gear parameter is a forward gear or a reverse gear; and the remaining power of the power battery is less than the second preset power. By obtaining the second operating parameter of the electric vehicle and only when the second operating parameter simultaneously meets the second preset condition, the target electric brake torque is obtained based on the current brake pedal opening and the preset brake pedal opening, so as to fully judge the operating action and overall situation of the electric vehicle, improve the accuracy of entering brake energy recovery, and improve the efficiency of brake energy recovery.

[0082] For example, during normal driving of an electric vehicle, the vehicle controller needs to simultaneously determine whether the following signals meet the following conditions: first, whether the current vehicle speed represented by the speed signal sent by the electronic stability controller is greater than or equal to 10 km / h; second, whether the accelerator pedal is not depressed, that is, whether the accelerator pedal valid signal is 0; third, whether the brake pedal is depressed, that is, whether the brake pedal valid signal is 1; fourth, whether the gear signal sent by the electronic gear controller is D gear or R gear, that is, whether the EGSM is D or R; fifth, whether the remaining power of the power battery is less than 95%. When all five of the above conditions are met at the same time, the embodiment of the present application can respond to brake energy recovery, thereby obtaining the target electric brake torque based on the current brake pedal opening and the preset brake pedal opening.

[0083] In addition, an embodiment of the present invention provides a controller, which includes: a processor, a memory, and a computer program stored in the memory and executable on the processor.

[0084] The processor and the memory may be connected via a bus or other means.

[0085] It should be noted that the controller in this embodiment may include: Figure 1 The processor and memory in the illustrated embodiment both belong to the same inventive concept, and therefore both have the same implementation principles and beneficial effects, which will not be described in detail here.

[0086] The non-transient software program and instructions required to implement the braking energy recovery method of the above embodiment are stored in the memory, and when executed by the processor, the braking energy recovery method of the above embodiment is executed.

[0087] It is worth noting that since the controller of the embodiment of the present invention can execute the braking energy recovery method of the above embodiment, the specific implementation method and technical effects of the controller of the embodiment of the present invention can refer to the specific implementation method and technical effects of the braking energy recovery method of any of the above embodiments.

[0088] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned page resource loading method is implemented.

[0089] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0090] The present application proposes a brake energy recovery method, controller, and computer-readable storage medium. The method obtains a current brake pedal opening and a preset brake pedal opening, determines a target electric brake torque based on the current and preset brake pedal openings, obtains an actual electric brake torque, determines a final recovery torque based on the actual and target electric brake torques, and adjusts the drive motor based on the final recovery torque. The method utilizes the current and preset brake pedal openings to determine a target electric brake torque with higher brake energy recovery efficiency. The target and actual electric brake torques are then used to determine a final recovery torque. The drive motor is adjusted based on the final recovery torque, thereby improving the efficiency of brake energy recovery and, consequently, the range of the electric vehicle.

[0091] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0092] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0093] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0094] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0095] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0096] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0098] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0099] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0100] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, 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.

[0101] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A braking energy recovery method, characterized in that: Applied to an electric vehicle, the electric vehicle includes a drive motor and a power battery, the drive motor is connected to the power battery, and when the electric vehicle brakes, the drive motor recovers braking energy to charge the power battery, the braking energy recovery method includes: Get the current brake pedal opening and the preset brake pedal opening; obtaining a target electric brake torque according to the current brake pedal opening and the preset brake pedal opening; Acquiring an actual electric braking torque, and determining a final recovery torque according to the actual electric braking torque and the target electric braking torque; adjusting the driving motor to perform braking energy recovery according to the final recovery torque; The step of obtaining the target electric brake torque according to the current brake pedal opening and the preset brake pedal opening includes: When the current brake pedal opening is less than the preset brake pedal opening, obtaining a preset electric brake torque corresponding to the preset brake pedal opening; The target electric brake torque is calculated according to the current brake pedal opening, the preset brake pedal opening, and the preset electric brake torque.

2. The braking energy recovery method according to claim 1, characterized in that: The step of obtaining the target electric brake torque according to the current brake pedal opening and the preset brake pedal opening further includes: When the current brake pedal opening is greater than or equal to the preset brake pedal opening, obtaining the preset electric brake torque corresponding to the preset brake pedal opening; The target electric braking torque is determined to be the preset electric braking torque.

3. The braking energy recovery method according to claim 1, characterized in that: The electric vehicle includes an electric drive system composed of the drive motor and a motor controller. Correspondingly, obtaining the actual electric braking torque includes: Acquiring a first operating state of the electric drive system; When the first working state is a normal working state, controlling the drive motor to enter a braking energy recovery mode; Obtaining the current motor speed and output power of the drive motor; The actual electric braking torque is obtained according to the current motor speed and the output power generation power.

4. The braking energy recovery method according to claim 3, characterized in that: The obtaining of the actual electric braking torque further comprises: When the first working state is a fault state, controlling the drive motor to maintain operation in the original operation mode; The actual electric braking torque is determined to be zero.

5. The braking energy recovery method according to claim 1, characterized in that: The determining of the final recovery torque according to the actual electric braking torque and the target electric braking torque includes one of the following: When the actual electric braking torque is greater than the target electric braking torque, determining the final recovery torque to be the target electric braking torque; When the actual electric braking torque is less than the target electric braking torque, determining the final recovery torque to be the actual electric braking torque; When the actual electric braking torque is equal to the target electric braking torque, the final recovery torque is determined to be the actual electric braking torque or the target electric braking torque.

6. The braking energy recovery method according to claim 1, characterized in that: The braking energy recovery method further includes: Acquiring a first operating parameter of the electric vehicle; When the first operating parameter satisfies a first preset condition, determining that the target electric braking torque is zero and exiting the braking energy recovery mode; The first operating parameter includes the remaining power of the power battery, the second operating state of the high-voltage system, the third operating state of the anti-lock braking system, and the current vehicle speed, and the first preset condition includes at least one of the following: The remaining power is greater than or equal to a first preset power; The current vehicle speed is less than a first preset vehicle speed; The second working state of the high-voltage system is a fault state; The third working state of the anti-lock braking system is a fault state.

7. The braking energy recovery method according to claim 1, characterized in that: The obtaining of the target electric brake torque according to the current brake pedal opening and the preset brake pedal opening further includes: Acquiring a second operating parameter of the electric vehicle; When the second operating parameter satisfies a second preset condition, obtaining a target electric brake torque according to the current brake pedal opening and the preset brake pedal opening; Among them, the second operating parameters include the current vehicle speed, the accelerator pedal state, the brake pedal state, the gear parameter and the remaining power of the power battery, and the second preset conditions include: the current vehicle speed is greater than the second preset vehicle speed; the accelerator pedal state is not stepped on; the brake pedal state is stepped on; the gear parameter is forward gear or reverse gear; the remaining power of the power battery is less than the second preset power.

8. A controller, characterized in that: The controller includes a memory and a processor, the memory stores a computer program, and the processor implements the braking energy recovery method according to any one of claims 1 to 7 when executing the computer program.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the braking energy recovery method according to any one of claims 1 to 7 is implemented.

Images