Coasting energy recovery method and device, electronic equipment and storage medium

Abstract

The application relates to a coasting energy recovery method and device, electronic equipment and a storage medium. When a vehicle is in a coasting state, surrounding environment information and a current vehicle speed of the vehicle are acquired (S201). The surrounding environment information comprises at least one of traffic light information, obstacle information and road information. A first acceleration corresponding to the current vehicle speed is determined from a correspondence relationship between the acquired vehicle speed and acceleration (S203). A second acceleration set is determined according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed (S205). The second acceleration in the second acceleration set and the first acceleration are both less than or equal to zero. A target acceleration is determined from the first acceleration and the second acceleration set (S207). A motor recovery torque value is determined based on the target acceleration (S209). The motor is controlled to generate electricity according to the motor recovery torque value, and the electricity generated by the motor is stored in a battery of the vehicle (S211). In this way, the energy use efficiency can be improved, the intelligent level of the vehicle can be improved, and the driving fatigue can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of new energy vehicles, and in particular to a coasting energy recovery method and device, an electronic device, and a storage medium. BACKGROUND

[0002] Vehicles with electric drive capability on the current market generally have coasting energy recovery function. The main performance of the coasting energy recovery function is that when the driver does not step on the accelerator and brake, the electric motor outputs negative torque to generate electricity, and the generated electricity is stored in the battery.

[0003] The common implementation of the coasting energy recovery function of vehicles on the current market is to divide the coasting energy recovery into three recovery levels and adjust and switch through a switch. The form of the adjustment switch includes a soft switch and a hardware switch; in the main control unit, for different energy recovery levels, the motor recovery torque parameters are written in the fixed coordinates of the vehicle speed. When the coasting energy recovery function is activated, the main control unit obtains the motor recovery torque through table lookup based on the currently activated recovery level and the vehicle speed.

[0004] The coasting energy recovery function based on fixed parameters in the prior art cannot achieve the best energy consumption level by obtaining the motor recovery torque through table lookup. Some skilled drivers can improve the energy use efficiency through the recovery level adjustment function, but the function convenience is poor and the driving operation is complicated, which will cause driving fatigue. SUMMARY

[0005] The embodiments of the present application provide a coasting energy recovery method, device, electronic device, and storage medium, which can improve the energy use efficiency and improve the intelligent level of the vehicle, thereby reducing driving fatigue.

[0006] In one aspect, the embodiments of the present application provide a coasting energy recovery method, comprising:

[0007] When the vehicle is in a coasting state, the surrounding environment information and the current vehicle speed of the vehicle are obtained; the surrounding environment information includes at least one of traffic light information, obstacle information, and road information;

[0008] A first acceleration corresponding to the current vehicle speed is determined from the obtained vehicle speed and acceleration corresponding relationship;

[0009] A second acceleration set is determined according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed; the second acceleration and the first acceleration in the second acceleration set are both less than or equal to zero;

[0010] A target acceleration is determined from the first acceleration and the second acceleration set;

[0011] A motor recovery torque value is determined based on the target acceleration;

[0012] The motor generates electricity according to the motor recovery torque value, and the electricity generated by the motor is stored in the battery of the vehicle.

[0013] Optionally, the second acceleration set includes a third acceleration; the traffic light information includes a traffic light position, a current traffic light state, and a green light time; the green light time includes a current green light remaining time or a distance to a next green light start time; the road information includes a current road limit speed; and the third acceleration is determined according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed, including: if the current vehicle speed is less than or equal to a preset vehicle speed, the third acceleration is determined to be zero; or if the current vehicle speed is greater than the preset vehicle speed, a first relative distance is determined according to the traffic light position and the obtained current vehicle position information; if the current traffic light state is a green light state, a drivable distance is determined according to the current vehicle speed, the current road limit speed, and the current green light remaining time; if the drivable distance is greater than or equal to the first relative distance, the third acceleration is determined to be zero; or if the drivable distance is less than the first relative distance, the third acceleration is calculated according to the first relative distance and the current vehicle speed.

[0014] Optionally, the drivable distance is determined according to the current vehicle speed, the current road limit speed, and the current green light remaining time, including: if the current vehicle speed is greater than or equal to the current road limit speed, the drivable distance is calculated according to the current road limit speed and the current green light remaining time; or if the current vehicle speed is less than the current road limit speed, the drivable distance is calculated according to the current vehicle speed, the current road limit speed, the current green light remaining time, and the obtained fourth acceleration; and the fourth acceleration is greater than zero.

[0015] Optionally, the third acceleration is determined according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed, and further including: if the current traffic light state is a non-green light state, a first target vehicle speed is determined according to the current vehicle speed, the distance to the next green light start time, and the first relative distance; if the first target vehicle speed is less than or equal to zero, the third acceleration is calculated according to the first relative distance and the current vehicle speed; or if the first target vehicle speed is greater than zero and less than the current vehicle speed, the third acceleration is calculated according to the distance to the next green light start time, the first relative distance, and the current vehicle speed; or if the first target vehicle speed is greater than or equal to the current vehicle speed, the third acceleration is determined to be zero.

[0016] Optionally, the second acceleration set comprises a fifth acceleration; the obstacle information comprises an obstacle position, an obstacle speed and an obstacle category; the fifth acceleration is determined according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed, comprising: determining a safety distance according to the obstacle speed and the obstacle category; determining a second relative distance according to the obstacle position and the obtained current vehicle position information; if the second relative distance is greater than the safety distance and the current vehicle speed is less than the obstacle speed, determining the fifth acceleration as zero; or; if the second relative distance is less than or equal to the safety distance or the current vehicle speed is greater than or equal to the obstacle speed, determining the fifth acceleration according to the obstacle speed, the current vehicle speed, the safety distance and the second relative distance.

[0017] Optionally, the second acceleration set further comprises a sixth acceleration; the sixth acceleration is determined according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed, comprising: if the current vehicle speed is greater than the current road limit speed, determining the sixth acceleration according to the current vehicle speed and a difference between the current vehicle speed and the current road limit speed; or; if the current vehicle speed is less than or equal to the current road limit speed, determining the sixth acceleration as zero.

[0018] Optionally, the second acceleration set comprises a seventh acceleration; the road information comprises a to-be-passed road condition type and a to-be-passed road condition position; the to-be-passed road condition type comprises any one of an intersection, a curve and a pedestrian crossing; the seventh acceleration is determined according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed, comprising: obtaining a second target vehicle speed corresponding to the intersection or the curve or the pedestrian crossing; if the current vehicle speed is less than or equal to the second target vehicle speed, determining the seventh acceleration as zero; or; if the current vehicle speed is greater than the second target vehicle speed, determining a third relative distance according to the to-be-passed road condition position and the obtained current vehicle position; calculating the seventh acceleration according to the third relative distance, the current vehicle speed and the second target vehicle speed.

[0019] Optionally, the target acceleration is determined from the first acceleration and the second acceleration set, comprising: if the first acceleration is less than any second acceleration in the second acceleration set, determining the first acceleration as the target acceleration; or; if at least one second acceleration in the second acceleration set is less than the first acceleration, determining the second acceleration with the smallest value in the second acceleration set as the target acceleration.

[0020] Optionally, after the target acceleration is determined from the first acceleration and the second acceleration set, before the motor recovery torque value is determined based on the target acceleration, further comprising: obtaining a slope correction function; performing slope correction on the target acceleration to obtain a slope-corrected target acceleration.

[0021] Optionally, the motor recovery torque value is determined based on the target acceleration, including: determining a wheel end braking force of the motor according to the target acceleration and the obtained vehicle flat road sliding resistance, vehicle mass, current slope angle and current road adhesion force extreme value; and determining the motor recovery torque value according to the wheel end braking force and the obtained transmission ratio from the motor to the tire and tire radius.

[0022] Optionally, the surrounding environment information and the current vehicle speed of the vehicle are obtained by at least one of vehicle networking technology, a radar sensor, a camera and a high-precision map.

[0023] In another aspect, the embodiment of the present application provides a coasting energy recovery device, including:

[0024] The obtaining module is configured to obtain surrounding environment information and a current vehicle speed of the vehicle when the vehicle is in a coasting state, and the surrounding environment information includes at least one of traffic light information, obstacle information and road information.

[0025] The first determining module is configured to determine a first acceleration corresponding to the current vehicle speed from the obtained vehicle speed and acceleration corresponding relationship.

[0026] The second determining module is configured to determine a second acceleration set according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed, and the second acceleration and the first acceleration in the second acceleration set are both less than or equal to zero.

[0027] The third determining module is configured to determine a target acceleration from the first acceleration and the second acceleration set.

[0028] The fourth determining module is configured to determine a motor recovery torque value based on the target acceleration.

[0029] The control module is configured to control the motor to generate electricity according to the motor recovery torque value, and store the electrical energy generated by the motor in a battery of the vehicle.

[0030] In another aspect, the embodiment of the present application provides an electronic device, which includes a processor and a memory, and the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the coasting energy recovery method.

[0031] In another aspect, the embodiment of the present application provides a computer storage medium, and the storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the coasting energy recovery method.

[0032] The coasting energy recovery method, device, electronic device and storage medium provided by the embodiment of the present application have the following beneficial effects:

[0033] When the vehicle is in the coasting state, surrounding environment information and a current vehicle speed of the vehicle are acquired; the surrounding environment information includes at least one of traffic light information, obstacle information and road information; a first acceleration corresponding to the current vehicle speed is determined from the acquired vehicle speed and acceleration corresponding relationship; a second acceleration set is determined according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed; the second acceleration in the second acceleration set and the first acceleration are both less than or equal to zero; a target acceleration is determined from the first acceleration and the second acceleration set; a motor recovery torque value is determined based on the target acceleration; the motor is controlled to generate electricity according to the motor recovery torque value, and the electricity generated by the motor is stored in a battery of the vehicle. The application can make the deceleration generated by energy recovery meet the expectation of the driver by analyzing the driving environment of the current vehicle, predicting the deceleration intention of the driver and adjusting the size of the motor recovery torque in real time, thereby improving the energy use efficiency; at the same time, the driver's brake operation can be maximized to improve the intelligent level of the vehicle, thereby reducing driving fatigue. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0036] Figure 2 is a flowchart of a coasting energy recovery method provided by an embodiment of the present application;

[0037] Figure 3 is a schematic diagram of a vehicle speed and acceleration corresponding relationship provided by an embodiment of the present application;

[0038] Figure 4 is a method flowchart for determining a third acceleration provided by an embodiment of the present application;

[0039] Figure 5 is a method flowchart for determining a fifth acceleration provided by an embodiment of the present application;

[0040] Figure 6 is a structural schematic diagram of a coasting energy recovery device provided by an embodiment of the present application;

[0041] Figure 7 is a hardware structure block diagram of a server of a coasting energy recovery method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0043] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or server including a series of steps or units does not necessarily have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product, or device.

[0044] The current traditional coasting energy recovery function is a simple closed system, which is based on expert experience to calibrate the size of the recovery torque, cannot identify the real demand of the driver, the function is single, and cannot realize the theoretical optimal energy management.

[0045] Considering the mechanism of coasting energy recovery, the kinetic energy of the vehicle is converted into electric energy, and there is an efficiency loss in the energy conversion process, including motor efficiency loss and battery charging efficiency loss; when the electric energy is converted into kinetic energy in the driving process again, there is also motor efficiency loss and battery discharge efficiency loss. For the whole process of energy recovery and release, according to the average efficiency of the motor and the battery in the actual working condition, the actual loss of kinetic energy is about 17%; therefore, from the perspective of energy use efficiency, the optimal coasting energy control mode should be: when the driver has no brake deceleration intention, the vehicle should be in free coasting state, so that the kinetic energy is completely used to overcome the vehicle resistance, and the longest driving distance can be obtained; when the driver has brake deceleration intention, the energy recovery function should be activated, so that the motor generates electricity instead of brake disc braking force, and the friction loss of the brake disc is reduced as much as possible.

[0046] Based on this, the embodiment of the present application provides a coasting energy recovery method. Please refer to Figure 1 , Figure 1is a schematic diagram of an application scenario provided by an embodiment of the present application, including a vehicle 101, the vehicle 101 including a coasting energy recovery control module 1011; when the vehicle 101 is in a coasting state, the coasting energy recovery control module 1011 analyzes the driving environment of the current vehicle, predicts the deceleration intention of the driver, activates the energy recovery function, controls the motor to generate electricity, and uses the recovered electric energy to replace the brake deceleration mode.

[0047] In the embodiment of the present application, when the vehicle 101 is in a coasting state, the coasting energy recovery control module 1011 obtains the surrounding environment information and the current speed of the vehicle 101; the surrounding environment information includes at least one of traffic light information, obstacle information and road information; secondly, the coasting energy recovery control module 1011 determines the first acceleration corresponding to the current speed from the obtained speed and acceleration corresponding relationship; thirdly, the coasting energy recovery control module 1011 determines a second acceleration set according to the traffic light information and / or the obstacle information and / or the road information and the current speed; the second acceleration and the first acceleration in the second acceleration set are both less than or equal to zero; fourthly, the coasting energy recovery control module 1011 determines a target acceleration from the first acceleration and the second acceleration set, and determines a motor recovery torque value based on the target acceleration; finally, the coasting energy recovery control module 1011 controls the motor to generate electricity according to the motor recovery torque value, and stores the electric energy generated by the motor in the battery of the vehicle. In this way, the present application takes the external driving environment as the basis to judge the deceleration intention of the driver, so as to control the motor to generate electricity torque, and actively achieve the deceleration that meets the expectation of the driver, on the one hand, the driving comfort can be improved, the driving fatigue can be reduced, and the car can understand the people better; on the other hand, the participation of the braking system in the deceleration process can be maximized, so as to improve the energy use efficiency.

[0048] In the embodiment of the present application, the coasting energy recovery control module 1011 is arranged in the vehicle 101, the coasting energy recovery control module 1011 can be composed of various types of controllers existing in the vehicle 101, and cooperate to realize the above functions; or relevant hardware devices can be added to the vehicle 101 to realize the above functions; therefore, the subject of the execution of the method embodiment of the present application is mainly the vehicle 101.

[0049] The specific embodiments of a coasting energy recovery method of the present application are introduced below, Figure 2is a flowchart of a coasting energy recovery method provided by an embodiment of the present application. The present specification provides method operation steps as embodiments or flowcharts, but more or fewer operation steps can be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is only one of the many execution orders of the steps, and does not represent the only execution order. In actual system or server product execution, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment). Specifically, as shown in the flowchart, the method can include: Figure 2

[0050] S201: When the vehicle is in a coasting state, acquiring surrounding environment information and a current vehicle speed of the vehicle; the surrounding environment information includes at least one of traffic light information, obstacle information and road information.

[0051] In the embodiments of the present application, when the driver does not step on the accelerator and the brake, it is considered that the vehicle is in a coasting state; at this time, the surrounding environment information and the current vehicle speed of the vehicle are acquired; wherein the surrounding environment information can include one or more of traffic light information, obstacle information and road information.

[0052] In an optional implementation of acquiring the surrounding environment information and the current vehicle speed of the vehicle, at least one of the following is used: vehicle to everything (V2X) technology, a radar sensor installed on the vehicle, a camera and a high-precision map.

[0053] Specifically, through the vehicle to everything (V2X) technology, the vehicle can establish a connection with any object, mainly including vehicle to vehicle (V2V), vehicle to infrastructure (V2I), vehicle to people (V2P) and vehicle to network (V2N). During vehicle driving, through vehicle to vehicle communication, vehicle to surrounding infrastructure communication, etc., the vehicle distance and the state of the front traffic light can be collected, so as to facilitate the vehicle to make operation decisions in advance; or the surrounding environment information is collected through one or more of the radar sensor, the camera and the high-precision map installed on the vehicle, and data fusion, analysis and decision are made according to the collected information; the current vehicle speed can also be directly obtained from the power system of the vehicle.

[0054] S203: determining a first acceleration corresponding to the current vehicle speed from the acquired vehicle speed and acceleration correspondence.

[0055] ​In the embodiments of the present application, the vehicle speed and acceleration corresponding relationship refers to a free sliding vehicle speed and acceleration relationship curve obtained according to test evaluation; that is, when the vehicle is in a sliding state, the size of the first acceleration can be directly determined according to the current vehicle speed table; here, the first acceleration is less than zero.

[0056] In an optional embodiment, as shown in Figure 3 , Figure 3 is a schematic diagram of a vehicle speed and acceleration corresponding relationship provided by the embodiments of the present application, Figure 3 The parameters in the above formula can be obtained according to the results of actual tests.

[0057] S205: determining a second acceleration set according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed; the second acceleration and the first acceleration in the second acceleration set are both less than or equal to zero.

[0058] In the embodiments of the present application, one or more second accelerations can be calculated according to the obtained traffic light information and / or obstacle information and / or road information and the current vehicle speed, and a second acceleration set is obtained; here, the size of the second acceleration in the second acceleration set is also less than zero; it should be noted that, since the application scenario of the present application is limited to the vehicle sliding state, the acceleration described in the present application can also be described as deceleration, and the following description as deceleration is for better expression of the driver's intention.

[0059] In the embodiments of the present application, considering that the vehicle may encounter traffic lights when coasting, the driver's deceleration intention is determined according to the acquired traffic light information and road information, and the deceleration under the working condition is calculated, so as to realize intelligent adjustment of the energy recovery intensity. Specifically, for various possible situations of traffic lights, the driver's deceleration intention under each situation is determined and the corresponding deceleration is calculated, including: (1) the front traffic light is in a green light state and the time is relatively long, the vehicle can pass through the intersection in a free coasting state, at this time it is determined that the driver has no deceleration intention, and the coasting energy recovery torque can be reduced or cancelled; (2) the front traffic light is in a green light state but the time is relatively short, the vehicle cannot pass through the intersection in a free coasting state, but can pass through the intersection by accelerating, at this time it is determined that the driver has no obvious deceleration intention, and the coasting energy recovery torque can be reduced or cancelled; if the driver has no acceleration behavior all the time, the time will gradually shorten as the red and green light time gradually shortens, and the vehicle will enter the next scene; (3) the front traffic light is in a green light state but the time is very short, the vehicle cannot pass through the intersection within the speed limit, at this time it is determined that the driver has obvious deceleration intention, and a reasonable deceleration is calculated to reach the crawling speed near the traffic light; (4) the front traffic light is in a non-green light state and the time is very long, at this time it is determined that the driver has obvious deceleration intention, and a reasonable deceleration curve is calculated to reach the crawling speed near the traffic light; (5) the front traffic light is in a non-green light state but the time is relatively short or very short, at this time it is determined that the driver has slight deceleration intention, and the best deceleration curve is calculated according to the time and distance of the green light to make the vehicle reach the green light.

[0060] Based on the various working conditions and judgment logic introduced above, in an optional implementation, the second acceleration set includes a third acceleration, which is the final determined deceleration when the driver has deceleration intention in the last paragraph; the traffic light information includes traffic light position, current traffic light state and green light time; the green light time includes current green light remaining time or distance to the next green light start time; the road information includes the current road limit speed.

[0061] The following will specifically introduce an optional implementation of determining the third acceleration according to the traffic light information and / or obstacle information and / or road information, and the current vehicle speed. As shown in Figure 4 The method for determining the third acceleration can include:

[0062] S401: Determine whether the current vehicle speed is less than or equal to a preset vehicle speed. If the current vehicle speed is less than or equal to the preset vehicle speed, go to step S403; otherwise, go to step S405.

[0063] S403: Determine that the third acceleration is zero, and the flow ends.

[0064] Specifically, the preset speed can be set as 7 kilometers per hour (unit: kph). If the current vehicle speed is less than or equal to the preset speed, it means that the current vehicle speed is already very low, and there is no need to request to slow down at this time.

[0065] S405: Determine a first relative distance according to the traffic light position and the obtained current vehicle position information.

[0066] Specifically, the traffic light position is determined by analyzing the obtained V2X message information, and the position information of the current vehicle is obtained according to the high-precision map or the vehicle positioning system, so as to determine the first relative distance between the vehicle and the traffic light.

[0067] S407: Determine whether the current traffic light state is a green light state. If the current traffic light state is a green light state, go to step S409; otherwise, go to step S411.

[0068] S409: Determine a drivable distance according to the current vehicle speed, the current road limit speed, and the current green light remaining time, and go to step S4091.

[0069] Specifically, if the current traffic light state is a green light state, the current road limit speed and the current green light remaining time are determined by analyzing the obtained V2X message information. Step S409 can specifically include:

[0070] If the current vehicle speed is greater than or equal to the current road limit speed, the drivable distance is calculated according to the current road limit speed and the current green light remaining time, that is, the farthest distance that can be traveled at the maximum drivable speed within the current green light remaining time, and the farthest distance is the drivable distance. For example, the drivable distance can be calculated according to formula (1):

[0071] L = V lim t1 (1)

[0072] Wherein, L represents the drivable distance; V lim represents the current road limit speed; t1 represents the current green light remaining time.

[0073] If the current vehicle speed is less than the current road limit speed, the drivable distance is calculated according to the current vehicle speed, the current road limit speed, the current green light remaining time, and the obtained fourth acceleration; the fourth acceleration is greater than zero; that is, within the current green light remaining time, the current vehicle speed is first accelerated to the current road limit speed, and then the farthest distance that can be traveled at the current road limit speed, and the farthest distance is the drivable distance.

[0074] Next, a formula for calculating the drivable distance is derived. First, the fourth acceleration is obtained, which is a general acceleration set according to experience; it is assumed that the current vehicle speed is accelerated to the current road limit speed within t 11 time, and the current vehicle speed is accelerated to the current road limit speed within t12 If the vehicle travels at the current road limit speed within the time, there is the following formula group (2):

[0075]

[0076] wherein V lim represents the current road limit speed; V represents the current vehicle speed; a represents the fourth acceleration; t1 represents the current green light remaining time; L 11 represents the distance traveled within t 11 ; L 12 represents the distance traveled within t 12 .

[0077] Secondly, the calculation formula (3) of the drivable distance can be derived from the formula group (2):

[0078]

[0079] wherein L represents the drivable distance, L=L 11 +L 12 .

[0080] S4091: Determine whether the drivable distance is greater than or equal to the first relative distance. If the drivable distance is greater than or equal to the first relative distance, go to step S4093; otherwise, go to step S4095.

[0081] S4093: Determine that the third acceleration is zero, and the process is terminated.

[0082] Specifically, if the drivable distance is greater than or equal to the first relative distance, it indicates that the front traffic light is in a green light state and the time is long, and the vehicle can pass through the intersection in a free sliding state; or the front traffic light is in a green light state but the time is short, and the vehicle cannot pass through the intersection in a free sliding state, but can pass through the intersection by accelerating, at this time, it is determined that the driver has no obvious deceleration intention, and therefore the third acceleration is zero.

[0083] S4095: Calculate the third acceleration according to the first relative distance and the current vehicle speed, and the process is terminated.

[0084] Specifically, if the drivable distance is less than the first relative distance, it indicates that the front traffic light is in a green light state but the time is very short, and the vehicle cannot pass through the intersection within the speed limit, at this time, it is determined that the driver has obvious deceleration intention, and the third acceleration is calculated according to the first relative distance and the current vehicle speed, and the crawling speed is reached near the traffic light; for example, the third acceleration can be calculated according to formula (4):

[0085] a1=-V 2 / 2L1 (4)

[0086] Wherein, a1 represents the third acceleration; V represents the current vehicle speed; L1 represents the first relative distance.

[0087] S411: Determine the first target vehicle speed according to the current vehicle speed, the time to the next green light start and the first relative distance, and go to step S4111.

[0088] Specifically, if the current traffic light state is a non-green light state, determine the time to the next green light start by analyzing the obtained V2X message information, and determine the first target vehicle speed according to the current vehicle speed, the time to the next green light start and the first relative distance, that is, when reaching the time to the next green light start, the first target vehicle speed can be reached at the intersection, and the traffic light state is converted from the non-green light state to the green light state. In this way, formula (5) can be derived, and the first target vehicle speed is calculated according to formula (5):

[0089]

[0090] Wherein, V1 represents the first target vehicle speed; L1 represents the first relative distance; t2 represents the time to the next green light start; V represents the current vehicle speed.

[0091] S4111: Determine whether the first target vehicle speed is less than or equal to zero. If the first target vehicle speed is less than or equal to zero, execute step S4113; otherwise, go to step S4115.

[0092] S4113: Calculate the third acceleration according to the first relative distance and the current vehicle speed, and the process is terminated.

[0093] Specifically, if the first target vehicle speed is less than or equal to zero, it indicates that the non-green light state time is very long, at this time it is determined that the driver has obvious deceleration intention, the third acceleration is calculated according to the first relative distance and the current vehicle speed, and the vehicle is parked near the traffic light; For example, the third acceleration can be calculated according to the above formula (4).

[0094] S4115: Determine whether the first target vehicle speed is less than the current vehicle speed. If the first target vehicle speed is greater than zero and less than the current vehicle speed, execute step S4117; otherwise, go to step S4119.

[0095] S4117: Determine that the third acceleration is zero, and the process is terminated.

[0096] Specifically, if the first target vehicle speed is greater than or equal to the current vehicle speed, it indicates that the non-green light state time is very short, and the vehicle can pass through the traffic light at the current vehicle speed or accelerate, at this time it is determined that the driver has no deceleration intention, therefore, the third acceleration is determined to be zero.

[0097] S4119: Calculate the third acceleration according to the time to the next green light start, the first relative distance and the current vehicle speed, and the process is terminated.

[0098] Specifically, if the first target vehicle speed is greater than zero and less than the current vehicle speed, it indicates that the non-green light state time is short, and the vehicle can pass the traffic light at the first target vehicle speed when reaching the next green light start time; at this time, the third acceleration is calculated according to the distance to the next green light start time, the first relative distance and the current vehicle speed; for example, the third acceleration can be calculated according to formula (6):

[0099]

[0100] wherein a1 represents the third acceleration; V represents the current vehicle speed; L1 represents the first relative distance; t2 represents the distance to the next green light start time.

[0101] In the embodiments of the present application, it is also considered that the vehicle may encounter an obstacle when coasting, therefore, the deceleration intention of the driver is determined according to the obtained obstacle information, and the deceleration under this working condition is calculated.

[0102] In an optional implementation, the second acceleration set includes a fifth acceleration, which is the deceleration calculated when the vehicle encounters an obstacle and has a deceleration intention in the previous paragraph; the obstacle information includes obstacle position, obstacle speed and obstacle category. It should be noted that when there are multiple obstacles, the obstacle with the highest priority needs to be determined from the multiple obstacles, and the obstacle information with the highest priority is screened out. Here, the priority of the obstacle can be determined according to the obstacle category and the obstacle position.

[0103] Specifically, the obstacle position and the obstacle speed can be determined by analyzing the obtained V2X message information; or the obstacle position and the obstacle speed can be determined by continuously collecting multiple frames of obstacle images through a camera, and based on the multiple frames of obstacle images, the existing target detection algorithm is used to determine the obstacle position and the obstacle speed; or the relative position of the obstacle and the vehicle can be obtained through the radar sensor installed on the vehicle, and then the obstacle speed is calculated based on the relative position and the current vehicle speed, and the calculation method can refer to formula (7):

[0104]

[0105] wherein V0 represents the obstacle speed; L represents the relative position of the obstacle and the vehicle; V represents the current vehicle speed.

[0106] Next, an optional implementation of determining the fifth acceleration according to the traffic light information and / or the obstacle information and / or the road information, and the current vehicle speed will be introduced. As shown in Figure 5 The method for determining the fifth acceleration can include:

[0107] S501: determining a safety distance according to the obstacle speed and the obstacle category.

[0108] Specifically, the safety distance is obtained by looking up a table according to the speed of the obstacle and the obstacle category; the parameter value can be obtained according to test evaluation.

[0109] S503: Determine a second relative distance according to the obstacle position and the obtained current vehicle position information.

[0110] S505: Determine whether the second relative distance is greater than the safety distance and the current vehicle speed is less than the speed of the obstacle. If the second relative distance is greater than the safety distance and the current vehicle speed is less than the speed of the obstacle, go to step S507; otherwise, go to step S509.

[0111] S507: Determine that the fifth acceleration is zero, and the flow ends.

[0112] Specifically, if the second relative distance is greater than the safety distance and the current vehicle speed is less than the speed of the obstacle, it indicates that the obstacle is in a running state, at this time, it is determined that the driver has no deceleration intention, and the vehicle can be in a free sliding state, therefore, the fifth acceleration is determined to be zero.

[0113] S509: Determine the fifth acceleration according to the speed of the obstacle, the current vehicle speed, the safety distance and the second relative distance, and the flow ends.

[0114] Specifically, if the second relative distance is greater than the safety distance and the current vehicle speed is greater than or equal to the speed of the obstacle, the fifth acceleration is obtained by looking up a table according to the difference between the current vehicle speed and the speed of the obstacle and the difference between the safety distance and the second relative distance, the parameter value of the fifth acceleration can be obtained according to test evaluation, and can be adaptively corrected according to the driving style of the driver. Alternatively, if the second relative distance is less than or equal to the safety distance, the fifth acceleration can be calculated according to formula (8):

[0115]

[0116] Wherein, a2 represents the fifth acceleration; V0 represents the speed of the obstacle; L2 represents the second relative distance; V represents the current vehicle speed; L0 represents the safety distance.

[0117] In the embodiment of the application, when the current vehicle speed exceeds the road speed limit in the vehicle sliding state, it is determined that the driver has obvious deceleration intention, and the vehicle needs to be reduced to below the speed limit. Therefore, the deceleration in this working condition is determined according to the obtained road information.

[0118] In an alternative embodiment, the second acceleration set further includes a sixth acceleration, which is the deceleration determined in the previous paragraph when the current vehicle speed exceeds the road limit and has deceleration intention; the road information includes the current road limit speed. The current road limit speed can be obtained by parsing the obtained V2X message information; or can be obtained from a high-precision map or a vehicle navigation system.

[0119] In an optional implementation of determining the sixth acceleration according to the traffic light information and / or the obstacle information and / or the road information, and the current vehicle speed, if the current vehicle speed is greater than the current road limit speed, the sixth acceleration is determined according to the current vehicle speed and the difference between the current vehicle speed and the current road limit speed; or, if the current vehicle speed is less than or equal to the current road limit speed, the sixth acceleration is determined to be zero.

[0120] Specifically, if the current vehicle speed is greater than the current road limit speed, the sixth acceleration can be obtained by table lookup according to the current vehicle speed and the difference between the current vehicle speed and the current road limit speed, and the parameter value is obtained according to test evaluation.

[0121] In the embodiments of the present application, it is also considered that the vehicle may encounter changes in road conditions when coasting. For example, when the vehicle is in a coasting state, there is an intersection in front, which should be considered as the driver's intention to slow down, at which time the speed of the vehicle passing through the intersection should be determined, and the deceleration curve should be calculated; for another example, when the vehicle is in a coasting state, there is a curve in front, which should also be considered as the driver's intention to slow down, at which time the speed of the vehicle passing through the curve should be determined, and the deceleration curve should be calculated; for another example, when the vehicle is in a coasting state, it needs to pass through a pedestrian crossing in front, which should be considered as the driver's intention to slow down, at which time the passing speed should be determined, and the deceleration curve should be calculated.

[0122] The above-mentioned changes in road conditions: intersections, curves and pedestrian crossings, the vehicle can obtain from the infrastructure or the cloud in real time through V2I or V2N technology, so as to make operation decisions in advance.

[0123] Based on the above-mentioned changes in road types that the vehicle may encounter when coasting, in an optional implementation, the second acceleration set includes a seventh acceleration, which is the deceleration determined when the vehicle encounters changes in road intersections and has the intention to slow down as described above; the road information includes a to-be-passed road condition type and a to-be-passed road condition position; the to-be-passed road condition type includes any one of an intersection, a curve and a pedestrian crossing.

[0124] In an optional implementation of determining the seventh acceleration according to the traffic light information and / or the obstacle information and / or the road information, and the current vehicle speed, the second target vehicle speed corresponding to the intersection or the curve or the pedestrian crossing is obtained; if the current vehicle speed is less than or equal to the second target vehicle speed, the seventh acceleration is determined to be zero; or, if the current vehicle speed is greater than the second target vehicle speed, a third relative distance is determined according to the to-be-passed road condition position and the obtained current vehicle position; the seventh acceleration is calculated according to the third relative distance, the current vehicle speed and the second target vehicle speed.

[0125] Specifically, the second target vehicle speed corresponding to the vehicle passing through the intersection, the curve or the pedestrian crossing is obtained by analyzing the obtained V2X message information, and the second target vehicle speed is a safe vehicle speed provided by the cloud or the infrastructure; if the current vehicle speed is less than or equal to the second target vehicle speed, it indicates that the vehicle can safely pass through the intersection, the curve or the pedestrian crossing at the current vehicle speed, and does not need to slow down; if the current vehicle speed is greater than the second target vehicle speed, it indicates that the vehicle may be dangerous when passing through the intersection, the curve or the pedestrian crossing at the current vehicle speed, and needs to reduce the current vehicle speed to the recommended safe vehicle speed, i.e., the second target vehicle speed. For example, the seventh acceleration for reducing the current vehicle speed to the second target vehicle speed can be determined according to formula (9):

[0126]

[0127] wherein a4 represents the seventh acceleration; V target represents the second target vehicle speed; L3 represents the third relative distance; and V represents the current vehicle speed.

[0128] S207: determining a target acceleration from the first acceleration and the second acceleration set.

[0129] In the embodiments of the present application, after the first acceleration and the second acceleration set are calculated based on different dimensions, a target acceleration needs to be determined from the first acceleration and the second acceleration set, and the subsequent deceleration path is arbitrated and limited.

[0130] In an optional implementation, the smallest value in the first acceleration and the second acceleration set is determined as the highest priority, and is taken as the target acceleration; that is, the deceleration intention corresponding to the smallest value is the strongest, and needs to be decelerated based on the target acceleration.

[0131] Specifically, determining the target acceleration from the first acceleration and the second acceleration set can include: if the first acceleration is less than any second acceleration in the second acceleration set, determining the first acceleration as the target acceleration; or if at least one second acceleration in the second acceleration set is less than the first acceleration, determining the second acceleration with the smallest value in the second acceleration set as the target acceleration.

[0132] In an optional implementation, after determining the target acceleration from the first acceleration and the second acceleration set, before determining the motor recovery torque value based on the target acceleration, it can further include: if the absolute value of the target acceleration is greater than the absolute value of the preset acceleration, taking the preset acceleration as the target acceleration; for example, the preset acceleration can be-2 meters per second squared (m / s 2 ), and the parameter value can be calibrated according to the actual situation. The purpose of this is to prevent the target acceleration calculated to be too large, and to hand over to the driver for braking in the case of emergency deceleration.

[0133] In the embodiments of the present application, considering that the road slope will affect the vehicle sliding state, controlling the vehicle to decelerate at the same acceleration on roads with different slopes will also produce different sliding distances.

[0134] In an optional implementation, after determining the target acceleration from the first acceleration and the second acceleration set, before determining the motor recovery torque value based on the target acceleration, it can also include: obtaining a slope correction function; correcting the target acceleration according to the slope correction function to obtain the slope corrected target acceleration.

[0135] Specifically, the slope correction function can refer to formula (10):

[0136] a final =f(v,i)×i×g+a target (10)

[0137] Wherein, a target represents the target acceleration before correction; a final represents the target acceleration after correction; f(v,i) represents the slope correction function, which is obtained by test evaluation.

[0138] S209: Determine the motor recovery torque value based on the target acceleration.

[0139] S211: Control the motor to generate electricity according to the motor recovery torque value, and store the electrical energy generated by the motor in the battery of the vehicle.

[0140] In the embodiments of the present application, after obtaining the slope corrected target acceleration, the motor recovery torque value is determined based on the target acceleration, and the motor is controlled to generate electricity according to the motor recovery torque value, and the electrical energy generated by the motor is stored in the battery of the vehicle. In this way, the vehicle is converted into electrical energy, and energy recovery during sliding is realized.

[0141] In an optional implementation, first, the wheel end braking force of the motor is calculated based on the vehicle dynamics equation and the vehicle parameters, and then the wheel end driving force is converted into the motor torque request based on the transmission ratio from the motor to the tire and the tire radius; The final torque request of the motor should not exceed the protection limit of the battery motor.

[0142] Specifically, determining the motor recovery torque value based on the target acceleration can include: determining the wheel end braking force of the motor according to the target acceleration and the obtained vehicle flat road sliding resistance, vehicle mass, current slope angle and current road adhesion limit; for example, determining the wheel end braking force according to formula (11):

[0143] F=-(m×a final +F 阻力 +m×g×i){-Flim , 0} (11)

[0144] wherein, F represents wheel end braking force; F 阻力 represents vehicle flat road sliding resistance, defined as a positive number; a final represents target acceleration; m represents vehicle mass; i represents current slope angle, defined as positive number for uphill and negative number for downhill; F lim represents current road adhesion limit.

[0145] Secondly, according to the wheel end braking force and the obtained transmission ratio from motor to tire and tire radius, the motor recovery torque value is determined; for example, the motor recovery torque value is determined according to formula (12):

[0146] Tq final = F * r tire / I (12)

[0147] wherein, Tq final represents motor recovery torque value; F represents wheel end braking force; r tire represents tire radius; I represents transmission ratio from motor to tire.

[0148] In summary, the sliding energy recovery method provided by the embodiment of the application can make the deceleration generated by energy recovery meet the expectation of the driver by analyzing the driving environment of the current vehicle, predicting the deceleration intention of the driver and adjusting the size of the motor recovery torque in real time, thereby improving the energy use efficiency; at the same time, the driver's brake operation can be maximized to improve the intelligent level of the vehicle, thereby reducing driving fatigue.

[0149] The embodiment of the application also provides a sliding energy recovery device, Figure 6 is a structural schematic diagram of the sliding energy recovery device provided by the embodiment of the application, as Figure 6 shown, the device comprises:

[0150] The acquisition module 601 is configured to acquire the surrounding environment information and the current vehicle speed of the vehicle when the vehicle is in the sliding state; the surrounding environment information comprises at least one of traffic light information, obstacle information and road information;

[0151] The first determination module 602 is configured to determine the first acceleration corresponding to the current vehicle speed from the acquired vehicle speed and acceleration corresponding relationship;

[0152] The second determination module 603 is configured to determine a second acceleration set according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed; the second acceleration and the first acceleration in the second acceleration set are both less than or equal to zero;

[0153] The third determining module 604 is configured to determine a target acceleration from the first acceleration and the second acceleration set;

[0154] The fourth determining module 605 is configured to determine a motor recovery torque value based on the target acceleration;

[0155] The control module 606 is configured to control the motor to generate electricity according to the motor recovery torque value, and store the electricity generated by the motor in a battery of the vehicle.

[0156] In an optional implementation, the second acceleration set includes a third acceleration; the traffic light information includes a traffic light position, a current traffic light state, and a green light time; the green light time includes a current green light remaining time or a distance to a next green light start time; the road information includes a current road limit speed; and the second determining module 603 is specifically configured to:

[0157] if the current vehicle speed is less than or equal to a preset vehicle speed, determine the third acceleration as zero;

[0158] or, if the current vehicle speed is greater than the preset vehicle speed, determine a first relative distance according to the traffic light position and the obtained current vehicle position information; if the current traffic light state is a green light state, determine a drivable distance according to the current vehicle speed, the current road limit speed, and the current green light remaining time; if the drivable distance is greater than or equal to the first relative distance, determine the third acceleration as zero; wherein, if the current vehicle speed is greater than or equal to the current road limit speed, calculate the drivable distance according to the current road limit speed and the current green light remaining time; or, if the current vehicle speed is less than the current road limit speed, calculate the drivable distance according to the current vehicle speed, the current road limit speed, the current green light remaining time, and the obtained fourth acceleration; the fourth acceleration is greater than zero;

[0159] or, if the drivable distance is less than the first relative distance, calculate the third acceleration according to the first relative distance and the current vehicle speed;

[0160] or, if the current traffic light state is a non-green light state, determine a first target vehicle speed according to the current vehicle speed, the distance to the next green light start time, and the first relative distance; if the first target vehicle speed is less than or equal to zero, calculate the third acceleration according to the first relative distance and the current vehicle speed;

[0161] or, if the first target vehicle speed is greater than zero and less than the current vehicle speed, calculate the third acceleration according to the distance to the next green light start time, the first relative distance, and the current vehicle speed;

[0162] or, if the first target vehicle speed is greater than or equal to the current vehicle speed, determine the third acceleration as zero.

[0163] In an optional implementation, the second acceleration set includes a fifth acceleration; the obstacle information includes an obstacle position, an obstacle speed and an obstacle category; and the second determining module 603 is specifically configured to:

[0164] determine a safety distance according to the obstacle speed and the obstacle category; determine a second relative distance according to the obstacle position and the obtained current vehicle position information; and determine the fifth acceleration as zero if the second relative distance is greater than the safety distance and the current vehicle speed is less than the obstacle speed.

[0165] Or, if the second relative distance is less than or equal to the safety distance or the current vehicle speed is greater than or equal to the obstacle speed, determine the fifth acceleration according to the obstacle speed, the current vehicle speed, the safety distance and the second relative distance.

[0166] In an optional implementation, the second acceleration set further includes a sixth acceleration; and the second determining module 603 is specifically configured to:

[0167] if the current vehicle speed is greater than a current road limit speed, determine the sixth acceleration according to the current vehicle speed and a difference between the current vehicle speed and the current road limit speed; or

[0168] if the current vehicle speed is less than or equal to the current road limit speed, determine the sixth acceleration as zero.

[0169] In an optional implementation, the second acceleration set includes a seventh acceleration; the road information includes a to-be-passed road condition type and a to-be-passed road condition position; and the to-be-passed road condition type includes any one of an intersection, a curve and a pedestrian crossing. The second determining module 603 is specifically configured to:

[0170] obtain a second target vehicle speed corresponding to the intersection or the curve or the pedestrian crossing; and determine the seventh acceleration as zero if the current vehicle speed is less than or equal to the second target vehicle speed; or

[0171] if the current vehicle speed is greater than the second target vehicle speed, determine a third relative distance according to the to-be-passed road condition position and the obtained current vehicle position; and calculate the seventh acceleration according to the third relative distance, the current vehicle speed and the second target vehicle speed.

[0172] In an optional implementation, the third determining module 604 is specifically configured to: if the first acceleration is less than any second acceleration in the second acceleration set, determine the first acceleration as the target acceleration; or if at least one second acceleration in the second acceleration set is less than the first acceleration, determine the second acceleration with the smallest value in the second acceleration set as the target acceleration.

[0173] In an optional implementation, a slope correction module can be further included; and the slope correction module is specifically configured to: perform slope correction on the target acceleration to obtain a slope-corrected target acceleration.

[0174] In an optional implementation, the fourth determining module 605 is specifically configured to: determine the wheel-end braking force of the motor according to the target acceleration and the obtained vehicle flat road sliding resistance, vehicle mass, current ramp angle and current road adhesion force extreme value; and determine the motor recovery torque value according to the wheel-end braking force and the obtained transmission ratio from the motor to the tire and tire radius.

[0175] In an optional implementation, the obtaining module 601 is specifically configured to: obtain the surrounding environment information and the current vehicle speed of the vehicle by at least one of the following: Internet of Vehicles technology, a radar sensor, a camera and a high-precision map.

[0176] The device and method embodiments in the embodiments of the present application are based on the same application concept.

[0177] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal, a server or a similar computing device. Taking the case of running on a server, Figure 7 is a hardware structure block diagram of a server of a coasting energy recovery method provided by the embodiments of the present application. As shown in Figure 7 the server 700 can have a big difference due to different configurations or performances, and can include one or more central processing units (CPU) 710 (the processor 710 can include but is not limited to a microprocessor NCU or a programmable logic device FPGA processing device), a memory 730 for storing data, one or more storage media 720 (such as one or more mass storage devices) for storing application programs 723 or data 722. Among them, the memory 730 and the storage medium 720 can be temporary storage or persistent storage. The programs stored in the storage medium 720 can include one or more modules, each of which can include a series of instruction operations in the server. Further, the central processing unit 710 can be configured to communicate with the storage medium 720 and execute a series of instruction operations in the storage medium 720 on the server 700. The server 700 can also include one or more power supplies 760, one or more wired or wireless network interfaces 750, one or more input and output interfaces 740, and / or one or more operating systems 721, such as Windows, Mac OS, Unix, Linux, FreeBSD, etc.

[0178] The input / output interface 740 can be configured to receive or transmit data via a network. Examples of the network can include a wireless network provided by a communication provider of the server 700. In an example, the input / output interface 740 includes a network interface controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In an example, the input / output interface 740 can be a radio frequency (RF) module configured to communicate with the Internet through a wireless manner.

[0179] Those skilled in the art can understand that, Figure 7 The structure shown is only schematic, and does not limit the structure of the electronic device. For example, the server 700 can further include more or less components than those shown, or have a different configuration of components than those shown. Figure 7 The structure shown is only schematic, and does not limit the structure of the electronic device. For example, the server 700 can further include more or less components than those shown, or have a different configuration of components than those shown. Figure 7 The structure shown is only schematic, and does not limit the structure of the electronic device. For example, the server 700 can further include more or less components than those shown, or have a different configuration of components than those shown.

[0180] The embodiment of the present application further provides a storage medium which can be arranged in a server to save at least one instruction or at least one program related to the coast-down energy recovery method in the method embodiment, and the at least one instruction or the at least one program is loaded and executed by a processor to realize the coast-down energy recovery method.

[0181] Optionally, in the embodiment, the storage medium can be located in at least one of a plurality of network servers in a computer network. Optionally, in the embodiment, the storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media capable of storing program codes.

[0182] According to the embodiments of the coasting energy recovery method, device, electronic device or storage medium provided in the application, when the vehicle is in a coasting state, the surrounding environment information and the current vehicle speed of the vehicle are acquired; the surrounding environment information includes at least one of traffic light information, obstacle information and road information; the first acceleration corresponding to the current vehicle speed is determined from the acquired vehicle speed and acceleration corresponding relationship; the second acceleration set is determined according to the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed; the second acceleration and the first acceleration in the second acceleration set are both less than or equal to zero; the target acceleration is determined from the first acceleration and the second acceleration set; the motor recovery torque value is determined based on the target acceleration; the motor is controlled to generate electricity according to the motor recovery torque value, and the electric energy generated by the motor is stored in the battery of the vehicle. The application can improve the energy use efficiency by analyzing the driving environment of the current vehicle, predicting the deceleration intention of the driver and adjusting the size of the motor recovery torque in real time, and can improve the intelligent level of the vehicle by maximizing the avoidance of the brake operation of the driver, thereby reducing the driving fatigue.

[0183] It should be noted that the above-mentioned embodiments of the application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from the embodiments and still achieve the desired result. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are possible or can be advantageous.

[0184] Each embodiment in the specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0185] Those of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by a program instructing relevant hardware to complete, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk.

[0186] The above is only the preferred embodiment of the application, and does not limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A coasting energy recovery method characterized by, The method comprises: acquiring surrounding environment information and a current vehicle speed of the vehicle when the vehicle is in a coasting state; the surrounding environment information comprises at least one of traffic light information, obstacle information and road information; determining a first acceleration corresponding to the current vehicle speed from a correspondence between vehicle speed and acceleration; determining a second acceleration set from the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed; each acceleration in the second acceleration set and the first acceleration are less than or equal to zero; determining a target acceleration from the first acceleration and the second acceleration set; determining a motor recovery torque value based on the target acceleration; controlling the motor to generate electricity according to the motor recovery torque value, and storing the electricity generated by the motor in a battery of the vehicle; the second acceleration set comprises a third acceleration; the traffic light information comprises traffic light position, current traffic light state and green light time; the green light time comprises current green light remaining time or distance to next green light start time; the road information comprises current road limit speed; determining the third acceleration from the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed, comprising: if the current vehicle speed is less than or equal to a preset vehicle speed, determining the third acceleration as zero; or, if the current vehicle speed is greater than the preset vehicle speed, determining a first relative distance according to the traffic light position and acquired current vehicle position information; if the current traffic light state is a green light state, determining a drivable distance according to the current vehicle speed, the current road limit speed and the current green light remaining time; the drivable distance is a farthest distance that can be traveled at the current road limit speed within the current green light remaining time or a farthest distance that can be traveled by first accelerating from the current vehicle speed to the current road limit speed and then traveling at the current road limit speed within the current green light remaining time; if the drivable distance is greater than or equal to the first relative distance, determining the third acceleration as zero; or, if the drivable distance is less than the first relative distance, calculating the third acceleration according to the first relative distance and the current vehicle speed.

2. The method of claim 1, wherein, determining the drivable distance according to the current vehicle speed, the current road limit speed and the current green light remaining time, comprising: if the current vehicle speed is greater than or equal to the current road limit speed, calculating the drivable distance according to the current road limit speed and the current green light remaining time; or, if the current vehicle speed is less than the current road limit speed, calculating the drivable distance according to the current vehicle speed, the current road limit speed, the current green light remaining time and an acquired fourth acceleration; the fourth acceleration is greater than zero, and the fourth acceleration is a general acceleration set according to experience.

3. The method of claim 1, wherein, determining the third acceleration from the traffic light information and / or the obstacle information and / or the road information and the current vehicle speed, further comprising: if the current traffic light state is a non-green light state, determining a first target vehicle speed according to the current vehicle speed, a distance to a next green light start time and the first relative distance; if the first target vehicle speed is less than or equal to zero, calculating the third acceleration according to the first relative distance and the current vehicle speed; or, if the first target vehicle speed is greater than zero and less than the current vehicle speed, calculating the third acceleration according to the distance to the next green light start time, the first relative distance and the current vehicle speed; or, if the first target vehicle speed is greater than or equal to the current vehicle speed, determining that the third acceleration is zero.

4. The method of claim 1, wherein, the second acceleration set comprises a fifth acceleration; the obstacle information comprises an obstacle position, an obstacle speed and an obstacle category; determining the fifth acceleration according to the traffic light information and / or the obstacle information and / or the road information, and the current vehicle speed, comprising: determining a safety distance according to the obstacle speed and the obstacle category; determining a second relative distance according to the obstacle position and acquired current vehicle position information; if the second relative distance is greater than the safety distance, and the current vehicle speed is less than the obstacle speed, determining that the fifth acceleration is zero; or, if the second relative distance is less than or equal to the safety distance, or the current vehicle speed is greater than or equal to the obstacle speed, determining the fifth acceleration according to the obstacle speed, the current vehicle speed, the safety distance and the second relative distance.

5. The method of claim 1, wherein, the second acceleration set further comprises a sixth acceleration; determining the sixth acceleration according to the traffic light information and / or the obstacle information and / or the road information, and the current vehicle speed, comprising: if the current vehicle speed is greater than the current road limit speed, determining the sixth acceleration according to the current vehicle speed and a difference between the current vehicle speed and the current road limit speed; or, if the current vehicle speed is less than or equal to the current road limit speed, determining that the sixth acceleration is zero. the second acceleration set comprises a seventh acceleration; the road information comprises a to-be-passed road condition type and a to-be-passed road condition position; the to-be-passed road condition type comprises any one of an intersection and a curve; 6. The method of claim 1, wherein, determining the seventh acceleration according to the traffic light information and / or the obstacle information and / or the road information, and the current vehicle speed, comprising: acquiring a second target vehicle speed corresponding to the intersection or the curve; if the current vehicle speed is less than or equal to the second target vehicle speed, determining that the seventh acceleration is zero; or, if the current vehicle speed is greater than the second target vehicle speed, determining a third relative distance according to the to-be-passed road condition position and acquired current vehicle position; and calculating the seventh acceleration according to the third relative distance, the current vehicle speed and the second target vehicle speed. the determining of the target acceleration from the first acceleration and the second acceleration set comprises: if the first acceleration is less than any second acceleration in the second acceleration set, determining that the first acceleration is the target acceleration; 7. The method of claim 1, wherein, ​ ​ Or, if at least one second acceleration in the second acceleration set is less than the first acceleration, determining the second acceleration with the smallest value in the second acceleration set as the target acceleration.

8. The method of claim 1, wherein, After determining the target acceleration from the first acceleration and the second acceleration set, before determining the motor recovery torque value based on the target acceleration, the method further comprises: obtaining a slope correction function; performing slope correction on the target acceleration to obtain a slope-corrected target acceleration.

9. The method of claim 1, wherein, Determining the motor recovery torque value based on the target acceleration comprises: determining a wheel-end braking force of the motor according to the target acceleration and the obtained vehicle flat road sliding resistance, vehicle mass, current slope angle and current road adhesion force extreme value; determining the motor recovery torque value according to the wheel-end braking force and the obtained transmission ratio from the motor to the tire, tire radius.

10. The method of claim 1, wherein, The method further comprises: obtaining the surrounding environment information and the current speed of the vehicle through at least one of a radar sensor, a camera and a high-precision map.

11. A coasting energy recovery device characterized by comprising: The method further comprises: an obtaining module, configured to obtain the surrounding environment information and the current speed of the vehicle when the vehicle is in a coasting state; the surrounding environment information comprises at least one of traffic light information, obstacle information and road information; a first determining module, configured to determine a first acceleration corresponding to the current speed from the obtained speed-acceleration correspondence; a second determining module, configured to determine a second acceleration set according to the traffic light information and / or the obstacle information and / or the road information and the current speed; the second acceleration in the second acceleration set and the first acceleration are both less than or equal to zero; the second acceleration set comprises a third acceleration; the traffic light information comprises traffic light position, current traffic light state and green light time; the green light time comprises current green light remaining time or distance to the next green light start time; the road information comprises current road speed limit; determining the third acceleration according to the traffic light information and / or the obstacle information and / or the road information and the current speed comprises: if the current speed is less than or equal to a preset speed, determining the third acceleration as zero; or, if the current speed is greater than the preset speed, determining a first relative distance according to the traffic light position and obtained current vehicle position information; if the current traffic light state is a green light state, determining a drivable distance according to the current speed, the current road speed limit and the current green light remaining time; the drivable distance is the farthest distance that can be traveled at the current road speed limit within the current green light remaining time or the farthest distance that can be traveled by first accelerating from the current speed to the current road speed limit and then traveling at the current road speed limit within the current green light remaining time; if the drivable distance is greater than or equal to the first relative distance, determining the third acceleration as zero; or, if the drivable distance is less than the first relative distance, calculating the third acceleration according to the first relative distance and the current speed. a third determining module, configured to determine a target acceleration from the first acceleration and the second acceleration set; a fourth determining module, configured to determine a motor recovery torque value based on the target acceleration; a control module, configured to control the motor to generate electricity according to the motor recovery torque value, and store the electricity generated by the motor in a battery of the vehicle.

12. An electronic device, comprising: The electronic device comprises a processor and a memory, and the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the coasting energy recovery method according to any one of claims 1-10.

13. A computer storage medium, characterized in that The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the coasting energy recovery method according to any one of claims 1-10.

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