A vehicle energy recovery torque control method, device and electronic equipment

Abstract

The application discloses a vehicle energy recovery torque control method and device and electronic equipment, including the following steps: obtaining the working condition parameters of the vehicle energy recovery state, calculating the minimum time for the vehicle to exit the energy recovery according to the working condition parameters; calculating the starting vehicle speed for the vehicle to exit the energy recovery according to the working condition parameters and the minimum time for the vehicle to exit the energy recovery, and controlling the vehicle to enter the preset vehicle exit energy recovery state according to the starting vehicle speed; in the preset vehicle exit energy recovery state, calculating the step factor of the recovered energy of the vehicle according to the working condition parameters; calculating the recovered energy value of the vehicle according to the step factor of the recovered energy of the vehicle, and controlling the vehicle braking torque according to the recovered energy value. In this way, the control of the vehicle braking torque is realized by calculating the limiting value of the recovered energy when the vehicle brakes, and the problem that the torque fluctuation causes the under-braking and over-braking feeling to affect the vehicle stability when the motor energy exits the recovery during the vehicle braking to low speed is solved.

Description

Technical Field

[0001] This application relates to the field of energy recovery technology, and in particular to a method, device and electronic equipment for controlling vehicle energy recovery torque. Background Technology

[0002] Electric vehicles typically have energy recovery capabilities, meaning that when the brake pedal is pressed or the vehicle is coasting without pressing the brake pedal, the motor and inverter convert the vehicle's kinetic energy into electrical energy to charge the battery or power electrical equipment.

[0003] Current technology limits the regenerative torque during braking by estimating the torque exit time and calculating the torque limit reduction required for each control cycle. However, when vehicle deceleration fluctuates significantly, this method leads to large fluctuations in regenerative torque, resulting in poor vehicle stability. Summary of the Invention

[0004] The purpose of this application is to provide a vehicle energy recovery torque control method, device and electronic device, which controls the vehicle braking torque by calculating the limit value of the energy recovered during vehicle braking, and solves the problem that torque fluctuations when the motor energy is withdrawn during the vehicle braking to low speed cause under-braking and over-braking sensations that affect the stability of the whole vehicle.

[0005] To achieve the above objectives:

[0006] In a first aspect, embodiments of this application provide a vehicle energy recovery torque control method, comprising the following steps:

[0007] Obtain the operating parameters of the vehicle's energy recovery status, and calculate the minimum time for the vehicle to exit energy recovery based on the operating parameters;

[0008] The starting speed at which the vehicle exits energy recovery is calculated based on the operating parameters and the minimum time for the vehicle to exit energy recovery, and the vehicle is controlled to enter the preset state of exiting energy recovery based on the starting speed.

[0009] In the preset vehicle energy recovery exit state, the step size factor of the vehicle's recovered energy is calculated based on the operating parameters and the minimum time for exiting energy recovery.

[0010] The vehicle's recovered energy value is calculated based on the step size factor of the recovered energy, and the vehicle's braking torque is controlled based on the recovered energy value.

[0011] Optionally, the step of obtaining the operating parameters of the vehicle's energy recovery status and calculating the minimum time for the vehicle to exit energy recovery includes:

[0012] The maximum force value of the current energy recovery torque of the vehicle is obtained as the current energy recovery force value of the vehicle; the current target recovery torque of the vehicle is obtained as the current target recovery force value of the vehicle.

[0013] The current energy recovery force value of the vehicle is compared with the current target energy recovery force value of the vehicle, and the minimum value between the two is taken as the energy recovery force value of the vehicle braking. The minimum time for the vehicle to exit energy recovery is determined based on the energy recovery force value of the vehicle braking.

[0014] time = ForRegen / k

[0015] Where time represents the minimum time for the vehicle to exit energy recovery, ForRegen represents the energy value of the vehicle's braking recovery force, and k represents the preset maximum recovery torque slope.

[0016] Optionally, calculating the starting speed at which the vehicle exits energy recovery based on the operating parameters and the minimum time for the vehicle to exit energy recovery includes:

[0017] The starting speed at which the vehicle exits energy recovery is determined based on the operating parameters of the vehicle's energy recovery state and the minimum time required for the vehicle to exit energy recovery:

[0018] Vstart = Vend + |Ax| * time

[0019] Where Vstart represents the initial vehicle speed at which energy recovery ends, |Ax| represents the current vehicle acceleration obtained through vehicle sensors, and time represents the minimum time required for the vehicle to exit energy recovery.

[0020] Optionally, controlling the vehicle to enter a preset vehicle energy recovery exit state based on the initial vehicle speed at which the vehicle exits energy recovery includes:

[0021] Obtain the current speed of the vehicle and determine whether the current speed of the vehicle is equal to the starting speed of the vehicle when it exits energy recovery.

[0022] If it is determined that the current speed of the vehicle is equal to the starting speed at which the vehicle begins to regenerate energy, then the vehicle is controlled to enter a preset energy recovery exit state.

[0023] Optionally, the step factor for calculating the recovered energy of the vehicle based on the operating parameters and the minimum time to exit energy recovery includes:

[0024] Calculate the vehicle's energy recovery step size based on the preset maximum recovery torque slope:

[0025] DR1=ForRegen / (time / cycletime)

[0026] Wherein, DR1 represents the vehicle's energy recovery step size, ForRegen represents the current braking recovery force energy value of the vehicle, time represents the minimum time for energy recovery to completely exit, and cycletime represents the preset limit cycle for energy recovery torque.

[0027] Optionally, the step factor for calculating the recovered energy of the vehicle based on the operating parameters and the minimum time to exit energy recovery includes:

[0028] Calculate the vehicle energy recovery step size based on the vehicle's braking energy recovery acceleration:

[0029] Vehicle energy recovery step size DR2 = ((Vehicle - Vend) / |Ax|) / cycle time

[0030] Wherein, DR2 represents the vehicle energy recovery step size, Vehicle represents the vehicle speed when braking, Vend represents the preset final speed at which energy is fully recovered, |Ax| represents the current acceleration of the vehicle obtained through the vehicle sensor, and cycletime represents the limiting period for energy recovery torque.

[0031] Compare the vehicle energy recovery step size DR1 and the vehicle energy recovery step size DR2, and take the larger value as the maximum value of the vehicle energy recovery step size.

[0032] Optionally, the step factor for calculating the vehicle's energy recovery based on the operating parameters and the minimum time to exit energy recovery includes:

[0033] The maximum value of the vehicle energy recovery step size is obtained, and the maximum value of the vehicle energy recovery step size and the initial value of the vehicle cumulative step size are summed to obtain the cumulative step size of vehicle braking.

[0034] Calculate the step factor of hydraulic boosting based on the cumulative step length of the vehicle braking:

[0035] Factor = 1 - (sumDR / ForRegen)

[0036] Where Factor represents the step size factor of hydraulic boost, sumDR represents the cumulative step size of vehicle braking, and ForRegen represents the current braking regenerative force energy value of the vehicle.

[0037] Optionally, the step of calculating the vehicle's recovered energy value based on the step factor of the vehicle's recovered energy, and controlling the vehicle's braking torque based on the recovered energy value, includes:

[0038] Obtain a preset vehicle torque recovery curve function, and obtain the change value of the vehicle energy recovery torque factor with the step factor during vehicle braking when the torque is used for energy recovery according to the function;

[0039] Calculate the recovered energy value during vehicle braking based on the energy recovery torque factor:

[0040] DRlimit = Mbfactor * ForRegen

[0041] Wherein, DRlimit represents the regenerative energy value during vehicle braking, Mbfactor represents the vehicle's energy recovery torque factor, and ForRegen represents the vehicle's current braking regenerative force energy value;

[0042] Torque control during vehicle braking is achieved based on the calculated value of recovered energy during vehicle braking.

[0043] Secondly, embodiments of this application provide a vehicle energy recovery torque control device, the device comprising:

[0044] The acquisition module is used to acquire the operating parameters of the vehicle's energy recovery status and calculate the minimum time for the vehicle to exit energy recovery based on the operating parameters.

[0045] The calculation module is used to calculate the starting speed at which the vehicle exits energy recovery based on the operating parameters and the minimum time for the vehicle to exit energy recovery, and to control the vehicle to enter a preset vehicle energy recovery exit state based on the starting speed; in the preset vehicle energy recovery exit state, the module calculates the step size factor of the vehicle's recovered energy based on the operating parameters and the minimum time for exiting energy recovery.

[0046] The recovery control module is used to calculate the vehicle's recovered energy value based on the step factor of the vehicle's recovered energy, and to control the vehicle's braking torque based on the recovered energy value.

[0047] Thirdly, embodiments of this application disclose an electronic device, including: a memory storing executable program code; a processor coupled to the memory; the processor calling the executable program code stored in the memory to execute the vehicle energy recovery torque control method as described in the first aspect.

[0048] This application discloses a vehicle energy recovery torque control method, device, and electronic device, comprising the following steps: acquiring operating parameters of the vehicle's energy recovery state; calculating the minimum time for the vehicle to exit energy recovery based on the operating parameters; calculating the initial vehicle speed for exiting energy recovery based on the operating parameters and the minimum time for exiting energy recovery; controlling the vehicle to enter a preset vehicle energy recovery exit state based on the initial vehicle speed; calculating the step factor of the vehicle's recovered energy based on the operating parameters in the preset vehicle energy recovery exit state; calculating the vehicle's recovered energy value based on the step factor of the vehicle's recovered energy; and controlling the vehicle's braking torque based on the recovered energy value. Thus, by calculating the limit value of the recovered energy during vehicle braking, the vehicle's braking torque is controlled, solving the problem of torque fluctuations causing under-braking and over-braking sensations that affect vehicle stability when the motor energy exits recovery during low-speed braking. Attached Figure Description

[0049] Figure 1 A flowchart illustrating a vehicle energy recovery torque control method according to a preferred embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of a vehicle energy recovery torque control device according to a preferred embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram of a vehicle energy recovery torque control device provided in another preferred embodiment of the present invention. Detailed Implementation

[0052] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0053] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this application.

[0054] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0055] See Figure 1This application provides a vehicle energy recovery torque control method, which can be executed by a vehicle energy recovery torque control device provided in this application. The vehicle energy recovery torque control device can be implemented in software and / or hardware. Taking the application of the vehicle energy recovery torque control device to a server as an example, the vehicle energy recovery torque control method provided in this embodiment includes the following steps:

[0056] Step S101: Obtain the operating parameters of the vehicle's energy recovery status, and calculate the minimum time for the vehicle to exit energy recovery based on the operating parameters.

[0057] In one embodiment, before acquiring the operating parameters of the energy recovery state, it is determined whether the vehicle is in a braking state. If the vehicle is currently in a braking state, it is determined that the vehicle has entered the energy recovery state.

[0058] In one embodiment, the maximum force value of the current energy recovery torque of the vehicle is obtained as the current energy recovery force value of the vehicle; the current target recovery torque force of the vehicle is obtained as the current target recovery force value of the vehicle.

[0059] The current energy recovery force value of the vehicle is compared with the current target energy recovery force value of the vehicle, and the minimum value between the two is taken as the energy recovery force value of the vehicle braking. The minimum time for the vehicle to exit energy recovery is determined based on the energy recovery force value of the vehicle braking.

[0060] time = ForRegen / k

[0061] Where time represents the minimum time for the vehicle to exit energy recovery, ForRegen represents the energy value of the vehicle's braking recovery force, and k represents the preset maximum recovery torque slope.

[0062] Step S102: Calculate the starting speed at which the vehicle exits energy recovery based on the operating parameters and the minimum time for the vehicle to exit energy recovery, and control the vehicle to enter the preset state of exiting energy recovery based on the starting speed.

[0063] In one embodiment, the starting speed for exiting energy recovery is determined based on the operating parameters of the vehicle's energy recovery state and the minimum time required for the vehicle to exit energy recovery:

[0064] Vstart = Vend + |Ax| * time

[0065] Where Vstart represents the initial vehicle speed at which energy recovery ends, Vend represents the preset final vehicle speed at which energy recovery is complete, |Ax| represents the current vehicle acceleration obtained through vehicle sensors, and time represents the minimum time for the vehicle to exit energy recovery.

[0066] In one embodiment, the real-time vehicle speed during energy recovery is obtained. If it is determined that the vehicle speed at a certain moment during energy recovery is equal to the calculated starting speed at which the vehicle exits energy recovery, then the vehicle speed at that moment is frozen, and the vehicle is controlled to enter a preset state of exiting energy recovery. If the vehicle speed during energy recovery is greater than the starting speed at which the vehicle exits energy recovery, then the vehicle is waited to continue energy recovery. If the vehicle speed during energy recovery is less than the starting speed at which the vehicle exits energy recovery but greater than the preset final speed for complete energy recovery, the vehicle energy recovery enters the energy recovery torque control function.

[0067] Step S103: Calculate the step size factor of the vehicle's recovered energy based on the operating parameters and the minimum time to exit energy recovery.

[0068] In one embodiment, operating parameters of the energy recovery state during vehicle braking are obtained, and the vehicle energy recovery step size is calculated based on a preset maximum recovery torque slope:

[0069] DR1=ForRegen / (time / cycletime)

[0070] Wherein, DR1 represents the vehicle's energy recovery step size, ForRegen represents the current braking recovery force energy value of the vehicle, time represents the minimum time for energy recovery to completely exit, and cycletime represents the preset limit cycle for energy recovery torque.

[0071] The vehicle energy recovery step size is calculated based on the vehicle's braking energy recovery acceleration.

[0072] Vehicle energy recovery step size DR2 = Fb / (((Vehicle-Vend) / |Ax|) / cycletime)

[0073] Wherein, DR2 represents the vehicle energy recovery step size, Fb represents the current energy recovery force value of the vehicle, Vehicle represents the vehicle speed when braking, Vend represents the preset final speed for complete energy recovery, |Ax| represents the current acceleration of the vehicle obtained through the vehicle sensor, and cycletime represents the limiting period for energy recovery torque.

[0074] Compare the vehicle energy recovery step size DR1 and the vehicle energy recovery step size DR2, and take the larger value as the maximum value of the vehicle energy recovery step size.

[0075] In one embodiment, the maximum value of the vehicle energy recovery step size is obtained, and the maximum value of the vehicle energy recovery step size and the initial value of the vehicle cumulative step size are summed to obtain the cumulative step size of vehicle braking:

[0076] sumDR=DR0+DR max

[0077] Where DR0 represents the initial value of the cumulative step size for vehicle energy recovery, DR max This indicates the vehicle recovery step size.

[0078] Calculate the step factor of hydraulic boosting based on the cumulative step length of the vehicle braking:

[0079] Factor = 1 - (sumDR / ForRegen)

[0080] Where Factor represents the step size factor of hydraulic boost, sumDR represents the cumulative step size of vehicle braking, and ForRegen represents the current braking regenerative force energy value of the vehicle.

[0081] Step S104: Calculate the vehicle's recovered energy value based on the step size factor of the vehicle's recovered energy, and control the vehicle's braking torque based on the recovered energy value.

[0082] In one embodiment, the actual hydraulic pressure boost curve during vehicle braking is obtained, and the vehicle torque rollback curve function is set according to the vehicle hydraulic pressure boost law: y = -2x 3 +3x 2 Substituting the vehicle energy recovery step factor, the change value of the vehicle energy recovery torque factor with the step factor during vehicle braking is obtained according to the function:

[0083] Mbfactor = -2factor 3 +3factor 2

[0084] Where Mbfactor represents the vehicle energy recovery torque factor, and factor represents the energy recovery step size factor during vehicle braking.

[0085] Calculate the recovered energy value during vehicle braking based on the energy recovery torque factor:

[0086] DRlimit = Mbfactor * ForRegen

[0087] Wherein, DRlimit represents the regenerative energy value during vehicle braking, Mbfactor represents the vehicle's energy recovery torque factor, and ForRegen represents the vehicle's current braking regenerative force energy value;

[0088] Torque control during vehicle braking is achieved based on the calculated value of recovered energy during vehicle braking.

[0089] In summary, the vehicle energy recovery torque control method provided in the above embodiments calculates the recovered energy value during vehicle braking based on the hydraulic pressure boosting law during vehicle braking to control the vehicle's recovered torque. This helps to achieve vehicle stability when the vehicle brakes to exit energy recovery and reduces the impact caused by vehicle torque fluctuations.

[0090] Based on the same inventive concept as the foregoing embodiments, the method provided by the foregoing embodiments will be described in detail below through a specific example.

[0091] See Figure 2 This application provides a vehicle energy recovery torque control device, which includes an acquisition module, a calculation module, and an energy recovery module.

[0092] The acquisition module is used to acquire the operating parameters of the vehicle's energy recovery status and calculate the minimum time for the vehicle to exit energy recovery based on the operating parameters.

[0093] The calculation module is used to calculate the starting speed at which the vehicle exits energy recovery based on the operating parameters and the minimum time for the vehicle to exit energy recovery, and to control the vehicle to enter a preset vehicle energy recovery exit state based on the starting speed; in the preset vehicle energy recovery exit state, the module calculates the step size factor of the vehicle's recovered energy based on the operating parameters and the minimum time for exiting energy recovery.

[0094] The recovery control module is used to calculate the vehicle's recovered energy value based on the step factor of the vehicle's recovered energy, and to control the vehicle's braking torque based on the recovered energy value.

[0095] In one embodiment, the acquisition module is specifically used to determine whether the vehicle is in a braking state before acquiring the operating condition parameters of the energy recovery state. If the vehicle is currently in a braking state, then the vehicle is determined to have entered the energy recovery state.

[0096] In one embodiment, the maximum force value of the current energy recovery torque of the vehicle is obtained as the current energy recovery force value of the vehicle; the current target recovery torque force of the vehicle is obtained as the current target recovery force value of the vehicle.

[0097] The current energy recovery force value of the vehicle is compared with the current target energy recovery force value of the vehicle, and the minimum value between the two is taken as the energy recovery force value of the vehicle braking. The minimum time for the vehicle to exit energy recovery is determined based on the energy recovery force value of the vehicle braking.

[0098] time = ForRegen / k

[0099] Where time represents the minimum time for the vehicle to exit energy recovery, ForRegen represents the energy value of the vehicle's braking recovery force, and k represents the preset maximum recovery torque slope.

[0100] In one embodiment, the calculation module is specifically used to determine the starting speed at which the vehicle exits energy recovery based on the operating parameters of the vehicle's energy recovery state and the minimum time required for the vehicle to exit energy recovery.

[0101] Vstart = Vend + |Ax| * time

[0102] Where Vstart represents the initial vehicle speed at which energy recovery ends, Vend represents the preset final vehicle speed at which energy recovery is complete, |Ax| represents the current vehicle acceleration obtained through vehicle sensors, and time represents the minimum time for the vehicle to exit energy recovery.

[0103] In one embodiment, the real-time vehicle speed during energy recovery is obtained. If it is determined that the vehicle speed at a certain moment during energy recovery is equal to the calculated starting speed at which the vehicle exits energy recovery, then the vehicle speed at that moment is frozen, and the vehicle is controlled to enter a preset state of exiting energy recovery. If the vehicle speed during energy recovery is greater than the starting speed at which the vehicle exits energy recovery, then the vehicle is waited to continue energy recovery. If the vehicle speed during energy recovery is less than the starting speed at which the vehicle exits energy recovery but greater than the preset final speed for complete energy recovery, the vehicle energy recovery enters the energy recovery torque control function.

[0104] In one embodiment, operating parameters of the energy recovery state during vehicle braking are obtained, and the vehicle energy recovery step size is calculated based on a preset maximum recovery torque slope:

[0105] DR1=ForRegen / (time / cycletime)

[0106] Wherein, DR1 represents the vehicle's energy recovery step size, ForRegen represents the current braking recovery force energy value of the vehicle, time represents the minimum time for energy recovery to completely exit, and cycletime represents the preset limit cycle for energy recovery torque.

[0107] The vehicle energy recovery step size is calculated based on the vehicle's braking energy recovery acceleration.

[0108] Vehicle energy recovery step size DR2 = Fb / (((Vehicle-Vend) / |Ax|) / cycletime)

[0109] Wherein, DR2 represents the vehicle energy recovery step size, Fb represents the current energy recovery force value of the vehicle, Vehicle represents the vehicle speed when braking, Vend represents the preset final speed for complete energy recovery, |Ax| represents the current acceleration of the vehicle obtained through the vehicle sensor, and cycletime represents the limiting period for energy recovery torque.

[0110] Compare the vehicle energy recovery step size DR1 and the vehicle energy recovery step size DR2, and take the larger value as the maximum value of the vehicle energy recovery step size.

[0111] In one embodiment, the maximum value of the vehicle energy recovery step size is obtained, and the maximum value of the vehicle energy recovery step size and the initial value of the vehicle cumulative step size are summed to obtain the cumulative step size of vehicle braking:

[0112] sumDR=DR0+DR max

[0113] Where DR0 represents the initial value of the cumulative step size for vehicle energy recovery, DR max This indicates the vehicle recovery step size.

[0114] Calculate the step factor of hydraulic boosting based on the cumulative step length of the vehicle braking:

[0115] Factor = 1 - (sumDR / ForRegen)

[0116] Where Factor represents the step size factor of hydraulic boost, sumDR represents the cumulative step size of vehicle braking, and ForRegen represents the current braking regenerative force energy value of the vehicle.

[0117] In one embodiment, the energy recovery module is specifically used to acquire the actual hydraulic pressure boost curve during vehicle braking, and to set the vehicle torque reduction curve function based on the vehicle hydraulic pressure boost law: y = -2x 3 +3x 2 Substituting the vehicle energy recovery step factor, the change value of the vehicle energy recovery torque factor with the step factor during vehicle braking is obtained according to the function:

[0118] Mbfactor = -2factor 3 +3factor 2

[0119] Where Mbfactor represents the vehicle energy recovery torque factor, and factor represents the energy recovery step size factor during vehicle braking.

[0120] Calculate the recovered energy value during vehicle braking based on the energy recovery torque factor:

[0121] DRlimit = Mbfactor * ForRegen

[0122] Wherein, DRlimit represents the regenerative energy value during vehicle braking, Mbfactor represents the vehicle's energy recovery torque factor, and ForRegen represents the vehicle's current braking regenerative force energy value;

[0123] Torque control during vehicle braking is achieved based on the calculated value of recovered energy during vehicle braking.

[0124] In summary, the vehicle energy recovery torque control device provided in the above embodiments acquires the operating parameters of the vehicle's energy recovery through the acquisition module, calculates the starting speed of the vehicle when it exits energy recovery and the step size factor of the vehicle's energy recovery through the calculation module, and controls the vehicle's braking torque through the control recovery module. This helps to improve the vehicle's stability when it exits energy recovery during braking.

[0125] Based on the same inventive concept as the foregoing embodiments, this invention provides a vehicle energy recovery torque control device, such as... Figure 3 As shown, the device includes: a processor 210 and a memory 211 storing a computer program; wherein, Figure 3 The processor 210 shown in the diagram does not refer to a single processor 210, but rather to its positional relationship relative to other devices. In practical applications, there can be one or more processors 210. Figure 3 The memory 211 shown in the diagram has the same meaning, that is, it is only used to indicate the positional relationship of memory 211 relative to other devices. In practical applications, there can be one or more memories 211. When the processor 210 runs the computer program, the vehicle energy recovery torque control method applied to the above-described device is implemented.

[0126] The device may also include at least one network interface 212. The various components of the device are coupled together via a bus system 213. It is understood that the bus system 213 is used to implement communication between these components. In addition to a data bus, the bus system 213 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 3 The general designated all buses as Bus System 213.

[0127] The memory 211 can be volatile or non-volatile, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 211 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0128] The memory 211 in this embodiment of the invention is used to store various types of data to support the operation of the device. Examples of such data include: any computer programs used to operate on the device, such as operating systems and applications; contact data; phonebook data; messages; pictures; videos, etc. The operating system includes various system programs, such as the framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications, such as media players, browsers, etc., used to implement various application services. Here, the program implementing the method of this embodiment of the invention can be included in the application.

[0129] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0131] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling vehicle energy recovery torque, characterized in that, Includes the following steps: Obtain the operating parameters of the vehicle's energy recovery status, and calculate the minimum time for the vehicle to exit energy recovery based on the operating parameters; The starting speed at which the vehicle exits energy recovery is calculated based on the operating parameters and the minimum time for the vehicle to exit energy recovery, and the vehicle is controlled to enter the preset state of exiting energy recovery based on the starting speed. In the preset vehicle energy recovery exit state, the step size factor of the vehicle's recovered energy is calculated based on the operating parameters and the minimum time for exiting energy recovery. The vehicle's recovered energy value is calculated based on the step size factor of the vehicle's recovered energy, and the vehicle's braking torque is controlled based on the recovered energy value; The regenerative energy value during vehicle braking is calculated based on the hydraulic pressure boosting law during vehicle braking to control the vehicle's regenerative torque.

2. The method according to claim 1, characterized in that, The process of acquiring the operating parameters of the vehicle's energy recovery status and calculating the minimum time for the vehicle to exit energy recovery includes: The maximum force value of the current energy recovery torque of the vehicle is obtained as the current energy recovery force value of the vehicle; the current target recovery torque of the vehicle is obtained as the current target recovery force value of the vehicle. The current energy recovery force value of the vehicle is compared with the current target energy recovery force value of the vehicle, and the minimum value between the two is taken as the energy recovery force value of the vehicle braking. The minimum time for the vehicle to exit energy recovery is determined based on the energy recovery force value of the vehicle braking. time=ForRegen / k in, time This indicates the minimum time required for the vehicle to exit energy recovery. ForRegen This indicates the energy value of the regenerative braking force of the vehicle. k This indicates the preset maximum recovery torque slope.

3. The method according to claim 1, characterized in that, The calculation of the starting speed at which the vehicle exits energy recovery based on the operating parameters and the minimum time for the vehicle to exit energy recovery includes: The starting speed at which the vehicle exits energy recovery is determined based on the operating parameters of the vehicle's energy recovery state and the minimum time required for the vehicle to exit energy recovery: Vstart = Vend + |Ax| * time in, Vstart This indicates the initial speed at which the vehicle exits energy recovery, while Vend indicates the preset final speed at which energy recovery is complete. |Ax| This indicates that the vehicle's current acceleration is obtained through vehicle sensors. time This indicates the minimum time required for the vehicle to exit energy recovery.

4. The method according to claim 1, characterized in that, The step of controlling the vehicle to enter a preset vehicle energy recovery exit state based on the initial vehicle speed at which the vehicle exits energy recovery includes: Obtain the vehicle's current speed and determine that the vehicle's current speed is equal to the vehicle's initial speed at which it exits energy recovery. If it is determined that the current speed of the vehicle is equal to the starting speed at which the vehicle begins to regenerate energy, then the vehicle is controlled to enter a preset energy recovery exit state.

5. The method according to claim 1, characterized in that, The step factor for calculating the vehicle's recovered energy based on the operating parameters and the minimum time to exit energy recovery includes: Calculate the vehicle's energy recovery step size based on the preset maximum recovery torque slope: Vehicle energy recovery step DR1=ForRegen / (time / cycletime) in, DR1 This indicates the energy recovery step size of the vehicle. ForRegen This indicates the current regenerative braking force energy value of the vehicle, and time indicates the minimum time required for regenerative braking to completely dissipate. cycletime This indicates the preset time limit for energy recovery torque.

6. The method according to claim 5, characterized in that, The step factor for calculating the vehicle's recovered energy based on the operating parameters and the minimum time to exit energy recovery includes: Calculate the vehicle energy recovery step size based on the vehicle's braking energy recovery acceleration: Vehicle energy recovery step DR2=((Vehicle-Vend) / |Ax|) / cycletime in, DR2 This indicates the energy recovery step size of the vehicle. Vehicle This indicates the vehicle's speed during braking. Vend This indicates the final speed at which all energy is fully recovered. |Ax| This indicates that the vehicle's current acceleration is obtained through vehicle sensors. cycletime Indicates the time limit for energy recovery torque; Compare the energy recovery step size of the vehicle DR1 and the vehicle energy recovery step size DR2 The maximum value is taken as the maximum step size for vehicle energy recovery.

7. The method according to claim 6, characterized in that, The step factor for calculating the vehicle's energy recovery based on the operating parameters and the minimum time to exit energy recovery includes: The maximum value of the vehicle energy recovery step size is obtained, and the maximum value of the vehicle energy recovery step size and the initial value of the vehicle cumulative step size are summed to obtain the cumulative step size of vehicle braking. Calculate the step size factor for hydraulic boosting based on the cumulative step size of the vehicle braking. Factor : Factor = 1 - (sumDR / ForRegen) Where Factor represents the step size factor of hydraulic boosting. sumDR This indicates the cumulative step size of vehicle braking. ForRegen This indicates the current regenerative braking energy value of the vehicle.

8. The method according to claim 1, characterized in that, The step of calculating the vehicle's recovered energy value based on the step size factor of the vehicle's recovered energy, and controlling the vehicle's braking torque based on the recovered energy value, includes: Obtain a preset vehicle torque recovery curve function, and obtain the change value of the vehicle energy recovery torque factor with the step factor during vehicle braking when the torque is used for energy recovery according to the function; Calculate the recovered energy value during vehicle braking based on the energy recovery torque factor: DRlimit=Mbfactor*ForRegen in, DRlimit The value of regenerated energy during vehicle braking is indicated by the following: Mbfactor The torque factor representing vehicle energy recovery is described. ForRegen This indicates the current regenerative braking energy value of the vehicle. Torque control during vehicle braking is achieved based on the calculated value of recovered energy during vehicle braking.

9. A vehicle energy recovery torque control device, characterized in that, The device includes: The acquisition module is used to acquire the operating parameters of the vehicle's energy recovery status and calculate the minimum time for the vehicle to exit energy recovery based on the operating parameters. The calculation module is used to calculate the starting speed at which the vehicle exits energy recovery based on the operating parameters and the minimum time for the vehicle to exit energy recovery, and to control the vehicle to enter a preset vehicle energy recovery exit state based on the starting speed; in the preset vehicle energy recovery exit state, the module calculates the step size factor of the vehicle's recovered energy based on the operating parameters and the minimum time for exiting energy recovery. The recovery control module is used to calculate the vehicle's recovered energy value based on the step factor of the vehicle's recovered energy, and to control the vehicle's braking torque based on the recovered energy value; it also calculates the vehicle's recovered energy value during braking based on the hydraulic pressure boosting law during vehicle braking to control the vehicle's recovered torque.

10. An electronic device, characterized in that, include: Processor, memory; The memory is used to store computer programs; The processor is configured to execute the vehicle energy recovery torque control method as described in any one of claims 1-8 by invoking the computer program.

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