Hybrid vehicle coastdown energy recovery method, system, and vehicle

Abstract

The application provides a hybrid vehicle coasting energy feedback method, system and vehicle, and relates to the technical field of hybrid vehicles, and the method comprises the following steps: determining a coasting feedback torque based on target state information of the vehicle and current state information of the vehicle; the target state information comprises a target SOC and a target vehicle speed, and the current state information comprises a current SOC, a current motor speed and a current vehicle speed; and the motor is controlled to rotate based on the coasting feedback torque. According to the application, different coasting feedback torques are set according to different vehicle conditions, so that the energy recovery efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of hybrid vehicle technology, and more particularly to a method, system, and vehicle for coasting energy recovery in hybrid vehicles. Background Technology

[0002] In recent years, with the increasing environmental awareness of human society, people have become more and more aware of the harm that the high emissions of traditional internal combustion engine vehicles cause to the human environment. Hybrid power systems, which combine energy storage devices and internal combustion power, can not only save fuel and reduce pollutant emissions, but also lower operating costs. Therefore, it is a promising integrated energy utilization system and a research hotspot in the transportation field in recent years. This new system not only retains the high applicability of internal combustion engine circuits, but also allows for short-term all-electric traction during operation, achieving low-emission and low-noise operation of the vehicle and greatly improving its environmental performance. However, how to fully improve the energy efficiency of vehicle operation and thus extend the vehicle's driving range is a key issue that hybrid power systems need to address. Summary of the Invention

[0003] This invention provides a coasting energy recovery method, system, and vehicle for hybrid vehicles, which improves energy recovery efficiency without affecting the driving experience through coasting energy recovery.

[0004] This invention provides a method for coasting energy recovery in hybrid vehicles, comprising:

[0005] The coasting feedback torque is determined based on the vehicle's target state information and current state information; the target state information includes the target SOC and target vehicle speed, and the current state information includes the current SOC, current motor speed, and current vehicle speed.

[0006] The motor rotation is controlled based on the aforementioned gliding feedback torque.

[0007] Optionally, determining the coasting feedback torque based on the vehicle's target state information and current state information includes:

[0008] The charging torque is determined based on the target SOC, the current SOC, and the current motor speed.

[0009] Determine the charging limit torque;

[0010] The charging torque difference is determined based on the charging torque and the charging limit torque.

[0011] Obtain the influence coefficient of the PI controller;

[0012] The charging torque difference is corrected based on the influence coefficient of the PI controller to obtain the charging torque correction value;

[0013] The coasting feedback torque is determined based on the charging torque and the charging torque correction value.

[0014] Optionally, determining the charging torque based on the target SOC, the current SOC, and the current motor speed includes:

[0015] Determine the difference SOC based on the target SOC and the current SOC;

[0016] The first charging power is determined based on the difference in SOC and the current motor speed;

[0017] The influence coefficients of the vehicle's powertrain and the influence coefficient of the driving force on the vehicle speed are obtained and denoted as the first coefficient and the second coefficient, respectively.

[0018] The charging torque is determined based on the first charging power, the first coefficient, and the second coefficient.

[0019] Optionally, the charging torque correction value includes a first torque correction value and a second torque correction value; determining the coasting feedback torque based on the charging torque and the charging torque correction value includes:

[0020] The coasting feedback torque is determined based on the sum of the charging torque, the first torque correction value, and the second torque correction value.

[0021] Optionally, determining the charging torque based on the first charging power, the first coefficient, and the second coefficient includes:

[0022] The second charging power is determined by the product of the first charging power, the first coefficient, and the second coefficient.

[0023] The charging torque is determined based on the second charging power and the current motor speed.

[0024] Optionally, the second coefficient is determined based on the rate of increase in vehicle speed before coasting and the average rate of change of the accelerator pedal before coasting.

[0025] Optionally, determining the charging limit torque includes:

[0026] Determine the maximum charging power of the motor and the maximum charging power of the battery;

[0027] The power with the smaller absolute value between the maximum charging power of the motor and the maximum charging power of the battery is used as the charging limit power;

[0028] The charging limit torque is determined based on the charging limit power.

[0029] The present invention also provides a coasting energy recovery system for a hybrid vehicle, comprising:

[0030] The coasting feedback torque determination module is used to determine the coasting feedback torque based on the vehicle's target state information and the vehicle's current state information; the target state information includes the target SOC and the target vehicle speed, and the current state information includes the current SOC, the current motor speed, and the current vehicle speed;

[0031] The control module is used to control the rotation of the motor based on the coasting feedback torque.

[0032] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the coasting energy recovery method of the hybrid vehicle.

[0033] The present invention also provides a vehicle, including: a coasting energy recovery system or electronic device for a hybrid vehicle.

[0034] This invention provides a coasting energy recovery method, system, and vehicle for hybrid vehicles. The method determines the coasting feedback torque based on the vehicle's target state information and current state information. The target state information includes the target State of Charge (SOC) and target vehicle speed, while the current state information includes the current SOC, current motor speed, and current vehicle speed. The motor rotation is controlled based on the coasting feedback torque. In other words, this invention determines different coasting feedback torques based on the differences between the vehicle's target and current state information. This coasting feedback torque does not affect driving, and compared to setting a single torque, this invention improves energy recovery efficiency by determining different coasting feedback torques based on different vehicle conditions. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the power system principle of a hybrid vehicle in the prior art;

[0037] Figure 2 This is a flowchart of the coasting energy recovery method for hybrid vehicles provided by the present invention;

[0038] Figure 3 This is a block diagram of the coasting energy recovery system for hybrid vehicles provided by the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] Figure 1 This is a schematic diagram of the powertrain principle of a hybrid vehicle in the prior art, such as... Figure 1 As shown, the power system of the hybrid vehicle includes an engine 1, a C1 clutch 2, an HCU controller 3, an ISG motor 4, a battery pack 5, a C2 clutch 6, a clutch pedal 7, a 12-speed manual transmission 8, a rear axle 9, and wheels 10. This invention is based on existing hardware structures, and its specific structure will not be described in detail here.

[0042] The following is combined with Figures 2-4 The present invention describes a coasting energy recovery method, system, and vehicle for a hybrid vehicle. Figure 2 This is a flowchart of the coasting energy recovery method for hybrid vehicles provided by the present invention, as shown below. Figure 2 As shown, a method for coasting energy recovery in a hybrid vehicle includes:

[0043] Step 201: Determine the coasting feedback torque based on the vehicle's target state information and current state information; the target state information includes the target SOC and target vehicle speed, and the current state information includes the current SOC, current motor speed, and current vehicle speed.

[0044] Coasting refers to the state of a vehicle when the driver is neither pressing the accelerator nor the brake.

[0045] In one specific embodiment, determining the coasting feedback torque based on the vehicle's target state information and current state information includes:

[0046] The charging torque is determined based on the target SOC, the current SOC, and the current motor speed.

[0047] Determine the charging limit torque;

[0048] The charging torque difference is determined based on the charging torque and the charging limit torque.

[0049] Obtain the influence coefficient of the PI controller;

[0050] The charging torque difference is corrected based on the influence coefficient of the PI controller to obtain the charging torque correction value;

[0051] The coasting feedback torque is determined based on the charging torque and the charging torque correction value.

[0052] Based on the coasting feedback torque determined by the above method in this invention, the influencing factors such as target SOC, current SOC and current motor speed are comprehensively considered. Therefore, the coasting feedback torque obtained for different vehicle conditions is also different. Thus, compared with setting a single feedback torque value, this invention can improve energy recovery efficiency.

[0053] In one specific embodiment, determining the charging torque based on the target SOC, the current SOC, and the current motor speed includes:

[0054] Determine the difference SOC based on the target SOC and the current SOC;

[0055] The first charging power is determined based on the difference in SOC and the current motor speed;

[0056] Obtain the influence coefficients of the vehicle's powertrain and the influence coefficients of the driving force on the vehicle speed. The influence coefficient of the vehicle's powertrain is denoted as the first coefficient, and the influence coefficient of the driving force on the vehicle speed is denoted as the second coefficient.

[0057] The charging torque is determined based on the first charging power, the first coefficient, and the second coefficient.

[0058] Furthermore, the PI controller in a vehicle is a linear controller. It determines the control deviation based on the given value and the actual output value, and then uses a linear combination of the proportional and integral components of the deviation to form the control quantity, thereby controlling the controlled object. Based on this, this invention employs the P and I coefficients from the PI controller for control. The P coefficient generates proportional regulation: it reacts proportionally to the system deviation. Once a deviation occurs, proportional regulation immediately takes effect to reduce it. A large proportional gain can speed up the adjustment and reduce errors, but an excessively large proportional gain can decrease system stability and even cause instability. The I coefficient generates integral regulation: it eliminates steady-state errors and improves the error-free rate. Because there is an error, integral regulation is performed until there is no error, at which point integral regulation stops, and the integral output becomes a constant value. The strength of the integral action depends on the integral time constant Ti; the smaller Ti is, the stronger the integral action. Conversely, a large Ti results in a weak integral action, and adding integral regulation can decrease system stability and slow down the dynamic response. Therefore, in a specific embodiment, the influence coefficients of the PI controller of the present invention include a third coefficient (P coefficient) and a fourth coefficient (I coefficient). The third coefficient is used to generate a proportional adjustment effect and can be determined by the relationship between the target vehicle speed and the current vehicle speed. The fourth coefficient is used to generate an integral adjustment effect and can be determined by the relationship between the target vehicle speed and the current vehicle speed.

[0059] In one specific embodiment, the charging torque correction value includes a first torque correction value and a second torque correction value; determining the coasting feedback torque based on the charging torque and the charging torque correction value includes:

[0060] The coasting feedback torque is determined based on the sum of the charging torque, the first torque correction value, and the second torque correction value.

[0061] In one specific embodiment, determining the charging torque based on the first charging power, a first coefficient, and a second coefficient includes:

[0062] The second charging power is determined by the product of the first charging power, the first coefficient, and the second coefficient; the charging torque is determined by the second charging power and the current motor speed.

[0063] In one specific embodiment, the charging torque = second charging power * 9550 / current motor speed.

[0064] In a specific embodiment, the first coefficient can characterize the influence factor of the vehicle's powertrain, and its value range is any value between 0 and 1. It can be determined based on the correspondence between the current vehicle speed and the current motor speed.

[0065] In a specific embodiment, the second coefficient can characterize the influence factor of driving force on vehicle speed, and its value ranges from 0 to 1. It can be determined based on the correspondence between the rate of increase of vehicle speed before coasting and the average rate of change of accelerator pedal before coasting.

[0066] In one specific embodiment, the first charging power is determined based on the correspondence between the difference in state of charge (SOC) and the current motor speed.

[0067] In one specific embodiment, the charging limit torque is determined based on the maximum charging power of the motor and the maximum charging power of the battery. The values ​​of both the maximum charging power of the motor and the maximum charging power of the battery are determined using P = UI. Then, the absolute values ​​of the maximum charging power of the motor and the maximum charging power of the battery are compared, and the smaller of these is taken as the charging limit power P. Based on the charging limit power P, the charging limit torque T is calculated using P = T*n / 9550, where n is the current motor speed.

[0068] In one specific embodiment, determining the charging torque difference based on the charging torque and the charging limit torque includes: subtracting the charging limit torque from the charging torque to obtain the charging torque difference.

[0069] In one specific embodiment, the charging torque difference is multiplied by a third coefficient to obtain a first torque correction value, and the charging torque difference is multiplied by a fourth coefficient to obtain a second torque correction value.

[0070] In one specific embodiment, before controlling the motor rotation based on the coasting feedback torque, the coasting feedback torque can be filtered. The filtering process needs to consider the current engine speed and torque, as well as the motor speed and torque. Specifically, a first filtering coefficient is determined based on the engine speed and torque values; a second filtering coefficient is determined based on the motor speed and torque values; and a third filtering coefficient is obtained by multiplying the first and second filtering coefficients. Specifically, the filtering process for the coasting feedback torque involves performing a first-order low-pass filter based on the third filtering coefficient.

[0071] It should be noted that for the first charging power, the first coefficient, the second coefficient, the third coefficient, the fourth coefficient, the first filter coefficient, and the second filter coefficient, historical data of the influencing parameters of these parameters (first charging power, first coefficient, second coefficient, third coefficient, fourth coefficient, first filter coefficient, and second filter coefficient) can be obtained in advance (for example, the influencing parameters of the first charging power are the difference SOC and the current motor speed); and the values ​​of these parameters under the historical data are obtained. Then, a table is made based on the correspondence between the historical data of the influencing parameters and the values ​​of these parameters, and the correspondence of the data in the table is stored in the vehicle controller.

[0072] Step 202: Control the motor rotation based on the coasting feedback torque.

[0073] This invention provides a coasting energy recovery method, system, and vehicle for hybrid vehicles. The method determines the coasting feedback torque based on the vehicle's target state information and current state information. The target state information includes the target State of Charge (SOC) and target vehicle speed, while the current state information includes the current SOC, current motor speed, and current vehicle speed. The motor rotation is controlled based on the coasting feedback torque. In other words, this invention determines different coasting feedback torques based on the differences between the vehicle's target state information and current state information, without affecting the driving experience and improving energy recovery efficiency.

[0074] The present invention also discloses the following technical effects:

[0075] 1. This invention can cover coasting energy feedback for various roads, different loads and vehicle speeds.

[0076] 2. This invention combines the current SOC and the target SOC to perform coasting energy feedback calculations, and effectively considers the energy feedback capability of the entire vehicle, thus effectively ensuring the reliability of the entire vehicle system.

[0077] 3. The calculation process of this invention can ensure the comfort and stability of the whole vehicle under dynamic coasting energy feedback.

[0078] The coasting energy recovery system for hybrid vehicles provided by the present invention will be described below. The coasting energy recovery system for hybrid vehicles described below can be referred to in correspondence with the coasting energy recovery method for hybrid vehicles described above.

[0079] Figure 3 This is a block diagram of the coasting energy recovery system for hybrid vehicles provided by the present invention; as shown. Figure 3 As shown, a coasting energy recovery system for a hybrid vehicle includes:

[0080] The coasting feedback torque determination module 301 is used to determine the coasting feedback torque based on the vehicle's target state information and the vehicle's current state information; the target state information includes the target SOC and the target vehicle speed, and the current state information includes the current SOC, the current motor speed, and the current vehicle speed.

[0081] The control module 302 is used to control the rotation of the motor based on the coasting feedback torque.

[0082] In one specific embodiment, the coasting feedback torque determination module 301 includes:

[0083] A charging torque determination unit is used to determine the charging torque based on the target SOC, the current SOC, and the current motor speed.

[0084] A charging limit torque determination unit is used to determine the charging limit torque;

[0085] A charging torque difference determination unit is used to determine the charging torque difference based on the charging torque and the charging limit torque;

[0086] The coefficient acquisition unit is used to acquire the influence coefficients of the PI controller.

[0087] The correction unit is used to correct the charging torque difference based on the influence coefficient of the PI controller to obtain a corrected charging torque value.

[0088] A coasting feedback torque determination unit is used to determine the coasting feedback torque based on the charging torque and the charging torque correction value.

[0089] In one specific embodiment, the charging torque determining unit includes:

[0090] The difference SOC determination subunit determines the difference SOC based on the target SOC and the current SOC.

[0091] The first charging power determination subunit is used to determine the first charging power based on the difference SOC and the current motor speed.

[0092] The coefficient determination subunit is used to obtain the influence coefficients of the vehicle powertrain and the influence coefficients of the driving force on the vehicle speed, which are denoted as the first coefficient and the second coefficient, respectively.

[0093] The charging torque determination subunit is used to determine the charging torque based on the first charging power, the first coefficient, and the second coefficient.

[0094] In one specific embodiment, the charging torque correction value includes a first torque correction value and a second torque correction value; the coasting feedback torque determination unit includes:

[0095] The summation subunit is used to determine the coasting feedback torque based on the sum of the charging torque, the first torque correction value, and the second torque correction value.

[0096] In one specific embodiment, the charging torque determination unit includes:

[0097] The product subunit is used to determine the second charging power based on the product of the first charging power, the first coefficient, and the second coefficient.

[0098] The charging torque determination subunit is used to determine the charging torque based on the second charging power and the current motor speed.

[0099] In one specific embodiment, the charging limit torque determination unit includes:

[0100] The power determination subunit is used to determine the maximum charging power of the motor and the maximum charging power of the battery;

[0101] The comparison subunit is used to take the power with the smaller absolute value between the maximum charging power of the motor and the maximum charging power of the battery as the charging limit power.

[0102] The charging limit torque determination subunit is used to determine the charging limit torque based on the charging limit power.

[0103] In one specific embodiment, the second coefficient is determined based on the rate of increase in vehicle speed before coasting and the average rate of change of the accelerator pedal before coasting.

[0104] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a coasting energy recovery method for a hybrid vehicle, the method including:

[0105] The coasting feedback torque is determined based on the vehicle's target state information and current state information; the target state information includes the target SOC and target vehicle speed, and the current state information includes the current SOC, current motor speed, and current vehicle speed.

[0106] The motor rotation is controlled based on the aforementioned gliding feedback torque.

[0107] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0108] In addition, the present invention also provides a vehicle, including: the coasting energy recovery system of the hybrid vehicle or the electronic device.

[0109] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is capable of executing a coasting energy recovery method for a hybrid vehicle, the method comprising:

[0110] The coasting feedback torque is determined based on the vehicle's target state information and current state information; the target state information includes the target SOC and target vehicle speed, and the current state information includes the current SOC, current motor speed, and current vehicle speed.

[0111] The motor rotation is controlled based on the aforementioned gliding feedback torque.

[0112] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a coasting energy recovery method for a hybrid vehicle, the method comprising:

[0113] The coasting feedback torque is determined based on the vehicle's target state information and current state information; the target state information includes the target SOC and target vehicle speed, and the current state information includes the current SOC, current motor speed, and current vehicle speed.

[0114] The motor rotation is controlled based on the aforementioned gliding feedback torque.

[0115] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0116] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for coasting energy recovery in a hybrid vehicle, characterized in that, include: Determining the coasting feedback torque based on the vehicle's target state information and current state information includes: determining the difference SOC based on the target SOC and the current SOC; determining the first charging power based on the difference SOC and the current motor speed; obtaining the influence coefficients of the entire vehicle powertrain and the influence coefficients of the driving force on the vehicle speed, respectively denoted as the first coefficient and the second coefficient; determining the charging torque based on the first charging power, the first coefficient, and the second coefficient; determining the charging limit torque; determining the charging torque difference based on the charging torque and the charging limit torque; obtaining the influence coefficient of the PI controller; correcting the charging torque difference based on the influence coefficient of the PI controller to obtain a charging torque correction value; and determining the coasting feedback torque based on the charging torque and the charging torque correction value. The target state information includes the target SOC and the target vehicle speed, and the current state information includes the current SOC, the current motor speed, and the current vehicle speed. The motor rotation is controlled based on the aforementioned gliding feedback torque.

2. The method for coasting energy recovery in a hybrid vehicle according to claim 1, characterized in that, The charging torque correction value includes a first torque correction value and a second torque correction value; Determining the coasting feedback torque based on the charging torque and the charging torque correction value includes: The coasting feedback torque is determined based on the sum of the charging torque, the first torque correction value, and the second torque correction value.

3. The method for coasting energy recovery in a hybrid vehicle according to claim 1, characterized in that, The step of determining the charging torque based on the first charging power, the first coefficient, and the second coefficient includes: The second charging power is determined by the product of the first charging power, the first coefficient, and the second coefficient. The charging torque is determined based on the second charging power and the current motor speed.

4. The method for coasting energy recovery in a hybrid vehicle according to claim 1, characterized in that, The second coefficient is determined based on the rate of increase in vehicle speed before coasting and the average rate of change of the accelerator pedal before coasting.

5. The method for coasting energy recovery of a hybrid vehicle according to any one of claims 1-4, characterized in that, The determination of the charging limit torque includes: Determine the maximum charging power of the motor and the maximum charging power of the battery; The power with the smaller absolute value between the maximum charging power of the motor and the maximum charging power of the battery is used as the charging limit power; The charging limit torque is determined based on the charging limit power.

6. A coasting energy recovery system for a hybrid vehicle, characterized in that, include: The coasting feedback torque determination module is used to determine the coasting feedback torque based on the vehicle's target state information and current state information, including: determining the difference SOC based on the target SOC and the current SOC; determining the first charging power based on the difference SOC and the current motor speed; obtaining the influence coefficient of the entire vehicle powertrain and the influence coefficient of the driving force on the vehicle speed, respectively denoted as the first coefficient and the second coefficient; determining the charging torque based on the first charging power, the first coefficient, and the second coefficient; determining the charging limit torque; determining the charging torque difference based on the charging torque and the charging limit torque; obtaining the influence coefficient of the PI controller; correcting the charging torque difference based on the influence coefficient of the PI controller to obtain a charging torque correction value; and determining the coasting feedback torque based on the charging torque and the charging torque correction value. The target state information includes the target SOC and the target vehicle speed, and the current state information includes the current SOC, the current motor speed, and the current vehicle speed. The control module is used to control the rotation of the motor based on the coasting feedback torque.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the coasting energy recovery method for a hybrid vehicle as described in any one of claims 1 to 5.

8. A vehicle, characterized in that, include: The coasting energy recovery system for a hybrid vehicle as described in claim 6 or the electronic device as described in claim 7.

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